CN100334419C - Method for measuring roller shaft verticality in roller space position detection - Google Patents

Abstract

A method for measuring the verticality of a roll shaft in the detection of the spatial position of a roll system. The roll system includes a first center line point, a second center line point and a roll shaft located between the two center line points. The method includes: The total station is erected between the two centerline points; a benchmark is fixed on the measured roller shaft; the coordinates of the first and second centerline points are measured by the total station, and the origin of the coordinates is the position of the total station ; Rotate the measured roller shaft and measure the three different rotational positions of the measured roller shaft, the origin of the coordinates is the position of the total station; convert the coordinates of the three rotational position measurement points into the first or second center line point is the origin, and the line between the first and second centerline points is the coordinate value of the X-axis coordinate system; through a series of formulas, _{the perpendicularity} A of the measured roller shaft can be obtained.

Description

Roller is the measuring method of the roll shaft verticality during the locus is detected

Technical field

The present invention relates to measuring technique, specifically, relating to a kind of roller is the measuring method of the roll shaft verticality during the locus is detected.

Background technology

In modern large-scale metallurgical enterprise, along with the raising of producing automatic horizontal, production efficiency, product quality have all had breakthrough progress on the one hand.At the same time, the maintenance of production equipment, detection, required level of service have also required qualitative leap.

Roller is the application of locus state inspection, and mainly concentrating on the rolling equipment roller is the status detection aspect.The production of cold rolled strip coil will be passed through following process usually: pickling, hot rolled coil is carried out rough handling; Rolling, make the hot rolling band through to a certain degree distortion obtain very thin thickness, size accurately, any surface finish and the straight chill state steel band of template; Thermal treatment and finishing make the band steel have good mechanical performance or good electromagnetic performance; Coating is handled, and can make and prepare and carry good corrosion resistance.Above-mentioned these processing all are to finish on the streamline that is made of a large amount of roll shafts.

For satisfying market one demand, a large amount of cold-rolled steel coils required thicknesses are between 0.2mm-0.4mm, and are even thinner.For improving the quality of products and quantity, strip speed promptly requires accurately, the speed of seeking quickness again.And cold-rolled steel coils rolling, move, shear and batch etc. and all need to finish by the operation of a large amount of roll shafts.So, require at ± 0.1mm/m between ± the 0.1mm/m the high verticality of installation requirement of device fabrication line roll shaft and levelness are general.Therefore need a kind of detection method that can reach this accuracy requirement.

The synoptic diagram of traditional detection method transports in the system at one as shown in Figure 1 usually, has a large amount of roll shaft to constitute, and for convenience of description, only shows a roll shaft among Fig. 1 as signal, when measuring, is identical to the measuring process of each root roll shaft.

As shown in Figure 1, it is the form of vertical view, the tested roll shaft of 11 expressions among the figure, and 12 is forks, the 13rd, wire rope.During measurement, on one's body an end stationary roll of fork 12, then, wire rope 13 is arranged to and the whole parallel state of traffic direction (being also referred to as the equipment center line) that transports system.Then, rotate roll shaft 11, when transhipment, horizontal range Sa and Sb during by dial gauge (dial gauge is a kind of instrument that is used for measuring subtle change, can spiritual measure 0.02mm with interior subtle change) measuring oscillating bar twice process wire rope (as state 12A among Fig. 1 and state 12B) between fork free end and the wire rope 13.And then when measuring two location statuss of fork between the free end apart from Sab.Can calculate the verticality of this tested roll shaft 11 by following formula.

Verticality=(Sa-Sb)/Sab

There is following shortcoming in this classic method:

(1) accurately measuring fork, to put the personal error influence of distance of wire rope big, and operating personnel will very skillfully just can control measuring process well, obtain measurement structure more accurately;

(2) can only obtain the local relation spatial position data, can not obtain the spatial relation between the roller system of whole piece process section, can not satisfy the needs that device systems is safeguarded;

(3) conditional request is higher, draw wire rope, just must guarantee to have enough spaces guarantee wire rope fix with accurately to point.Require simultaneously to guarantee that fork fixing position and the relation between wire rope are suitable, guarantee finishing smoothly of measuring process.So also just reduced the work efficiency that detects.

Obviously, this traditional measuring method and present Technical Development Requirement are incompatible, the appearance of a kind of high-precision measuring method of industry an urgent demand.

Summary of the invention

Edge this, the objective of the invention is to a kind of convenient test, roller that precision is high is the measuring method of the roll shaft verticality during the locus is detected.

