CN107550576A - Space positioning apparatus and localization method, rectifier, antidote - Google Patents
Space positioning apparatus and localization method, rectifier, antidote Download PDFInfo
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- 239000000729 antidote Substances 0.000 title claims abstract description 14
- 230000004807 localization Effects 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 63
- 238000001514 detection method Methods 0.000 claims description 18
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- 239000000463 material Substances 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 6
- 239000003550 marker Substances 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 5
- 238000011161 development Methods 0.000 claims description 3
- 230000005055 memory storage Effects 0.000 claims description 3
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Abstract
The present invention proposes that a kind of space positioning apparatus and localization method, rectifier, antidote, the space positioning apparatus include：Harden structure and at least three mark parts；The harden structure includes point and marking plate face；Each mark part is arranged on the marking plate face, and the spacing between the point.Can realize is being inconvenient to place mark part or is determining the locus point location in the case of locus by marking part, and applicable scene is wider, is more convenient.
Description
Technical field
The present invention relates to three-dimensional space position field of locating technology, more particularly to a kind of space positioning apparatus and positioning
Method, rectifier, antidote.
Background technology
, it is necessary to carry out locus tracing and positioning to some location points in more field, such as in the medical field,
Need to carry out three-dimensional position tracing and positioning to the position such as some boring points, anatomical location points, feature detection point point, by what is detected
After location position data, follow-up Automated condtrol or data processing etc. can be achieved, so it is generally necessary to determining by space
Position device positions to realize location position and detect.
At present, the mode of three-dimensional position point tracking positioning is realized, mark directly typically is set in the opening position for needing to position
Remember part, still, some positions be present and be not easy to carry out directly mark positioning, e.g. more hidden out-of-the-way position, can not set
Mark part or mark part are easily blocked and can not detected, thus need room for improvement caliberating device to enter to these positions
Row space orientation.
In addition, space caliberating device is because foozle or humiture change or aging or deformation etc. the factor such as fall,
Scale error can be produced, the accuracy of positioning can not be ensured, thus needs to correct space caliberating device, otherwise just can only
Scrap and remake, and space caliberating device can be corrected currently without preferable rectifier.
The content of the invention
To solve the above problems, the present invention proposes a kind of space positioning apparatus, including：Harden structure and at least three marks
Part；The harden structure includes point and marking plate face；Each mark part is arranged on the marking plate face, and with
Spacing between the point.
According to one embodiment of present invention, the harden structure is material of not developing, and the mark part is development material；
And/or the mark part is reflective marker part.
According to one embodiment of present invention, the mark part is chondritic.
The present invention also provides a kind of rectifier of space positioning apparatus, and the space positioning apparatus is as in previous embodiment
Space positioning apparatus described in any one, the rectifier include：
Sophisticated accommodating structure, to house the point of the harden structure, and enable the harden structure in certain angle
In the range of around its point move；
Locus identification device, to detect the mark part in the harden structure, to determine the space of the mark part
Position.
According to one embodiment of present invention, the sophisticated accommodating structure includes：
Sophisticated connecting portion, offers storage tank thereon, to coordinate the point for housing the harden structure；
Spherical joint seat, including spheroid and pedestal, the spheroid is movable to be equipped with the ball hole of the pedestal, described
Spheroid is connected with the sophisticated connecting portion, the harden structure is moved in the range of certain angle around its point.
According to one embodiment of present invention, the storage tank is extended at the sphere center position of the spheroid so that described
Point it is most advanced at the sphere center position of the spheroid.
According to one embodiment of present invention, the locus identification device is：Binocular vision system；Or, at least two
The individual pick-up lens shot positioned at different angle；Or, at least two x-ray scanning dress being scanned positioned at different angle
Put.
According to one embodiment of present invention, in addition to controller, the controller include memory and processor, wherein
The memory storage has program, and following steps can be realized when described program is executed by processor：
The harden structure detected by locus identification device is obtained to transport around its point in the range of certain angle
Some locus when dynamic on each mark part movement locus；
It is identical or convergence is packet standard using the distance of locus to point position, the locus of acquisition is carried out
Packet, obtain one group of locus of each mark part；
Sphere surface fitting is carried out to one group of locus of each mark part, obtains the spherical formula of each mark part；
Radius in the spherical formula of each mark part of extraction, the correction distance as each mark part to point.
