CN109938848A - Positioning system and target point positioning method - Google Patents
Positioning system and target point positioning method Download PDFInfo
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Abstract
The application provides a kind of positioning system and target point positioning method.Positioning system includes filming apparatus, and filming apparatus is for obtaining projected image；Calibrating installation, calibrating installation is connected to filming apparatus, and calibrating installation passes through in the projection ray of filming apparatus transmitting, and calibrating installation includes calibration plate and first identifier plate, and calibration plate includes multiple first positioning balls, and first identifier plate includes multiple second positioning balls；Positioning device, positioning device is independently of filming apparatus, including second identifier plate and beam emissions structure, and second identifier plate includes multiple third positioning balls, and multiple third positioning balls are for determining the second transformational relation；Wherein, multiple first positioning balls are for determining that the first transformational relation, multiple second positioning balls are used to determine the focal position information of filming apparatus；Positioning system further includes computing device, and computing device guides structure to make that structure is guided to be directed toward internal target spot for generating adjustment instruction, adjustment instruction for adjusting.
Description
Technical field
This application involves field of medical technology more particularly to a kind of positioning system and target point positioning methods.
Background technique
Currently, in the medical field, it needs after clear lesion reason and lesion point, executes operation for lesion point.Institute
How in suffering limb to be directed to lesion point location in vitro in order to subsequent procedures instrument for the technical staff of medical field
Operation is executed, technical problem urgently to be resolved is had become.
Summary of the invention
The application provides a kind of positioning system and target point positioning method, to solve deficiency in the related technology.
According to the embodiment of the present application in a first aspect, providing a kind of positioning system, comprising:
Filming apparatus, the filming apparatus is for obtaining projected image；
Calibrating installation, the calibrating installation are connected to the filming apparatus, and the projection ray of filming apparatus transmitting
By the calibrating installation, the calibrating installation includes calibration plate and first identifier plate, and the calibration plate includes multiple first fixed
Position ball, the first identifier plate include multiple second positioning balls；
Positioning device, the positioning device are separated with the filming apparatus, including second identifier plate and guide structure, described
Second identifier plate includes multiple third positioning balls, and the multiple third positioning ball is used to determine the positioning based on the positioning device
The second transformational relation between coordinate system and the perspective reference frame based on filming apparatus；
Wherein, the multiple first positioning ball is for determining the image coordinate system based on the projected image and being based on described
The first transformational relation between the calibration coordinate system of calibrating installation, the multiple second positioning ball is for determining the filming apparatus
Focal position information；
The positioning system further includes computing device, and the computing device is used for according to the focal position information, described
First transformational relation, second transformational relation, target spot are under the coordinate information and location coordinate in described image coordinate system
The positioning position information of structure is guided, adjustment instruction is generated, the adjustment instruction is used to indicate the guide structure and is adjusted
So that the guide structure is directed toward the target spot.
Optionally, the calibration plate and the first identifier board stacking are arranged, and multiple first positioning balls and multiple
The second positioning ball does not block mutually.
Optionally, the calibrating installation further includes supporting element, and the supporting element is located at the calibration plate and first mark
Know between plate and is all connected with the calibration plate and the first identifier plate.
Optionally, arrangement of multiple first positioning balls on the calibration plate is regular, is different from multiple described second
Position arrangement rule of the ball on the first identifier plate.
Optionally, the positioning system further includes snap ring, the snap ring be located on the filming apparatus and with the calibration
Device is detachably connected；
Wherein, the snap ring is detachably connected or is fixedly connected with the filming apparatus.
Optionally, plane locating at least one third positioning ball in multiple third positioning balls is different from other thirds
Plane locating for ball is positioned, and is not blocked between each other.
Optionally, the second identifier plate includes:
First laminate；
Second laminate, second laminate and the first layer board stacking are arranged, and first laminate and described second
Multiple third positioning balls are respectively included on laminate.
Optionally, the positioning device further include:
Mechanical arm, the mechanical arm is for driving the second identifier plate and the beam emissions structure motion；
Clamp structure, the clamp structure are connect with the mechanical arm, the second identifier plate and the beam emissions knot
Structure passes through the clamp structure to be fixed relative to the mechanical arm.
Optionally, the positioning device further include:
Sliding bottom, the mechanical arm are connected to the sliding bottom, to push the machinery by the sliding bottom
Arm translation.
Optionally, the computing device includes chip assembly, and the positioning system further includes display, and the display is used
In the projected image for showing the filming apparatus and getting；Alternatively,
The computing device includes the computer independently of the filming apparatus and the positioning device, the computer with
The filming apparatus and the positioning device communicate to connect, and the computer also serves to show that the filming apparatus is got
Projected image.
Optionally, the guide structure includes at least one following:
Beam emissions component, instrument guide channel.