According to above-mentioned purpose of the present invention, roller provided by the invention is the roll shaft squareness measurement method during the locus is detected, described roller is to include first centerline points and second centerline points and the roll shaft between this two centerline points, and described method comprises the steps:

(1) total powerstation is set up between this two centerline points;

(2) mark post is fixed on the tested roll shaft;

(3) by the volume coordinate of described first centerline points of this total station survey and described second centerline points, the initial point of this volume coordinate is the position of this total powerstation;

(4) rotate described tested roll shaft, during by three different rotary positions of the described tested roll shaft of this total station survey, the volume coordinate of the reflective marker on the described mark post, be defined as the first position of rotation measurement point coordinate, the second position of rotation measurement point coordinate and the 3rd position of rotation measurement point coordinate respectively, the initial point of this volume coordinate is the position of this total powerstation;

(5) becoming the coordinate conversion of the above-mentioned first position of rotation measurement point, the second position of rotation measurement point and the 3rd position of rotation measurement point with described first centerline points or second centerline points is initial point, is the coordinate figure of the coordinate system of X-axis with the line between described first centerline points and second centerline points; A wherein ₁(X1, Y1, Z1) the expression first position of rotation measurement point coordinate; A ₂(X2, Y2, Z2) the expression second position of rotation measurement point coordinate; A ₃(X3, Y3, Z3) expression the 3rd position of rotation measurement point coordinate;

(6) can obtain the verticality A of this tested roll shaft by following formula _Verticality:

${\stackrel{\→}{r}}_{21}=\{(X2-X1)\stackrel{\→}{i},(Y2-Y1)\stackrel{\→}{j},(Z2-Z1)\stackrel{\→}{k}\}$

${\stackrel{\→}{r}}_{23}=\{(X2-X3)\stackrel{\→}{i},(Y2-Y3)\stackrel{\→}{j},(Z2-Z3)\stackrel{\→}{k}\}$

In the formula,

Be the line of vector of the described second position of rotation measurement point to the described first position of rotation measurement point;

Be the line of vector of the described second position of rotation measurement point to described the 3rd position of rotation measurement point;

Xr＝(Y2-Y1)(Z2-Z3)-(Z2-Z1)(Y2-Y3)

Yr＝(Z2-Z1)(X2-X3)-(X2-X1)(Z2-Z3)

Zr＝(X2-X1)(Y2-Y3)-(Y2-Y1)(X2-X3)

In the following formula,

For described

Line of vector and described The normal vector line on the plane that line of vector constitutes;

A _Verticality=X _r/ S _{Hang down}

It is roll shaft squareness measurement method during the locus is detected that the present invention also provides another kind of roller, and described roller system includes first centerline points and second centerline points and the roll shaft between this two centerline points, and described method comprises the steps:

(1) two total powerstations are set up between this two centerline points or with a total powerstation are set up at twice between this two centerline points, and make wherein first total powerstation can observe first centerline points; Second total powerstation can be observed second centerline points and tested roll shaft;

(2) two public reference mark are set in that roller system is outer, the choosing assurance two described total powerstations and can both observe of this position, two public reference mark;

(3) mark post is fixed on the tested roll shaft;

(4) by the volume coordinate at described first centerline points of this first total station survey and described two public reference mark, the initial point of this volume coordinate is the position of this first total powerstation;

(5) by the volume coordinate at described second centerline points of this second total station survey and described two public reference mark, the initial point of this volume coordinate is the position of this second total powerstation;

(6) rotate described tested roll shaft, during by three different rotary positions of the described tested roll shaft of this second total station survey, the volume coordinate of the reflective marker on the described mark post, be defined as the first position of rotation measurement point coordinate, the second position of rotation measurement point coordinate and the 3rd position of rotation measurement point coordinate respectively, the initial point of this volume coordinate is the position of this second total powerstation;

(7) to become with one of described two public reference mark be initial point to the space coordinate conversion of the first nodal point that will record by described first total powerstation, is on the coordinate system of X-axis with the line at two public reference mark;

(8) to become with one of described two public reference mark be initial point to the coordinate conversion of volume coordinate, the above-mentioned first position of rotation measurement point, the second position of rotation measurement point and the 3rd position of rotation measurement point of second central point that will record by described second total powerstation, is on the coordinate system of X-axis with the line at two public reference mark;