According to one embodiment of present invention, the movement locus is determined by following motion mode：
Intersection point using point position as two axis for being mutually perpendicular to and being on horizontal plane, control harden structure is around described
Each axis is rotated, and obtains the movement locus of each mark part；
Or, using point position as four mutually in 45 degree angles and be in horizontal plane on axis intersection point, control panel
Structure is rotated around each axis, obtains the movement locus of each mark part；
Or, control panel structure ring is moved around the axis with horizontal plane and point position excessively, obtains each mark
Remember the movement locus of part.
According to one embodiment of present invention, if the locus identification device is binocular vision system or at least two
The pick-up lens shot positioned at different angle, then when harden structure is moved, the direction of the plate face provided with mark part to mark
Note part can be detected and known by the two-sided vision system or at least two pick-up lens shot positioned at different angle all the time
Not.
The present invention also provides a kind of localization method of space positioning apparatus, and the space positioning apparatus is such as previous embodiment
Space positioning apparatus described in middle any one, the localization method comprise the following steps：
A1：Locus to be positioned is clicked with the point of the harden structure；
A2：Detection positions the position of the mark part in the harden structure；
A3：The position of at least three mark parts is chosen, the distance of each mark part and point is determined, calculates with each mark
The position of note part is the centre of sphere, and the spherical formula that the distance of correspondence markings part and point is radius；
A4：At least three spherical formulas according to trying to achieve determine each unique point, be each sphere intersection point or apart from each sphere
Surface closest approach, the anchor point as point.
The present invention also provides a kind of antidote of space positioning apparatus, and the space positioning apparatus is such as previous embodiment
Space positioning apparatus described in middle any one, the antidote comprise the following steps：
B1：Control the harden structure to be moved in the range of certain angle around its point, while identified by locus
Some locus on each mark part movement locus of device detection；
B2：Obtain some locus on each mark part movement locus；
B3：It is identical or convergence is packet standard using the distance of locus to point position, by the locus of acquisition
It is grouped, obtains one group of locus of each mark part；
B4：Sphere surface fitting is carried out to one group of locus of each mark part, obtains the spherical formula of each mark part；
B5：Radius in the spherical formula of each mark part of extraction, the correction distance as each mark part to point.
According to one embodiment of present invention, the movement locus is determined by following motion mode：
Intersection point using point position as two axis for being mutually perpendicular to and being on horizontal plane, control harden structure is around described
Each axis is rotated, and obtains the movement locus of each mark part；
Or, using point position as four mutually in 45 degree angles and be in horizontal plane on axis intersection point, control panel
Structure is rotated around each axis, obtains the movement locus of each mark part；
Or, control panel structure ring is moved around the axis with horizontal plane and point position excessively, obtains each mark
Remember the movement locus of part.
According to one embodiment of present invention, if the locus identification device is binocular vision system or at least two
The pick-up lens shot positioned at different angle, then when harden structure is moved, the direction of the plate face provided with mark part to mark
Note part can be detected and known by the two-sided vision system or at least two pick-up lens shot positioned at different angle all the time
Not.
After adopting the above technical scheme, the present invention has the advantages that compared with prior art：
In space positioning apparatus, harden structure is arranged to point and marking plate face, so as to pass through tip
Portion is gone to click locus point to be positioned, and at least three mark parts with point Unequal distance are set on marking plate face,
Because the spaced relationship of each mark part and point is known, so as to mark the locus of part by detecting come really
Determine the locus of point, realize the locus point location that point clicks, it is possible to achieve be inconvenient to place mark part
Or the locus point location in the case of locus is determined by marking part, applicable scene is wider, is more convenient；
The localization method of space positioning apparatus, locus and and point using at least three mark parts detected
The distance between, to determine the sphere of respective numbers, so as to which point be calculated according to the relation between several spheres
Position, so that it is determined that locus to be positioned, calculation is simple, can position the location point for being not easy to mark；
In rectifier, sophisticated accommodating structure can realize that harden structure is moved around point, pass through locus identification device
The different spatial point of the mark part in movement locus can be identified, because the position of point in mark part motion process is consolidated
Calmly, thus according to these locus points the spacing between the point of part relative position determination can be determined and mark, so as to
It can realize that the spaced relationship between mark part and point corrects so that positioning is more accurate.