According to the second aspect of the embodiment of the present application, a kind of target point positioning method is provided, is applied to positioning system, it is described fixed
Position system includes filming apparatus, calibrating installation and positioning device, and the positioning device includes second identifier plate and guide structure；Institute
Stating localization method includes:
According to calibrating position information of the calibrating installation in the case where calibrating coordinate system and the image position in image coordinate system
Confidence breath determines the coke of the first transformational relation and the filming apparatus between the calibration coordinate system and described image coordinate system
Dot position information；
According to described second under the focal position information of the filming apparatus, the location coordinate based on the positioning device
Image coordinate of the positioning coordinate information, first transformational relation and the second identifier plate of marking plate in image coordinate system
Information determines the location coordinate based on the positioning device and the between the perspective reference frame based on filming apparatus second conversion
Relationship, the perspective reference frame are related to the focal position information；
According to positioning position information, the focal position information, described first for guiding structure described under location coordinate
The location information of projection target spot in transformational relation, second transformational relation and image coordinate system, adjusts the guide structure
So that the internal target spot is directed toward in the guide direction for guiding structure.
Optionally, the calibrating installation includes that spaced calibration plate and first identifier plate, the calibration plate packet is laminated
Include multiple first positioning balls, the first identifier plate includes multiple second positioning balls；
It is described according to location information of the calibrating installation in the case where calibrating coordinate system and the image position under image coordinate system
Confidence breath determines the focus position of the first transformational relation and filming apparatus between the calibration coordinate system and described image coordinate system
Confidence breath, comprising:
Location information based on multiple first positioning balls under described image coordinate system and the calibration coordinate system, really
Fixed first transformational relation；
Based on multiple second positioning balls in described image coordinate system and the location information calibrated under coordinate system, institute
The first transformational relation is stated, determines the focal position information of the filming apparatus.
Optionally, described to be believed according to the positioning position information for guiding structure described under location coordinate, the focal position
The image location information of target spot, adjustment are projected in breath, first transformational relation, second transformational relation and image coordinate system
It is described to guide structure that the guide direction for guiding structure is made to be directed toward the internal target spot, comprising:
According to image location information, first transformational relation, the focal position for projecting target spot in image coordinate system
Information, second transformational relation, determine positioning position information of the target spot under location coordinate；
According to the positioning position information of target spot under location coordinate and the positioning position information for guiding structure, adjustment refers to
Guiding structure makes signified guiding structure be directed toward internal target spot.
The technical solution that embodiments herein provides can include the following benefits:
It is mutually indepedent between filming apparatus and positioning device in the application, utilize determining on calibrating installation and positioning device
Position ball is identified, and obtains relative positional relationship, so that filming apparatus can be removed after relative positional relationship determines, positioning dress
It sets the transformational relation depending on the relative position between relationship and coordinate system and can be adjusted and structure is guided to be allowed to be directed toward internal target spot, it is real
Now to the positioning of internal target spot, colleague avoids filming apparatus occupied space.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Fig. 1 is a kind of structural schematic diagram of positioning system shown according to an exemplary embodiment.
Fig. 2 is a kind of structural schematic diagram of calibrating installation shown according to an exemplary embodiment.
Fig. 3 is a kind of perspective view of calibration plate shown according to an exemplary embodiment.
Fig. 4 is a kind of perspective view of first identifier plate shown according to an exemplary embodiment.
Fig. 5 is a kind of partial schematic diagram of positioning device shown according to an exemplary embodiment.
Fig. 6 is a kind of decomposition diagram of second identifier plate shown according to an exemplary embodiment.
Fig. 7 is a kind of structural schematic diagram of mechanical arm shown according to an exemplary embodiment.
Fig. 8 is a kind of structural schematic diagram of the positioning device provided according to an exemplary embodiment.
Fig. 9 is a kind of flow chart of target point positioning method shown according to an exemplary embodiment.
Figure 10 is the flow chart of another target point positioning method shown according to an exemplary embodiment.
Figure 11 is a kind of schematic configuration diagram of the equipment provided according to an exemplary embodiment.
Figure 12 is a kind of block diagram of target spot positioning device shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the application.
It is only to be not intended to be limiting the application merely for for the purpose of describing particular embodiments in term used in this application.
It is also intended in the application and the "an" of singular used in the attached claims, " described " and "the" including majority
Form, unless the context clearly indicates other meaning.It is also understood that term "and/or" used herein refers to and wraps
It may be combined containing one or more associated any or all of project listed.
It will be appreciated that though various information, but this may be described using term first, second, third, etc. in the application
A little information should not necessarily be limited by these terms.These terms are only used to for same type of information being distinguished from each other out.For example, not departing from
In the case where the application range, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as
One information.Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination ".