(9) will be initial point with one of described two public reference mark, be that the coordinate conversion of described first nodal point coordinate, second center point coordinate and the above-mentioned first position of rotation measurement point, the second position of rotation measurement point, the 3rd position of rotation measurement point on the coordinate system of X-axis becomes with one of described first centerline points or second centerline points to be initial point, to be the coordinate figure of the coordinate system of X-axis with the line between described first centerline points and second centerline points with the line at two public reference mark; A wherein ₁(X1, Y1, Z1) the expression first position of rotation measurement point coordinate; A ₂(X2, Y2, Z2) the expression second position of rotation measurement point coordinate; A ₃(X3, Y3, Z3) expression the 3rd position of rotation measurement point coordinate;

(10) can obtain the verticality A of this tested roll shaft by following formula _Verticality:

${\stackrel{\→}{r}}_{21}=\{(X2-X1)\stackrel{\→}{i},(Y2-Y1)\stackrel{\→}{j},(Z2-Z1)\stackrel{\→}{k}\}$

${\stackrel{\→}{r}}_{23}=\{(X2-X3)\stackrel{\→}{i},(Y2-Y3)\stackrel{\→}{j},(Z2-Z3)\stackrel{\→}{k}\}$

In the formula,

Be the line of vector of the described second position of rotation measurement point to the described first position of rotation measurement point;

Be the line of vector of the described second position of rotation measurement point to described the 3rd position of rotation measurement point;

Xr＝(Y2-Y1)(Z2-Z3)-(Z2-Z1)(Y2-Y3)

Yr＝(Z2-Z1)(X2-X3)-(X2-X1)(Z2-Z3)

Zr＝(X2-X )(Y2-Y3)-(Y2-Y1)(X2-X3)

In the following formula,

For described

Line of vector and described

The normal vector line on the plane that line of vector constitutes;

A _Verticality=X _r/ S _{Hang down}

It is the measuring method of the roll shaft verticality during the locus is detected that the present invention provides a kind of roller again, and described roller is to include first centerline points and second centerline points and the roll shaft between this two centerline points, and described method comprises the steps:

(1) three total powerstations is set up in divide between this two centerline points or with a total powerstation and is set up in for three times between this two centerline points, and make wherein first total powerstation can observe first centerline points, second total powerstation can be observed tested roll shaft, and the 3rd total powerstation can be observed second centerline points;

(2) two public reference mark are set in that roller system is outer, the choosing three described total powerstations of assurance and can both observe of this position, two public reference mark;

(3) mark post is fixed on the tested roll shaft;

(4) by the volume coordinate at described first centerline points of this first total station survey and described two public reference mark, the initial point of this volume coordinate is the position of this first total powerstation;

(5) by the volume coordinate at described second centerline points of the 3rd total station survey and described two public reference mark, the initial point of this volume coordinate is the position of the 3rd total powerstation;

(6) rotate described tested roll shaft, during by three different rotary positions of the described tested roll shaft of the 3rd total station survey, the volume coordinate of the reflective marker on the described mark post, be defined as the first position of rotation measurement point coordinate, the second position of rotation measurement point coordinate and the 3rd position of rotation measurement point coordinate respectively, the initial point of this volume coordinate is the position of the 3rd total powerstation;

(7) to become with one of described two public reference mark be initial point to the space coordinate conversion of the first nodal point that will record by described first total powerstation, is on the coordinate system of X-axis with the line at two public reference mark;

(8) to become with one of described two public reference mark be initial point to the coordinate conversion of the above-mentioned first position of rotation measurement point, the second position of rotation measurement point and the 3rd position of rotation measurement point that will record by described second total powerstation, is on the coordinate system of X-axis with the line at two public reference mark;

(9) to become with one of described two public reference mark be initial point to the space coordinate conversion of second central point that will record by described the 3rd total powerstation, is on the coordinate system of X-axis with the line at two public reference mark;

(10) will be initial point with one of described two public reference mark, be that the coordinate conversion of described first nodal point coordinate, second center point coordinate and the above-mentioned first position of rotation measurement point, the second position of rotation measurement point, the 3rd position of rotation measurement point on the coordinate system of X-axis becomes with one of described first centerline points or second centerline points to be initial point, to be the coordinate figure of the coordinate system of X-axis with the line between described first centerline points and second centerline points with the line at two public reference mark; A wherein ₁(X1, Y1, Z1) the expression first position of rotation measurement point coordinate; A ₂(X2, Y2, Z2) the expression second position of rotation measurement point coordinate; A ₃(X3, Y3, Z3) expression the 3rd position of rotation measurement point coordinate;

(11) can obtain the verticality A of this tested roll shaft by following formula _Verticality:

${\stackrel{\→}{r}}_{21}=\{(X2-X1)\stackrel{\→}{i},(Y2-Y1)\stackrel{\→}{j},(Z2-Z1)\stackrel{\→}{k}\}$

${\stackrel{\→}{r}}_{23}=\{(X2-X3)\stackrel{\→}{i},(Y2-Y3)\stackrel{\→}{j},(Z2-Z3)\stackrel{\→}{k}\}$

In the formula, Be the line of vector of the described second position of rotation measurement point to the described first position of rotation measurement point;

Be the line of vector of the described second position of rotation measurement point to described the 3rd position of rotation measurement point;

Xr＝(Y2-Y1)(Z2-Z3)-(Z2-Z1)(Y2-Y3)

Yr＝(Z2-Z1)(X2-X3)-(X2-X1)(Z2-Z3)

Zr＝(X2-X1)(Y2-Y3)-(Y2-Y1)(X2-X3)

In the following formula,

For described

Line of vector and described

The normal vector line on the plane that line of vector constitutes;

A _Verticality=X _r/ S _{Hang down}

In above-mentioned measuring method, any method of coordinate of described total station survey comprises the steps:

Measure described measured point and arrive described total powerstation apart from Sa;

Measure the vertical angle Va of described measured point;

Measure the horizontal angle Ra of described measured point;

Calculate the coordinate figure of this measured point by following formula:

A _x＝Sa×sinVa×sinRa；

A _y＝Sa×sinVa×cosRa；

A _z＝Sa×sinVa。

In above-mentioned measuring method, the anglec of rotation of described tested roll shaft between three different rotary positions is more than or equal to 30 degree, smaller or equal to 120 degree.

Description of drawings

Fig. 1 is the measuring method synoptic diagram of traditional roll shaft verticality;

Fig. 2 is the synoptic diagram of measuring method of the present invention;

Fig. 3 is the synoptic diagram of measuring method of the present invention;

Fig. 4 is a mark post rotation synoptic diagram;

Fig. 5 is the synoptic diagram of another embodiment of measuring method of the present invention;

Fig. 6 is the synoptic diagram of another embodiment of measuring method of the present invention.

Embodiment

To describe the present invention in detail by some examples below.

In measuring method of the present invention, mainly utilized a kind of existing device that is called total powerstation, this equipment is a kind of robotization of automatic angle measurement, range finding, calculating and data automatic recording and transfer function, digitized three-dimensional coordinate measurement positioning system of having concurrently.The advantage of this instrument is, after setting up, by the measurement to impact point, can directly obtain with this total powerstation is the information such as space length that horizontal angle, vertical angle, center to the impact point of initial point sighted the center.

At first simply introduce the method for measuring the coordinate of an impact point by total powerstation.

See also Fig. 2, Fig. 2 comes the coordinate measuring method of display-object point A with a coordinate system.The initial point 0 of coordinate system is the decorating position of total powerstation, and total powerstation can record three data values of this impact point A, that is: impact point A to total powerstation apart from Sa; The line of impact point A and initial point O and the angle between the X-axis, horizontal angle Ra; Angle between the line of impact point A and initial point and the Z axle, vertical angle Va.

Calculate the coordinate figure of this measured point then by following formula:

A _x＝Sa×sinVa×sinRa；

A _y＝Sa×sinVa×cosRa；

A _z＝Sa×sinVa。

Utilize after total powerstation comes the coordinate figure of measuring target point having introduced, describe measuring method of the present invention in conjunction with Fig. 3 and Fig. 4.

Fig. 3 schematically shows a roll shaft system.Usually when the roll shaft system is installed, for the levelness that guarantees to install, in the outside of total system two central points can be set, R01 and R02 (can be called the first nodal point R01 and the second central point R02), line between this two central points R01 and the R02 is the center line of total system, requires all roll shaft A, B, C all vertical with this center line.

In this example, suppose to measure earlier the verticality of roll shaft A.At first, total powerstation 31 is erected between two centerline points R1 and the R2, makes total powerstation 31 can observe this two central points R01 and R02.Then, on tested roll shaft A, fix a mark post 32.Mark post can adopt traditional mark post, and the free end of mark post 32 (promptly away from the fixing end of roll shaft) is provided with reflective marker, and total powerstation is follow-up to be exactly the coordinate figure of measuring this reflective marker.