Brief description of the drawings
Fig. 1 is the space positioning apparatus of one embodiment of the invention and its dimensional structure diagram of rectifier；
Fig. 2 is the space positioning apparatus of one embodiment of the invention and its cross-sectional view of rectifier；
Fig. 3 is the schematic flow sheet of the localization method of the space positioning apparatus of one embodiment of the invention；
Fig. 4 is the schematic flow sheet of the antidote of the space positioning apparatus of one embodiment of the invention.
Description of symbols in figure：
1- harden structures, 11- marking plates face, 12- points, 2- mark parts, 31- tips connecting portion, 32- spheroids, 33- seats
Body.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.
Many details are elaborated in the following description in order to fully understand the present invention.But the present invention can be with
Much it is different from other manner described here to implement, those skilled in the art can be in the situation without prejudice to intension of the present invention
Under do similar popularization, therefore the present invention is not limited to the specific embodiments disclosed below.
Referring to Fig. 1 and Fig. 2, space positioning apparatus includes：Harden structure 1 and at least three marks part 2.It is appreciated that mark
Part 2 is different from the material of harden structure 1, and mark part 2 is as the label in harden structure 1, it is clear that can be identified and fill by locus
Put and identify.
Harden structure 1 includes point 12 and marking plate face 11, and point 12 and marking plate face 11 can be integrated into
Type structure, is certainly not limited to this.Point 12 is the end of pointed, the position can extend into marking plate face 11 be not easy into
The position that enters is not easy to place the opening position of mark part 2, and specific acuity is unlimited, as long as space bit to be positioned can be clicked
Put.Each mark part 2 is arranged on marking plate face 11, set-up mode can be attach or inlay etc. it is unlimited and each
Mark the spacing between part 2 and point 12.
As shown in Fig. 2 point 12 is in horn shape, the locus of positioning required for clicking can be gone to sharp end
Point.Marking plate face 11 can be board face structure, and concrete shape is unlimited, as long as so that each mark part is in a plate face
Can, can be to have longer length for opposite tip portion 12 for the ease of operation, specific length is unlimited.Marking plate face 11
The mark part of upper arrangement is not arranged collinearly preferably, can improve setting accuracy.In figure, mark part 2 is four, certainly
Not limited to this, mark the distribution of part 2 more scattered better, certainly also will be by plate face size constraint.
In space positioning apparatus, harden structure 1 is arranged to point 12 and marking plate face 11, so as to pass through
Point 12 is gone to click locus point to be positioned, and at least three with the Unequal distance of point 12 are set on marking plate face 11
Individual mark part 2, because the spaced relationship of each mark part 2 and point 12 is known, so as to mark part 2 by detecting
Locus determine the locus of point 12, realize the locus point location that point 12 clicks, it is possible to achieve
Be inconvenient to place mark part or determining the locus point location in the case of locus by marking part, be applicable scene
It is wider, it is more convenient.
Space positioning apparatus can be used in the occasion that different needs position, certainly, the locus in different occasions
Identification device can be with different, and the material of mark part 2 can be adjusted correspondingly as needed, specific unlimited, as long as energy
It is enough to be identified by locus identification device.
Optionally, harden structure 1 is material of not developing, and mark part 2 is development material, can be swept by x-ray scanning device
Retouch detection mark part 2.It can also be reflective marker part to mark part 2, can be filled by binocular vision system or the first-class optics of camera lens
Put detection to identify, such as can be the reflective marker thing such as chequered with black and white concentric ring.Certainly, mark part 2 can also be
The reflective marker part that can develop, such as reflective marker is coated with the outside of steel ball.
Preferably, it is chondritic to mark part 2, can inlay and be fixed on marking plate face 11, especially in x-ray scanning feelings
Under condition, chondritic can be rounded under any angle, marks plate face portion 11 arbitrarily to arrange during scanning, operates more
Convenient, positioning precision is also more preferable.