As Figure 1-Figure 5, which may include filming apparatus 1, calibrating installation 2 and positioning device 3.Wherein,
Filming apparatus 1 is for obtaining projected image.Specifically, which can be used for shooting calibrating installation 2, to obtain the calibration
The corresponding projected image of device 2 can be also used for the partial structurtes in shooting positioning device 3, and obtain corresponding projected image,
The filming apparatus 1 can be also used for shooting affected part, obtain the projected image in the affected part, such as the affected part may include suffering limb, chest
The positions such as portion, cervical vertebra, lumbar vertebrae.For example, which may include C arm X-ray machine.Calibrating installation 2 can be connected to
On the filming apparatus 1, and the shooting opticpath issued from filming apparatus 1 passes through the calibrating installation 2.In following each embodiments
In, the perspective reference frame is identified as with the coordinate system established based on filming apparatus 1, is identified based on the coordinate system that calibrating installation 2 is established
For calibration coordinate system, it is identified as with the coordinate system established based on positioning device 3 location coordinate, is obtained based on filming apparatus 1
Coordinate system in projected image is identified as image coordinate system.
Wherein, calibrating installation 2 is connected to filming apparatus 1, and the light that filming apparatus 1 emits passes through the calibrating installation 2,
To obtain the projected image of the calibrating installation 2, and sat according to each preset in the projected image of the calibrating installation 2 in image
The calibrating position information of image location information and the preset in calibration coordinate system in mark system, determines the coke of filming apparatus 1
The first transformational relation between dot position information, image coordinate system and calibration coordinate system.For example, as shown in figs 2-4, school
Standard apparatus 2 may include calibration plate 21 and first identifier plate 22, which may include multiple first positioning balls 211, the
One marking plate 22 may include multiple second positioning balls 221.Wherein, according to the first positioning ball 211 for determining image coordinate system
The first transformational relation between calibration coordinate system, multiple second positioning ball 221 are used to determine the focus of the filming apparatus 1
Location information.
Further, positioning device 3 is separated in filming apparatus 1, including second identifier plate 31 and beam emissions structure 32, should
Second identifier plate 31 includes that multiple thirds position ball 311, and multiple third positioning ball 311 is for determining location coordinate and perspective
The second transformational relation between coordinate system.The positioning system further includes computing device (not shown), which can be with
According to the focal position information, first transformational relation, second transformational relation, target spot in described image coordinate system
Image coordinate information and location coordinate under guide the location information of structure, and generate adjustment instruction, which is used for
Adjustment guides structure to make that structure is guided to be directed toward target spot.
As can be seen from the above embodiments, mutually indepedent between the filming apparatus 1 in the application and positioning device 3, utilize calibration
Positioning ball on device 2 and positioning device 3 is identified, and obtains relative positional relationship, thus after relative positional relationship determines
Filming apparatus can be removed, finger can be adjusted in transformational relation of the positioning device 3 depending on the relative position between relationship and coordinate system
Guiding structure is allowed to be directed toward internal target spot, realizes the positioning to internal target spot, and colleague avoids 1 occupied space of filming apparatus.Wherein, refer to
Guiding structure includes beam emissions component, and the light of beam emissions component transmitting is directed toward internal target spot, subsequent to orient light
The location information of beam adjusts guide channel；Alternatively, the guide structure also may include tool operation channel, surgical instrument can lead to
The instrument guide channel is crossed to be positioned；Again alternatively, positioning device 3 can also include that beam emissions component and instrument are oriented to simultaneously
Channel.
In the present embodiment, calibration plate 21 and first identifier plate 22 are stacked, and multiple first positioning balls 111 and more
Not blocking mutually between a second positioning ball 221.For example, as shown in Figure 3, Figure 4, ball 211 and second can be positioned by first
Position the setting of the interval of ball 222.For example, first positioning ball 211, second position ball 221 with interval 30 ° circumferentially arrange, and
On projecting direction, each column second position ball 221 and are displaced between adjacent two column first positioning ball 211.Further, in order to just
It, can be by the arrangement of the first positioning ball 211 on calibration plate 21 in distinguishing calibration plate 21 and first identifier plate 22 on projection images
Rule is set as distinguishing with the arrangement rule of the second positioning ball 221 on first identifier plate 22.For example, as shown in Figure 3, Figure 4, school
The central region of quasi- plate 21 is without the first positioning ball 211, and the central region on first identifier plate 222 is provided with the second positioning ball
221。
Wherein, since calibration plate 21 and first identifier plate 22 are to be stacked, in order to improve the intensity of calibrating installation 2, school
Standard apparatus 2 can also include supporting element 23, and the supporting element 23 is between calibration plate 21 and first identifier plate 22 and and calibration plate
21 and first identifier plate 23 be all connected with, to realize supporting role.
In above-mentioned each embodiment, positioning system can also include snap ring 4, which can fix or detachably
Be connected on filming apparatus 1, and the snap ring 4 may further be detachably connected with calibrating installation 2, after realizing
The continuous disassembly to calibrating installation.For example, the calibrating installation 2 can be close by snap ring 4 when filming apparatus 1 is C arm X-ray machine
In C arm X-ray machine image amplifier be arranged, and calibration plate 21 relative to first identifier plate 22 closer to image amplifier.