Finish these set up and fix the action after, promptly can begin to have measured.Usually can measure the coordinate figure of the first centerline points R01 and the second centerline points R02 earlier.This moment, the coordinate figure that records was that the decorating position with total powerstation 31 is the coordinate figure in the coordinate system of initial point.And then when measuring three different rotary positions of tested roll shaft A, the volume coordinate of the reflective marker on the mark post.

See also Fig. 4, rotate tested roll shaft A, and when on as shown in the figure three some 1#, 2#, 3#, measuring three different rotary positions of roll shaft A, the coordinate figure of the reflective marker on the mark post.Following table is a concrete instance of the coordinate figure of these points:

Call the roll	X (rice)	Y (rice)	Z (rice)
				R01	-11.46072101593018	14.60798931121826	-.7516629099845886
R02	-3.011924505233765	1.848585724830627	-.7318212389945984
				A roller 1#	-11.8073205947876	14.68396282196045	-2.077099800109863
A roller 2#	-11.8016242980957	13.50483131408691	-1.550116658210754
				A roller 3#	-11.80383777618408	14.04945945739746	-2.079660177230835

Certainly, the direct parameter that obtains from total powerstation is apart from Sa, horizontal angle Ra and vertical angle Va.Just can convert corresponding coordinate figure to by above-mentioned formula.Also there are some total powerstations these formula convert packets can be contained among the equipment at present, can directly export above-mentioned coordinate figure according to user's requirement, and no longer need the user to change.

Because above-mentioned coordinate figure is to be in the coordinate system of initial point O with total powerstation 31, therefore, also needs to do the conversion of a coordinate, the center line that is transformed into the roll shaft system is in the device coordinate system of benchmark.Promptly being transformed into one of centerline points R01 or R02 is initial point, is in the coordinate system of X-axis with the center line.The conversion of coordinate system belongs to known technology for a person skilled in the art, therefore, no longer is explained in detail in an embodiment, and following table is through the data value after the coordinate conversion, and new coordinate is to be initial point with centerline points R01, and center line is an X-axis:

Call the roll	X (rice)	Y (rice)	Z (rice)
				R01	0	0	-1.568120241165161
R02	0	1.1562271118164	-2.095862150192261
				A roller 1#	0.0000915527344	1.1710433959961	-2.077099800109863
A roller 2#	-0.00016021728516	-0.00810241699219	-1.550116658210754
				A roller 3#	0.000373840332	0.5365295410156	-2.079660177230835

For the rotational angle of mark post, the angle value between three measurement points is big more, and then the precision of Ce Lianging is high more.Usually preferably can be more than or equal to 30 degree, smaller or equal to 120 degree; Best, this angle value is 90 degree.

Obtaining above-mentioned these points at new coordinate, is initial point promptly with one of centerline points, is after the coordinate figure under the coordinate system of X-axis with the center line, just can obtain the verticality of this roll shaft A by following formula operation.

The verticality of supposing roll shaft A is A _Verticality

Calculate the line of vector of second position of rotation measurement point 2# to the first position of rotation measurement point 1# earlier

Line of vector with the second position of rotation measurement point 2# to the, three position of rotation measurement point 3#

${\stackrel{\→}{r}}_{21=}\{(X2-X1)\stackrel{\→}{i},(Y2-Y1)\stackrel{\→}{j},(Z2-Z1)\stackrel{\→}{k}\}$

${\stackrel{\→}{r}}_{23}=\{(X2-X3)\stackrel{\→}{i},(Y2-Y3)\stackrel{\→}{j},(Z2-Z3)\stackrel{\→}{k}\}$

Calculate then Line of vector with

The normal vector line on the plane that line of vector constitutes

Xr＝(Y2-Y1)(Z2-Z3)-(Z2-Z1)(Y2-Y3)

Yr＝(Z2-Z1)(X2-X3)-(X2-X1)(Z2-Z3)

Zr＝(X2-X1)(Y2-Y3)-(Y2-Y1)(X2-X3)

Can obtain the verticality A of this tested roll shaft at last by following formula _Verticality:

A _Verticality=X _r/ S _{Hang down}

According to above-mentioned formula, the verticality that can get present embodiment through computing is 0.44mm/M.

Though only described in a roll shaft system measuring method, be appreciated that for other roll shaft in the system and can adopt same step to measure to the verticality of one of them roll shaft.

Top embodiment is with the method for testing under the situation of setting up a total powerstation.For some bigger roll shaft system,,, at this moment need priority or set up many total powerstations at diverse location simultaneously by the total powerstation measurement of place impact point fully of a survey station because the horizontal span of streamline is big.Fig. 5 is one and has set up the embodiment of three total powerstations at diverse location that though should be noted that in the present embodiment, to set up three total powerstations simultaneously as an example, use a total powerstation to divide setting up measurement for three times also is an optional example.