Referring to Fig. 3, the present invention also provides a kind of localization method of space positioning apparatus, and space positioning apparatus is such as foregoing reality
The space positioning apparatus described in any one in example is applied, the localization method comprises the following steps：
A1：Locus to be positioned is clicked with the point of the harden structure；
A2：Detection positions the position of the mark part in the harden structure；
A3：The position of at least three mark parts is chosen, the distance of each mark part and point is determined, calculates with each mark
The position of note part is the centre of sphere, and the spherical formula that the distance of correspondence markings part and point is radius；
A4：At least three spherical formulas according to trying to achieve determine each unique point, be each sphere intersection point or apart from each sphere
Surface closest approach, the anchor point as point.
The localization method of the space positioning apparatus of the embodiment of the present invention is described in detail below.
In step A1, using the space positioning apparatus of previous embodiment, the point 12 of harden structure 1 is moved to undetermined
Bit space opening position, can be by the point 12 and space bit to be positioned by 12 points of location points chosen needs and positioned of point
Realization point contact is put, certainly, the calculating of subsequent rotation and radius is performed using the contact point as point 12.
Placed in point 12 and perform step A2 afterwards, the position of 1 mark part 2 in detection positioning plate structure.Can be with
Pass through binocular vision system；Or, at least two pick-up lens shot positioned at different angle；Or, at least two positioned at not
X-ray scanning device being scanned with angle etc. marks the locus of part to detect.For example, binocular vision system can be passed through
System, the locus of detection mark part 2, the position using binocular vision system located space point is prior art, herein no longer
Repeat.Certainly, during detection, it is preferably such that the holding of marking plate face 11 is static and is provided with the one of mark part 2 facing to binocular vision
System.
Step A3 is performed after the locus of the good each mark part 2 of detection, chooses the position of at least three mark parts 2, really
The distance of fixed each mark part 2 and point 12, the position using each mark part 2 is calculated as the centre of sphere, and correspondence markings part 2 and point
The distance of end 12 is the spherical formula of radius, can obtain at least three different spherical formulas.
Specifically, calculating, the position principle of point 12 is as follows, and the locus of mark part 2 is b1, b2, b3 ... bn, they
Distance with point 12 is respectively r1, r2, r3 ... rn (fixed).It is radius that then point 12, which is located at by the centre of sphere, r1 of b1,
B1r1 spheres on, while be also located at using b2 as the centre of sphere, r2 to be the centre of sphere, r3 for radius on the b2r2 spheres of radius and using b3
On b3r3 spheres.There are more than three spheres, to determine unique point can be three (or more) individual ball intersection point, or distance three is (more
It is more) closest approach of individual ball surface.
Thus, step A4 is performed after spherical formula corresponding to each mark part 2 is calculated, according at least three tried to achieve
Individual spherical formula determines each unique point, be each sphere intersection point or apart from each spherical face closest approach, as determining for point 12
Site.The location point of point 12 is calculated, namely the locus point that the point 12 is clicked has been calculated, realizes
Locus positions.
The localization method of space positioning apparatus, using detect at least three mark parts 2 locus and with tip
The distance between portion 12, to determine the sphere of respective numbers, so as to which tip be calculated according to the relation between several spheres
The position in portion 12, so that it is determined that locus to be positioned, calculation is simple, can position the location point for being not easy to mark.
With continued reference to Fig. 1 and Fig. 2, the present invention also provides a kind of rectifier of space positioning apparatus, the space orientation dress
It is set to the space positioning apparatus as described in any one in previous embodiment.The rectifier includes：Sophisticated accommodating structure and space
Position identification device (not shown).
Sophisticated accommodating structure enables harden structure 1 in the range of certain angle to house the point 12 of harden structure
Moved around its point 12, due to being moved around point 12, thus mark part 2 movement locus be on a sphere, by
It is different from the spacing of point 12 in mark part 2, thus the movement locus of isolabeling part 2 is not located on different spheres.Tip
As long as accommodating structure can realize that the point of harden structure 1 can be located therein, it is light to be unlikely to the point 12 in motion process
It is easily mobile, and harden structure 1 can move around point 12.
Locus identification device is to detect the mark part in harden structure 1, to determine to mark the locus of part 2, by
In mark part 2, also corresponding motion, locus identification device also can recognize that motion certainly during harden structure 1 is moved
In the mark part of diverse location, so as to obtain marking multiple locus of part 2.