As shown in Figure 5, Figure 6, which can specifically include third marking plate 31 and guides structure 32.Third mark
Knowing plate 31 may include multiple third positioning balls 311, and at least one third in multiple third positioning ball 311 positions ball institute
The plane at place is different from plane locating for other thirds positioning ball, constructs three-dimensional mould to position ball 311 by multiple third
Type.
For example, still with shown in Fig. 5, Fig. 6, which may include the first laminate 312 and the second laminate
313, it is stacked between second laminate 313 and the first laminate 312, and wrapped respectively on the first laminate 312 and the second laminate 313
Multiple third positioning balls 311 are included, to construct three-dimensional stereo model.Wherein, it is positioned to distinguish the third on the first laminate 312
Third on ball 311 and the second laminate 313 positions ball 311, in one embodiment, can be by by the first laminate 312 and second
Laminate 313 is set as different shapes, and is identified by the feature structure on the first laminate 312 and the second laminate 313；Or
Person, first laminate 312 and third laminate 313 can use identical shape, but feature structure is in the on the first laminate 312
Relative positional relationship between three positioning balls 311 is different from the second laminate 313 between feature structure and third positioning ball 311
Relative positional relationship.
Wherein, for relatively fixed second identifier plate 31 and structure 32 is guided, still with shown in Fig. 5, Fig. 6, the positioning device 3
It can also include clamp structure 33, which is detachably connected with second identifier plate 31 and guide structure 32, with
It keeps second identifier plate 31 and guides the relative positional relationship between structure 32, adjusted convenient for subsequent relationship depending on the relative position
The position for guiding structure 32 is allowed to the light emitted and is directed toward internal target spot.For example, the clamp structure 33 and guide structure 32
Between can be detachably connected by fastener, again may be by fastening between second identifier plate 31 and clamp structure 33
Part is detachably connected.
Further, for the ease of executing operation, which can also include mechanical arm 34 as shown in Figure 7, should
Mechanical arm 34 is connect with clamp structure 33, thus when mechanical arm 34 drives clamp structure 33 to be moved or rotated, it can be with
So that second identifier plate 31 and guide 32 synchronizing moving of structure or rotation make so as to the mobile position for guiding structure 32
The light of transmitting be directed toward internal target spot (concrete mode will be subsequent to be described in detail).
Further, in order to increase mechanical arm 34 can opereating specification, as shown in figure 8, the positioning device 3 can also wrap
Sliding bottom 35 is included, which can be slided, and mechanical arm 34 is installed on the sliding bottom 35, thus logical
The sliding for crossing sliding bottom 35 switches over the position of mechanical arm.Wherein, which can be vehicle structure, and should
Supporter can be set on sliding bottom 35, for placing other supporting structures.
In above-mentioned each embodiment, computing device may include a chip assembly, and positioning system may include one at this time
Display, the display can be used for showing projected image accessed by filming apparatus 1.In another embodiment, the calculating
Device may include one independently of filming apparatus 1 and positioning device 3 computer, the computer and filming apparatus 1 and positioning dress
It sets 3 to communicate to connect, and the computer can be also used for showing the projected image that filming apparatus is got.
Fig. 9 is a kind of flow chart of target point positioning method shown according to an exemplary embodiment.As shown in figure 9, this is fixed
Position method is applied to positioning system, and the positioning system includes filming apparatus, calibrating installation and positioning device, the positioning device
Including second identifier plate and guide structure.May include:
In step 901, the calibrating position information according to the calibrating installation in the case where calibrating coordinate system and in image coordinate
Image location information in system determines the first transformational relation and described between the calibration coordinate system and described image coordinate system
The focal position information of filming apparatus.
In the present embodiment, the calibrating installation includes that spaced calibration plate and first identifier plate, the school is laminated
Quasi- plate includes that multiple first positioning balls, the first identifier plates include multiple second positioning balls；Based on multiple first positioning
Location information of the ball under described image coordinate system and the calibration coordinate system, determines first transformational relation；Based on multiple
Location information, first transformational relation of the second positioning ball under described image coordinate system and the calibration coordinate system,
Determine the focal position information of the filming apparatus.
In step 902, according to the focal position information of the filming apparatus, based on the positioning coordinate of the positioning device
The positioning coordinate information of the second identifier plate, first transformational relation and the second identifier plate are in image coordinate system under system
In image coordinate information, determine the location coordinate based on the positioning device and the perspective reference frame based on filming apparatus it
Between the second transformational relation, the perspective reference frame is related to the focal position information.
In step 903, believed according to the positioning position information for guiding structure described under location coordinate, the focal position
The location information of projection target spot in breath, first transformational relation, second transformational relation and image coordinate system, adjusts institute
It states and guides structure that the guide direction for guiding structure is made to be directed toward the internal target spot.
In the present embodiment, according to projected in image coordinate system the image location information of target spot, first transformational relation,
The focal position information, second transformational relation, determine positioning position information of the target spot under location coordinate；According to fixed
The positioning position information of target spot and the positioning position information for guiding structure, adjustment guide structure to make meaning under the coordinate system of position
Guiding structure is directed toward internal target spot.