As shown in Figure 5, first total powerstation 51 is erected near near the first centerline points R01; Second total powerstation 52 is erected near near the tested roll shaft A; The 3rd total powerstation frame 53 is located near near the second central point R01.Then, critical step is two common reference point XP of arranged outside and the YP in the roll shaft system.The choosing all can observe with these three total powerstations of this 2 common reference points XP and YP position is as the criterion.

Measured the coordinate figure of first nodal point R01 and common reference point XP and YP then by first total powerstation 51, these coordinate figures are to be in the coordinate system of initial point in the position with first total powerstation 51; When measuring three different rotary positions of tested roll shaft A by second total powerstation 52, the volume coordinate of the reflective marker on the mark post, and and the coordinate figure of common reference point XP and YP, these coordinate figures are to be in the coordinate system of initial point in the position with second total powerstation 52; Measure the coordinate figure of the second central point R02 and common reference point XP and YP by the 3rd total powerstation 53, this coordinate figure is to be in the coordinate system of initial point in the position with the 3rd total powerstation 53.

Owing to selected three total powerstations for use, and the coordinate system that three total powerstations are selected for use is different, and therefore, different with Fig. 3 embodiment is the step that needs to increase a coordinate system conversion.Promptly to become with one of two public reference mark be initial point to the space coordinate conversion of the first nodal point that respectively first total powerstation 51 is recorded earlier, is on the coordinate system of X-axis with the line at two public reference mark; It is initial point that the coordinate conversion of the first position of rotation measurement point, the second position of rotation measurement point and the 3rd position of rotation measurement point that second total powerstation 52 is recorded becomes with one of two public reference mark, is on the coordinate system of X-axis with the line at two public reference mark; It is initial point that the space coordinate conversion of second central point that the 3rd total powerstation 53 is recorded becomes with one of two public reference mark, is on the coordinate system of X-axis with the line at two public reference mark.

Carrying out above-mentioned coordinate conversion after common coordinate system, again these coordinate conversion to being initial point with one of the first centerline points R01 or second centerline points R02, with the line between the first centerline points R01 and the second centerline points R02 is the coordinate figure of the coordinate system of X-axis, that is: will be initial point with one of two public reference mark, it with the line at two public reference mark the first nodal point coordinate on the coordinate system of X-axis, second center point coordinate and the first position of rotation measurement point, the second position of rotation measurement point, it is initial point that the coordinate conversion of the 3rd position of rotation measurement point becomes with one of first centerline points or second centerline points, is the coordinate figure of the coordinate system of X-axis with the line between described first centerline points and second centerline points.After the converting like this, can calculate the verticality of this roll shaft according to above-mentioned method.

For some smaller slightly roll shaft systems, can adopt two total powerstations, Fig. 6 shows the method for testing synoptic diagram that uses two total powerstations.Its measuring method is same as described above basically, does not repeat them here.

Claims (9)

1. A method for measuring the verticality of a roller shaft in the detection of the spatial position of a roller system, the roller system includes a first centerline point, a second centerline point and a roller shaft between the two centerline points, the The method includes the following steps: (1) Set up the total station between the two centerline points; (2) Fix a benchmark on the roller shaft to be tested; (3) measuring the spatial coordinates of the first centerline point and the second centerline point by the total station, the origin of the spatial coordinates being the position of the total station; (4) Rotate the measured roller shaft, when the three different rotational positions of the measured roller shaft are measured by the total station, the spatial coordinates of the reflective marks on the benchmark are respectively defined as the first rotational position measurement point coordinates, the coordinates of the second rotation position measurement point and the third rotation position measurement point coordinates, the origin of the space coordinates is the position of the total station; (5) Transform the coordinates of the above-mentioned first rotation position measurement point, second rotation position measurement point and third rotation position measurement point into the first centerline point or the second centerline point as the origin, and the first rotation position measurement point The connection line between a center line point and the second center line point is the coordinate value of the coordinate system of the X axis; wherein A ₁ (X1, Y1, Z1) represents the first rotation position measurement point coordinates; A ₂ (X2, Y2 , Z2) represents the coordinates of the measurement point of the second rotation position; A ₃ (X3, Y3, Z3) represents the coordinates of the measurement point of the third rotation position; (6) The _verticality A of the measured roller shaft can be obtained by the following formula: ${\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \}</span>$ ${\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}}_{\mathrm{<span\; class="notranslate">\; twenty\; three</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \}</span>$ In the formula,

is a vector line from the second rotational position measurement point to the first rotational position measurement point;

is a vector line from the second rotational position measurement point to the third rotational position measurement point;