In rectifier, sophisticated accommodating structure can realize that harden structure 1 is moved around point 12, identified and filled by locus
The different spatial point for the mark part 2 that can be identified in movement locus is put, due to point 12 in the mark motion process of part 2
Position is fixed, thus according to these locus points can determine and mark the relative position of part 2 determine point 12 between
Spacing, the spaced relationship so as to realize between mark part 2 and point 12 correct so that positioning is more accurate.
In one embodiment, sophisticated accommodating structure can include：Sophisticated connecting portion 31 and spherical joint seat.Spherical joint seat,
Including spheroid 32 and pedestal 33, there is ball hole on pedestal 33, spheroid 32 can freely rotate in ball hole, realize the work(of ball-joint
Energy.
Storage tank is offered on sophisticated connecting portion 31, to coordinate the point 12 of accommodating harden structure 1, storage tank is, for example, to block
Groove, point 12 is fixed wherein.Spheroid 32 is movable to be equipped with the ball hole of pedestal 33, and spheroid 32 is connected with tip
Portion 31 is connected, and harden structure 1 is moved in the range of certain angle around its point 12.
Realize that harden structure 1 is moved around point by sophisticated connecting portion 31 and spherical joint seat, the pedestal 33 of spherical joint seat
It can be connected with outer body, ensure not move during motion process, each mark part 2 is only occurred around point (point 12)
Spheric motion so that the position detection of mark part 2 is more accurate.
Preferably, referring to Fig. 2, storage tank is extended at the sphere center position of spheroid 32 so that the most advanced position of point 12
At the sphere center position of spheroid 32.Because point 12 is a stereochemical structure, thus in the motion process of harden structure 1, Shi Biyou
Part can also move therewith, thus as much as possible by the most advanced at the sphere center position of spheroid 32 of point 12, so as to protect
No matter how spheroid 32 rotates card, how harden structure 1 moves, what sphere center position will not necessarily move, ensures point 12 most
Tip location does not move so that the correction degree of accuracy is higher.
Locus identification device can be：Binocular vision system；Or, at least two shot positioned at different angle
Pick-up lens；Or, at least two x-ray scanning device being scanned positioned at different angle.
Binocular vision system can detect the different spatial that part is marked in motion process, using binocular stereo vision three
The position for tieing up measuring principle located space point is prior art, be will not be repeated here, and can control timing detection collection space bit
Put data.It is similar with the principle scanned using the x-ray scanning device of different angle using the pick-up lens shooting of different angle, all
It is to be closed by the position between the mark position of part 2 in the two dimensional image under different angle and pick-up lens or x-ray scanning device
System, it is determined that the location point of mark part 2 in three dimensions, what simply x-ray scanning device obtained is x-ray image.
In one embodiment, rectifier can also include controller (not shown).Controller include memory and
Processor, wherein the memory storage has program, following steps can be realized when described program is executed by processor：
The harden structure 1 detected by locus identification device is obtained to transport around its point in the range of certain angle
Some locus when dynamic on each mark movement locus of part 2；
It is identical or convergence is packet standard using the distance of locus to point position, the locus of acquisition is carried out
Packet, obtain one group of locus of each mark part 2；
Sphere surface fitting is carried out to one group of locus of each mark part 2, obtains the spherical formula of each mark part 2；
Radius in the spherical formula of each mark part 2 of extraction, as each mark part 2 to point 12 correction away from
From.
Harden structure 1 is unlimited around the specific track that its point 12 moves, as long as so that locus identification device detects
The mark movement locus of part 2 on some locus can be used for that to be fitted show spherical equation.
Because not isolabeling part 2 is different from a distance from point 12, and the position of point 12 is constant, thus can be with
Using the distance as packet standard, one will be classified as apart from the locus of identical or convergence (allowing certain error scope)
Group, so as to which each mark part 2 has one group of locus, each carry out follow-up calculating.
By taking one of mark part 2 as an example, because harden structure 1 is around during point 12 moves, the position of point 12
Constant, the movement locus for marking part 2 is on a sphere all the time, can be fitted to obtain by multiple diverse location points
The spherical formula.