As can be seen from the above embodiments, the application positioning device can be by obtaining between the perspective reference frame and location coordinate
The second transformational relation, calibration coordinate system and image coordinate system between the first transformational relation and filming apparatus focal position
Information determines the positioning position information under the location coordinate of target spot, can remove filming apparatus 1 to postpone and continue, according to
Relative positional relationship under location coordinate, which can be adjusted, guides structure to be allowed to be directed toward internal target spot, and internal target spot is determined in realization
Position.
It is following to be carried out specifically in conjunction with concrete operations process for convenient for technical scheme is described in detail
It is bright.Figure 10 is the flow chart of another target point positioning method shown according to an exemplary embodiment, as shown in Figure 10, the target spot
Localization method may comprise steps of:
In a step 101, calibrating position information O of the first positioning ball O in calibration coordinate system XOY is obtained1_2d。
In this embodiment it is assumed that origin is located at the upper surface of calibration plate 21, then the extending direction based on the upper surface
It can establish a calibration coordinate system XOY, and it is fixed can to obtain every one first according to the physical structure size of calibration plate 21 itself
Calibrating position information of the position ball 211 in calibration coordinate system XOY.For example, every one first positioning ball 211 is indicated with alphabetical O, then
Calibrating position information can be with O1_ 2d may include: O1 (X1, Y1), O2 (X2, Y2) ... On (Xn, Yn).
In a step 102, image location information O of the first positioning ball O in image coordinate system MON is obtained2_2d。
In this embodiment it is assumed that establishing an image coordinate system MON by the center of circle of any point in two-dimensional projection image.
It is possible to obtain image location information of every one first positioning ball 211 in image coordinate system MON, the image location information
O2_ 2d may include O1 (M1, N1), O2 (M2, N2) ... On (Mn, Nn).
In step 103, according to the calibrating position information O of the first positioning ball 2111The figure of the positioning ball 211 of _ 2d and first
Image position information O2_ 2d calculates the first transformational relation T1 between calibration coordinate system and image coordinate system.
In the present embodiment, the function between calibrating position information and image location information can be established by mathematical method
Relationship solves first transformational relation T1 according to functional relation.
For example, can establish following functional relations:
M=a0+a1X+a2Y+a3X2+a4XY+a5Y2+a6X3+a7X2Y+a8XY2+a9Y3+…
N=b0+b1X+b2Y+b3X2+b4XY+b5Y2+b6X3+b7X2Y+b8XY2+b9Y3+…
Wherein, (M, N) is image location information, (X, Y) is two-dimensional calibration location information, a0…a9,b0…b9For indicating
First transformational relation T1.In other words, first transformational relation T1 characterizes the pass of the conversion between fault image and non-fault image
System.So after obtaining the two-dimensional projection image in distortion state for being directed to affected part by C arm machine shooting, it can be by the
One transformational relation is calibrated, thus the two-dimensional projection image after being calibrated.
At step 104, image location information P of the second positioning ball 221 in image coordinate system MON is obtained1_2d。
In the present embodiment, the projected image based on calibrating installation 2 under filming apparatus 1 may further be based on image
Coordinate system MON obtains the image location information of each second positioning ball 221, the image location information of the second positioning ball 221
P1_ 2d may include P1 (M1, N1), P2 (M2, N2) ... Pn (Mn, Nn).
In step 105, according to the image location information of the positioning ball 221 of the first transformational relation T1 and second, second is calculated
Position the three-dimensional coordinate P of ball plane projection locating for the first positioning ball2_3d。
In the present embodiment, plane locating for the first positioning ball 211 is the position of calibration plate 21.It is closed by the first conversion
It is the available second positioning projection coordinate P on calibration plate 21 of ball 221 of T13_ 2d, the P3_ 2d may include P1 (X1, Y1), P2
(X2, Y2) ... Pn (Xn, Yn), and can be assumed that calibration coordinate system is located on calibration plate in the present embodiment, so the second positioning
The Z coordinate of subpoint on calibration plate 21 of ball 221 is zero, to obtain the three-dimensional coordinate P of the second positioning ball 221 projection2_ 3d:
P1 (X1, Y1,0), P2 (X2, Y2,0) ... Pn (Xn, Yn, 0).
In step 106, calibrating position information P of the second positioning ball P in calibration coordinate system XOY is obtained3_3d。
In the present embodiment, according to the relative positional relationship between calibration plate 21 and first identifier plate 22, available
Calibrating position information of every one second positioning ball in calibration coordinate system, calibrating position information P on one marking plate 223_ 3d can
To indicate including Pj1 (X1, Y1, Z1), Pj2 (X2, Y3, Z3) ... Pj3 (X1, Y1, Z1).
In step 107, according to P2_ 3d and P3_ 3d obtains focal position information J_3d.