Xr=(Y2-Y1)(Z2-Z3)-(Z2-Z1)(Y2-Y3) Yr=(Z2-Z1)(X2-X3)-(X2-X1)(Z2-Z3) Zr=(X2-X1)(Y2-Y3)-(Y2-Y1)(X2-X3) In the above formula,

for the said

Vector line with the

the normal vector line of the plane formed by the vector line; A _{perpendicularity} = X _r /S _vertical

2. The measuring method according to claim 1, wherein the method for measuring the coordinates of a point with the total station comprises the steps: Measuring the distance Sa from the measured point to the total station; Measuring the vertical angle Va of the measured point; Measuring the horizontal angle Ra of the measured point; The coordinate value of the measured point is calculated by the following formula: A _x =Sa×sinVa×sinRa; A _y =Sa×sinVa×cosRa; _Az =Sa×sinVa. 3. The measuring method according to claim 1, characterized in that the rotation angle of the measured roller shaft between three different rotation positions is greater than or equal to 30 degrees and less than or equal to 120 degrees. 4. A method for measuring the verticality of the roller shaft in the detection of the spatial position of the roller system, the roller system includes a first centerline point and a second centerline point and a roller shaft located between the two centerline points, the The method includes the following steps: (1) Set up two total stations between the two centerline points or set up one total station twice between the two centerline points, and make the first total station able to observe the second One centerline point; the second total station can observe the second centerline point and the measured roller; (2) Two public control points are set outside the roller system, and the selection of the two public control point positions ensures that the two total stations can be observed; (3) Fix a benchmark on the roller shaft to be tested; (4) measuring the spatial coordinates of the first central line point and the two common control points by the first total station, the origin of the spatial coordinates being the position of the first total station; (5) measuring the spatial coordinates of the second center line point and the two common control points by the second total station, the origin of the spatial coordinates being the position of the second total station; (6) Rotate the measured roller shaft, and when the second total station measures three different rotational positions of the measured roller shaft, the spatial coordinates of the reflective marks on the pole are respectively defined as the first rotational position The coordinates of the measurement point, the coordinates of the measurement point of the second rotation position and the coordinates of the measurement point of the third rotation position, the origin of the space coordinates is the position of the second total station; (7) Transform the spatial coordinates of the first center point measured by the first total station into a coordinate system with one of the two public control points as the origin and the line connecting the two public control points as the X-axis superior; (8) the space coordinates of the second central point measured by the second total station, the coordinates of the above-mentioned first rotation position measurement point, the second rotation position measurement point and the third rotation position measurement point are converted into One of the two public control points is the origin, and the line connecting the two public control points is the coordinate system of the X axis; (9) The coordinates of the first central point, the second central point, and the above-mentioned first rotation on the coordinate system with one of the two common control points as the origin and the line connecting the two common control points as the X-axis The coordinates of the position measurement point, the second rotation position measurement point, and the third rotation position measurement point are transformed into one of the first centerline point or the second centerline point as the origin, and the first centerline point and the second centerline point The connecting line between the two centerline points is the coordinate value of the coordinate system of the X axis; where A ₁ (X1, Y1, Z1) represents the coordinates of the first rotation position measurement point; A ₂ (X2, Y2, Z2) represents the second Rotation position measurement point coordinates; A ₃ (X3, Y3, Z3) represents the third rotation position measurement point coordinates; (10) The _verticality A of the measured roller shaft can be obtained by the following formula: ${\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \}</span>$ ${\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}}_{\mathrm{<span\; class="notranslate">\; twenty\; three</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \}</span>$ In the formula, is a vector line from the second rotational position measurement point to the first rotational position measurement point; is a vector line from the second rotational position measurement point to the third rotational position measurement point; Xr=(Y2-Y1)(Z2-Z3)-(Z2-Z1)(Y2-Y3) Yr=(Z2-Z1)(X2-X3)-(X2-X1)(Z2-Z3) Zr=(X2-X1)(Y2-Y3)-(Y2-Y1)(X2-X3) In the above formula,

for the said

Vector line with the

The normal vector line of the plane formed by the vector line; A _{perpendicularity} = X _r /S _vertical