Specifically, first determine Sphere Measurement Model：Equation such as (1) are asked in sphere centre coordinate (a, b, c), radius R ball, space：
(x-a)2+(y-b)2+(z-c)2=R2 (1)
Formula (1) is deployed：x2+y2+z2-2ax-2by-2cz+a2+b2+c2=R2 (2)
Then, A=2a, B=2b, C=2c, D=a are made2+b2+c2-R2
x2+y2+z2- Ax-By-Cz+D=0 (3), parameter to be asked are A, B, C, D；
Detect to obtain the space coordinates of one group of point on sphere by locus identification device：(x1, y1, z1), (x2, y2,
) ..., (xn, yn, zn) z2；These positions are substituted into formula (3), and is write as matrix and obtains (4)：
Solve：
ObtainSo that it is determined that the sphere of the mark part 2 motion
Formula and corresponding radius R, radius R are the spacing between the mark part 2 and point 12 corrected.Other mark parts 2
It is so to obtain corresponding spherical formula and radius, it is not reinflated herein to repeat.
Motion when, as far as possible with less and regular movement locus obtains most useful locus point, certainly, move
Amplitude it is more big, the sphere scope that it involves is bigger, and data are more accurate.Preferably, movement locus is true by following motion mode
It is fixed：
Mode one：Intersection point using the position of point 12 as two axis for being mutually perpendicular to and being on horizontal plane, control panel
Structure 1 is rotated around each axis, obtains the movement locus of each mark part 2；Placed with the pedestal 33 of spherical joint seat
Face is horizontal plane, when overlooking from top to bottom, two orthogonal thereto distributions of movement locus of the mark part 2 which is formed, at one
Can back and forth repeatedly on movement locus, this process spatial location identification device carries out locus detection periodically；Due to around
Two orthogonal axis are rotated, and the spatial position data because obtained from does not have the component on other side's axis so that single
Data volume on axis is most complete, and precision is higher.
Mode two：Mutually it is in the intersection point of 45 degree of angles and the axis on horizontal plane using the position of point 12 as four,
Control harden structure 1 is rotated around each axis, obtains the movement locus of each mark part 2；Put with the pedestal 33 of spherical joint seat
It is horizontal plane to put face, and when overlooking from top to bottom, two movement locus which is formed are distributed in rice word, fill up in mode one
Data volume between two vertical axis, further improves precision.
Mode three：The circular axis with horizontal plane and the position of point 12 excessively of control harden structure 1 is moved, and is obtained
The movement locus of each mark part 2, the movement locus of harden structure 1 is approximately a conical surface, and the movement locus of each mark part 1 is
The annular trace of different height on the conical surface so that movement locus distributed areas are wider, on the basis of data are relatively complete, motion mode
Simply, speed is fast.
Preferably, carried out if the locus identification device is binocular vision system or at least two positioned at different angle
The pick-up lens of shooting, then when harden structure 1 is moved, the direction of the plate face provided with mark part 2 to mark part 1 all the time can be by
The two-sided vision system or at least two pick-up lens detection identifications shot positioned at different angle.
When locus identification device or each pick-up lens detect so that marking plate face 11 is provided with the one side of mark part 2
Can be face or tiltedly right preferably all the time towards binocular vision system or each pick-up lens, as long as enabling to binocular vision
System or each pick-up lens are able to detect that each mark part.X-ray scanning device is then unlimited, due to its perspective function,
Direction can detect anyway.
Referring to Fig. 4, the present invention also provides a kind of antidote of space positioning apparatus, and the space positioning apparatus is as before
The space positioning apparatus described in any one in embodiment is stated, the antidote comprises the following steps：
B1：Control the harden structure to be moved in the range of certain angle around its point, while identified by locus
Some locus on each mark part movement locus of device detection；
B2：Obtain some locus on each mark part movement locus；
B3：It is identical or convergence is packet standard using the distance of locus to point position, by the locus of acquisition
It is grouped, obtains one group of locus of each mark part；
B4：Sphere surface fitting is carried out to one group of locus of each mark part, obtains the spherical formula of each mark part；
B5：Radius in the spherical formula of each mark part of extraction, the correction distance as each mark part to point.