In the present embodiment, every one second positioning ball 221 can form one on calibration plate 21 on first identifier plate 22
Subpoint.In other words, there is the second positioning ball 221 in a physical space in the projection of calibration plate 21 in the second positioning ball 221
Be corresponding to it, for example, it is assumed that one second positioning ball 221 calibration coordinate system in calibrating position information be Pj1 (X1,
Y1, Z1), the location information which projects on calibration plate 21 is P1 (X1, Y1,0), then P1 excessively (X1, Y1,
0) and the straight line of Pj1 (X1, Y1, Z1) two o'clock necessarily passes light source.So available by multiple second positioning ball 221
The a plurality of straight line by light source, thus the location information that is, focal position information J_3d of light source can be calculated, the focus
Z axis coordinate, that is, the distance between light source and projection imaging plane of location information J_3d.It, can be with based on focal position information J_3d
Obtain the projective transformation matrix A in the three-dimensional coordinate and projected image of any point under the perspective reference frame between corresponding points.
In step 108, image location information Q of the third positioning ball in image coordinate system is obtained1-2d。
In the present embodiment, since third positioning ball 311 is there are multiple, so it is based on image coordinate system MON, two dimension seat
Mark Q1_ 2d may include Q1 (M1, N1), Q2 (M2, N2) ... Qn (Mn, Nn).
In step 109, positioning position information Q of the third positioning ball 311 under location coordinate is obtained3_3d。
In the present embodiment, location coordinate can be established in positioning device 3, and due to each knot in positioning device 3
Relative positional relationship between structure is it is known that so as to obtain sprocket bit confidence of the third positioning ball 311 under location coordinate
Cease Q3_3d。
In step 110, according to focal coordinates information J_3d, the positioning position information Q of third positioning ball 3113_ 3d,
Two-dimensional coordinate Q of the three positioning balls in image coordinate system1-2d obtains the second conversion between the perspective reference frame and location coordinate
Relationship T2.
In the present embodiment, it can be assumed that it is Q that third, which positions perspective position information of the ball under the perspective reference frame,2_ 3d, that
Available Q2_ 3d=F1 (T2, Q3_ 3d), and according to the projective transformation of the available filming apparatus of focal coordinates information J_3d
Matrix A, it can obtain the image location information Q of functional relation third positioning ball Q1-2d=F2 (T1, A, Q2_3d).So connection
Close Q1-2d=F2 (T1, A, Q2_ 3d) and Q2_ 3d=F1 (T2, Q3_ 3d), the image location information of available third positioning ball Q
Q1-2d=F3 (T1, A, T2, Q3_3d).Wherein, the image location information Q of third positioning ball Q1-2d, it the first transformational relation T1, throws
The positioning position information Q of shadow transformation matrix A and third positioning ball 3113_ 3d is it is known that sitting so as to which positioning is calculated
The second transformational relation T2 between mark system and the perspective reference frame.For example, can be obtained most by the continuous matching matrix of optimization algorithm
Excellent matrix is the second transformational relation, such as can be by least square method or other optimization algorithms, and the application is simultaneously unlimited
System.
In step 111, image coordinate information B_2d of the internal target spot in image coordinate system is obtained, and is based on first turn
Relationship T1, focal position information J_3d and the second transformational relation T2 are changed, the position location of internal target spot under location coordinate is obtained
Information B_3d.
In the present embodiment, it is as follows to can establish functional relation:
B_2d=F4 (T1, T2, A, B_3d)
Based on this, it is available based on positioning device 3 when body in target spot three-dimensional coordinate B_3d.
In step 112, the positioning position information G_3d for guiding structure 32 under location coordinate is obtained.
In the present embodiment, due to guiding relative positional relationship between structure 32 and second identifier plate 31 to fix, so as to
Obtain guiding the positioning position information of structure 32 with the positional information calculation by second identifier plate 31.It is of course also possible to pass through
Other modes acquire the positioning position information G_3d for guiding structure 32, such as by pre-stored mode, the application is simultaneously
It is limited not to this.
In step 113, according to the positioning position information B_3d of target spot internal under location coordinate and structure 32 is guided
Positioning position information G_3d, adjustment guide structure 32 to make that structure 32 is guided to be directed toward internal target spot.
In the present embodiment, since the positioning position information of target spot internal under location coordinate and guide structure 32 is
Know, so as to adjust beam emissions by the associated movement of the movement of mechanical arm 34 or mechanical arm 34 and sliding bottom 35
The position of structure 32.
Corresponding with the embodiment of target point positioning method above-mentioned, present invention also provides the implementations of target spot positioning device
Example.
Figure 11 is a kind of schematic configuration diagram for equipment that an exemplary embodiment provides.Figure 11 is please referred to, in hardware view,
The equipment includes processor 1102, internal bus 1104, network interface 1106, memory 1108 and nonvolatile memory
1110, it is also possible that hardware required for other business certainly.Processor 1102 is read from nonvolatile memory 1110
Then corresponding computer program is run into memory 1108, the display device for gestures of guide channel is formed on logic level
1100.Certainly, other than software realization mode, other implementations are not precluded in this specification one or more embodiment,
Such as logical device or the mode of software and hardware combining etc., that is to say, that the executing subject of following process flow is not limited to
Each logic unit is also possible to hardware or logical device.