5. The measuring method according to claim 4, wherein the method for measuring the coordinates of a point with the total station comprises the steps: Measuring the distance Sa from the measured point to the total station; Measuring the vertical angle Va of the measured point; Measuring the horizontal angle Ra of the measured point; The coordinate value of the measured point is calculated by the following formula: A _x =Sa×sinVa×sinRa; A _y =Sa×sinVa×cosRa; _Az =Sa×sinVa. 6. The measuring method according to claim 4, characterized in that the rotation angle of the measured roller shaft between three different rotation positions is greater than or equal to 30 degrees and less than or equal to 120 degrees. 7. A method for measuring the perpendicularity of a roller shaft in the detection of the spatial position of a roller system, the roller system includes a first centerline point, a second centerline point and a roller shaft located between the two centerline points, the The method includes the following steps: (1) Set up three total stations between the two centerline points or install one total station between the two centerline points three times, and make the first total station observe the first The center line point, the second total station can observe the measured roller axis, and the third total station can observe the second center line point; (2) two public control points are set outside the roller system, and the selection of the two public control point positions ensures that three total stations can be observed; (3) Fix a benchmark on the roller shaft to be tested; (4) measuring the spatial coordinates of the first central line point and the two common control points by the first total station, the origin of the spatial coordinates being the position of the first total station; (5) measuring the spatial coordinates of the second centerline point and the two common control points by the third total station, the origin of the spatial coordinates being the position of the third total station; (6) Rotate the measured roller shaft, when measuring three different rotational positions of the measured roller shaft by the third total station, the spatial coordinates of the reflective marks on the pole are respectively defined as the first rotational position The coordinates of the measurement point, the coordinates of the measurement point of the second rotation position and the coordinates of the measurement point of the third rotation position, the origin of the space coordinates is the position of the third total station; (7) Transform the spatial coordinates of the first center point measured by the first total station into a coordinate system with one of the two public control points as the origin and the line connecting the two public control points as the X-axis superior; (8) Convert the coordinates of the above-mentioned first rotational position measurement point, the second rotational position measurement point and the third rotational position measurement point measured by the second total station into one of the two common control points as The origin is on the coordinate system with the line connecting the two common control points as the X-axis; (9) converting the spatial coordinates of the second center point measured by the third total station into a coordinate system with one of the two public control points as the origin and the line connecting the two public control points as the X-axis superior; (10) The coordinates of the first center point, the second center point and the above-mentioned first rotation on the coordinate system with one of the two public control points as the origin and the line connecting the two public control points as the X-axis The coordinates of the position measurement point, the second rotation position measurement point, and the third rotation position measurement point are transformed into one of the first centerline point or the second centerline point as the origin, and the first centerline point and the second centerline point The connecting line between the two centerline points is the coordinate value of the coordinate system of the X axis; where A ₁ (X1, Y1, Z1) represents the coordinates of the first rotation position measurement point; A ₂ (X2, Y2, Z2) represents the second Rotation position measurement point coordinates; A ₃ (X3, Y3, Z3) represents the third rotation position measurement point coordinates; (11) The _verticality A of the measured roller shaft can be obtained by the following formula: ${\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \}</span>$ ${\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; r</span>}}}_{\mathrm{<span\; class="notranslate">\; twenty\; three</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; \{</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; j</span>}}<span\; class="notranslate">\; ,</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Z</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Right\; Arrow;</span>}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \}</span>$ In the formula,

is a vector line from the second rotational position measurement point to the first rotational position measurement point;

is a vector line from the second rotational position measurement point to the third rotational position measurement point;

Xr=(Y2-Y1)(Z2-Z3)-(Z2-Z1)(Y2-Y3) Yr=(Z2-Z1)(X2-X3)-(X2-X1)(Z2-Z3) Zr=(X2-X1)(Y2-Y3)-(Y2-Y1)(X2-X3) In the above formula,

for the said Vector line with the the normal vector line of the plane formed by the vector line; A _{perpendicularity} = X _r /S _vertical

8. The measuring method according to claim 7, wherein the method for measuring the coordinates of a point with the total station comprises the following steps: Measuring the distance Sa from the measured point to the total station; Measuring the vertical angle Va of the measured point; Measuring the horizontal angle Ra of the measured point; The coordinate value of the measured point is calculated by the following formula: A _x =Sa×sinVa×sinRa; A _y =Sa×sinVa×cosRa; _Az =Sa×sinVa. 9. The measuring method according to claim 7, characterized in that the rotation angle of the measured roller shaft between three different rotation positions is greater than or equal to 30 degrees and less than or equal to 120 degrees.

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