System and method for aligning a reference frame of a machine motion coordinates with a framework of a measuring system

摘要

A method for aligning a frame of reference of the tool of a machine motion coordinates with a framework of the measurement system, the method comprising: applying at least two linear movements of the machine tool machine on a moving machine coordinate, in which each linear movement of the machine from a zero position of the machine tool in a reference frame of the machine motion initial coordinates and at least two linear movements of the machine are nonlinear cO-; measuring at least two linear movements of the camera of a camera mounted on a moving machine coordinate for movement with the machine tool using a camera and a processor in communication with the chamber, each linear movement of the camera it is from a zero position of the camera in a frame of reference of the measuring system with respect to a learned object, which is fixed in space and in the field of view of the camera, after or during each linear movement of the machine; determining an angular misalignment of an xy machine tool with respect to an xy plane of the camera based on vector machine defined plane by at least two linear movements of the machine from the zero position machine tool and vectors chamber defined by at least two linear movements of the camera from the zero position of the camera; transformation rotatably reference frame of the machine motion initial coordinates to provide a frame of reference moving machine coordinate transformed rotatably on the basis of the determined angular misalignment in the xy plane of the tool machine with respect to the xy plane of the camera; rotation of the machine tool around at least two non-colinear z axes which are each normal to an xy reference frame moving machine coordinate transformed rotatably plane; measuring the movements of the camera to the object learned after or during each rotation of the machine tool around at least z not colinear two axes; determining a misalignment xy misalignment and between a source of the machine tool frame reference motion machine coordinate transformed rotatably and origin of the camera based on a linear misalignment between at least two non co-linear axes z and camera movement measured from the object learned after or during each rotation around at least two non-colinear axes z; transformation as translating the frame of reference of the moving machine coordinate rotatably to provide a framework of the machine motion coordinates transformed into a translating based on misalignment xy misalignment and certain; rotation of the machine tool around at least two axes x not co-linear or at least two axes and non colinear reference frame of the machine motion coordinates transformed into a translating; measuring the movement of the camera relative to the object learned after or during each rotation of the machine tool around at least two axes x not colinear or around at least two axes not co linear; determining a z misalignment between the source of the machine tool frame reference motion machine coordinate transformed as translation and the origin of the camera based on a linear misalignment between at least two xo axes shafts and not colinear and the measured movements of the camera to the object learned after or during each rotation of the machine tool around at least two axes and axes xo not colinear; and transformation in the form of translation of the framework of the machine motion coordinates transformed as translation based on the determined z misalignments.