Figure 12 is please referred to, in Software Implementation, which can be applied to positioning system, described
Positioning system includes filming apparatus, calibrating installation and positioning device, and the positioning device includes second identifier plate and beam emissions
Structure；Target spot positioning device 1100 includes the first determining module 1201, the second determining module 1202 and adjustment module 1203；Its
In:
First determining module 1201, according to calibrating position information of the calibrating installation in the case where calibrating coordinate system, He Tu
As the image location information in coordinate system, the first transformational relation between the calibration coordinate system and described image coordinate system is determined
With the focal position information of the filming apparatus；
Second determining module 1202 is determined according to the focal position information of the filming apparatus, based on the positioning device
Positioning coordinate information, first transformational relation and the second identifier plate of the second identifier plate are in image under the coordinate system of position
Image coordinate information in coordinate system determines that the location coordinate based on the positioning device and the perspective based on filming apparatus are sat
The second transformational relation between mark system, the perspective reference frame are related to the focal position information；
Module 1203 is adjusted, according to the positioning position information for guiding structure described under location coordinate, the focal position
The location information of projection target spot in information, first transformational relation, second transformational relation and image coordinate system, adjustment
It is described to guide structure that the guide direction for guiding structure is made to be directed toward the internal target spot.
Optionally, the calibrating installation includes that spaced calibration plate and first identifier plate, the calibration plate packet is laminated
Include multiple first positioning balls, the first identifier plate includes multiple second positioning balls；First determining module 1201 is also used to:
Location information based on multiple first positioning balls under described image coordinate system and the calibration coordinate system, really
Fixed first transformational relation；
Based on multiple second positioning balls in described image coordinate system and the location information calibrated under coordinate system, institute
The first transformational relation is stated, determines the focal position information of the filming apparatus.
Optionally, the adjustment module 1204 is also used to:
According to image location information, first transformational relation, the focal position for projecting target spot in image coordinate system
Information, second transformational relation, determine positioning position information of the target spot under location coordinate；
According to the positioning position information of target spot under location coordinate and the positioning position information for guiding structure, adjustment refers to
Guiding structure makes signified guiding structure be directed toward internal target spot.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize application scheme.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided
It such as include the memory 1110 of instruction, above-metioned instruction can be executed by the processor 1102 of electronic equipment to complete the above method.Example
Such as, the non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, soft
Disk and optical data storage devices etc..
Those skilled in the art will readily occur to its of the application after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the application, these modifications, purposes or
Person's adaptive change follows the general principle of the application and including the undocumented common knowledge in the art of the application
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the application are by following
Claim is pointed out.
It should be understood that the application is not limited to the precise structure that has been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.Scope of the present application is only limited by the accompanying claims.
Claims (14)
1. a kind of positioning system characterized by comprising
Filming apparatus, the filming apparatus is for obtaining projected image；
Calibrating installation, the calibrating installation is connected to the filming apparatus, and the projection ray of filming apparatus transmitting is passed through
The calibrating installation, the calibrating installation include calibration plate and first identifier plate, and the calibration plate includes multiple first positioning balls,
The first identifier plate includes multiple second positioning balls；
Positioning device, the positioning device are separated with the filming apparatus, including second identifier plate and guide structure, and described second
Marking plate includes multiple third positioning balls, and the multiple third positioning ball is used to determine the positioning coordinate based on the positioning device
The second transformational relation between system and the perspective reference frame based on filming apparatus；
Wherein, the multiple first positioning ball is for determining the image coordinate system based on the projected image and being based on the calibration
The first transformational relation between the calibration coordinate system of device, the multiple second positioning ball are used to determine the coke of the filming apparatus
Dot position information；
The positioning system further includes computing device, and the computing device is used for according to the focal position information, described first
Transformational relation, second transformational relation, target spot guide under the coordinate information and location coordinate in described image coordinate system
The positioning position information of structure, generate adjustment instruction, the adjustment instruction be used to indicate the guide structure be adjusted so that
The guide structure is directed toward the target spot.
2. positioning system according to claim 1, which is characterized in that the calibration plate is set with the first identifier board stacking
It sets, and multiple first positioning balls and multiple second positioning balls do not block mutually.
3. positioning system according to claim 2, which is characterized in that the calibrating installation further includes supporting element, the branch
Support member is all connected between the calibration plate and the first identifier plate and with the calibration plate and the first identifier plate.
4. positioning system according to claim 1, which is characterized in that multiple first positioning balls are on the calibration plate
Arrangement rule, be different from it is multiple it is described second positioning balls on the first identifier plate arrangement rule.
5. positioning system according to claim 1, which is characterized in that the positioning system further includes snap ring, the snap ring
It is detachably connected on the filming apparatus and with the calibrating installation；
Wherein, the snap ring is detachably connected or is fixedly connected with the filming apparatus.
6. positioning system according to claim 1, which is characterized in that at least one of multiple thirds positioning balls the
Plane locating for three positioning balls is different from plane locating for other thirds positioning ball, and does not block between each other.
7. positioning system according to claim 1, which is characterized in that the second identifier plate includes:
First laminate；
Second laminate, second laminate and the first layer board stacking are arranged, and first laminate and second laminate
On respectively include multiple thirds positioning balls.
8. positioning system according to claim 1, which is characterized in that the positioning device further include:
Mechanical arm, the mechanical arm is for driving the second identifier plate and the beam emissions structure motion；
Clamp structure, the clamp structure are connect with the mechanical arm, and the second identifier plate and the beam emissions structure are equal
It is fixed by the clamp structure relative to the mechanical arm.
9. positioning system according to claim 5, which is characterized in that the positioning device further include:
Sliding bottom, the mechanical arm are connected to the sliding bottom, to push the mechanical arm flat by the sliding bottom
It moves.
10. positioning system according to claim 1, which is characterized in that the computing device includes chip assembly, described fixed
Position system further includes display, and the display is for showing the projected image that the filming apparatus is got；Alternatively,
The computing device includes the computer independently of the filming apparatus and the positioning device, the computer with it is described
Filming apparatus and the positioning device communicate to connect, and the computer also serves to show that the throwing that the filming apparatus is got
Shadow image.
11. positioning system according to claim 1, which is characterized in that the guide structure includes at least one following:
Beam emissions component, instrument guide channel.
12. a kind of target point positioning method, which is characterized in that be applied to positioning system, the positioning system includes filming apparatus, school
Standard apparatus and positioning device, the positioning device include second identifier plate and guide structure；The localization method includes:
According to calibrating position information of the calibrating installation in the case where calibrating coordinate system and the picture position letter in image coordinate system
Breath determines the focus position of the first transformational relation and the filming apparatus between the calibration coordinate system and described image coordinate system
Confidence breath；
According to the second identifier under the focal position information of the filming apparatus, the location coordinate based on the positioning device
Image coordinate letter of the positioning coordinate information, first transformational relation and the second identifier plate of plate in image coordinate system
Breath determines that the location coordinate based on the positioning device and the between the perspective reference frame based on filming apparatus second conversion close
System, the perspective reference frame are related to the focal position information；
According to the positioning position information for guiding structure described under location coordinate, the focal position information, first conversion
The location information of projection target spot in relationship, second transformational relation and image coordinate system, adjusts the guide structure and makes
It is directed toward the internal target spot in the guide direction for guiding structure.
13. target point positioning method according to claim 12, which is characterized in that the calibrating installation includes that stacking interval is set
The calibration plate and first identifier plate set, the calibration plate include that multiple first positioning balls, the first identifier plates include multiple the
Two positioning balls；
The location information according to the calibrating installation in the case where calibrating coordinate system and the picture position letter under image coordinate system
Breath determines the focal position letter of the first transformational relation and filming apparatus between the calibration coordinate system and described image coordinate system
Breath, comprising:
Location information based on multiple first positioning balls under described image coordinate system and the calibration coordinate system, determines institute
State the first transformational relation；
Based on location information of multiple second positioning balls under described image coordinate system and the calibration coordinate system, described the
One transformational relation determines the focal position information of the filming apparatus.
14. target point positioning method according to claim 12, which is characterized in that described according to finger described under location coordinate
The positioning position information of guiding structure, the focal position information, first transformational relation, second transformational relation and image
The image location information that target spot is projected in coordinate system adjusts the guide direction for guiding structure to make the guide structure and is directed toward
The internal target spot, comprising:
According to projected in image coordinate system the image location information of target spot, first transformational relation, the focal position information,
Second transformational relation determines positioning position information of the target spot under location coordinate；
According to the positioning position information of target spot under location coordinate and the positioning position information for guiding structure, knot is guided in adjustment
Structure makes signified guiding structure be directed toward internal target spot.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910161265.2A CN109938848A (en) | 2019-03-04 | 2019-03-04 | Positioning system and target point positioning method |
| PCT/CN2020/077846 WO2020177725A1 (en) | 2019-03-04 | 2020-03-04 | Target path determining method |
| US17/431,683 US20220133409A1 (en) | 2019-03-04 | 2020-03-04 | Method for Determining Target Spot Path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910161265.2A CN109938848A (en) | 2019-03-04 | 2019-03-04 | Positioning system and target point positioning method |
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| CN109938848A true CN109938848A (en) | 2019-06-28 |
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| CN201910161265.2A Pending CN109938848A (en) | 2019-03-04 | 2019-03-04 | Positioning system and target point positioning method |
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| CN111388092A (en) * | 2020-03-17 | 2020-07-10 | 京东方科技集团股份有限公司 | Positioning tracking piece, registration method, storage medium and electronic equipment |
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