According to one embodiment of present invention, the movement locus is determined by following motion mode：
Intersection point using point position as two axis for being mutually perpendicular to and being on horizontal plane, control harden structure is around described
Each axis is rotated, and obtains the movement locus of each mark part；
Or, using point position as four mutually in 45 degree angles and be in horizontal plane on axis intersection point, control panel
Structure is rotated around each axis, obtains the movement locus of each mark part；
Or, control panel structure ring is moved around the axis with horizontal plane and point position excessively, obtains each mark
Remember the movement locus of part.
According to one embodiment of present invention, if the locus identification device is binocular vision system or at least two
The pick-up lens shot positioned at different angle, then when harden structure is moved, the direction of the plate face provided with mark part to mark
Note part can be detected and known by the two-sided vision system or at least two pick-up lens shot positioned at different angle all the time
Not.
Particular content on the antidote of the space positioning apparatus of the present invention may refer to hollow of previous embodiment
The description content of the rectifier of positioner, will not be repeated here.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting claim, any this area
Technical staff without departing from the spirit and scope of the present invention, can make possible variation and modification, therefore the present invention
Protection domain should be defined by the scope that the claims in the present invention are defined.
Claims (14)
- A kind of 1. space positioning apparatus, it is characterised in that including：Harden structure and at least three mark parts；The harden structure includes Point and marking plate face；Each mark part is arranged on the marking plate face, and between the point Spacing.
- 2. space positioning apparatus as claimed in claim 1, it is characterised in that the harden structure is does not develop material, the mark Remember part for development material；And/or the mark part is reflective marker part.
- 3. space positioning apparatus as claimed in claim 1, it is characterised in that the mark part is chondritic.
- 4. a kind of rectifier of space positioning apparatus, it is characterised in that the space positioning apparatus is as appointed in claim 1-3 Space positioning apparatus described in meaning one, the rectifier include：Sophisticated accommodating structure, to house the point of the harden structure, and enable the harden structure in certain angle scope It is interior to be moved around its point；Locus identification device, to detect the mark part in the harden structure, to determine the locus of the mark part.
- 5. the rectifier of space positioning apparatus as claimed in claim 4, it is characterised in that the sophisticated accommodating structure includes：Sophisticated connecting portion, offers storage tank thereon, to coordinate the point for housing the harden structure；Spherical joint seat, including spheroid and pedestal, the spheroid is movable to be equipped with the ball hole of the pedestal, the spheroid It is connected with the sophisticated connecting portion, the harden structure is moved in the range of certain angle around its point.
- 6. the rectifier of space positioning apparatus as claimed in claim 5, it is characterised in that the storage tank extends to the ball At the sphere center position of body so that the point it is most advanced at the sphere center position of the spheroid.
- 7. the rectifier of space positioning apparatus as claimed in claim 4, it is characterised in that the locus identification device For：Binocular vision system；Or, at least two pick-up lens shot positioned at different angle；Or, at least two positioned at difference The x-ray scanning device that angle is scanned.
- 8. the rectifier of space positioning apparatus as claimed in claim 4, it is characterised in that also including controller, the control Device includes memory and processor, wherein the memory storage has program, can be realized when described program is executed by processor Following steps：When the harden structure that acquisition is detected by locus identification device is moved in the range of certain angle around its point Some locus on each mark part movement locus；It is identical or convergence is packet standard using the distance of locus to point position, the locus of acquisition is divided Group, obtain one group of locus of each mark part；Sphere surface fitting is carried out to one group of locus of each mark part, obtains the spherical formula of each mark part；Radius in the spherical formula of each mark part of extraction, the correction distance as each mark part to point.
- 9. the rectifier of space positioning apparatus as claimed in claim 8, it is characterised in that the movement locus passes through following fortune Flowing mode determines：Intersection point using point position as two axis for being mutually perpendicular to and being on horizontal plane, control harden structure is around described each Axis is rotated, and obtains the movement locus of each mark part；Or, using point position as four mutually in 45 degree angles and the intersection point of the axis on the horizontal plane, control harden structure Rotated around each axis, obtain the movement locus of each mark part；Or, control panel structure ring is moved around the axis with horizontal plane and point position excessively, obtains each mark part Movement locus.
- 10. the rectifier of space positioning apparatus as claimed in claim 8, it is characterised in that if locus identification dress Be set to binocular vision system or at least two pick-up lens shot positioned at different angle, then when harden structure is moved, if The direction for having the plate face of mark part to mark part to be located at different angles by the two-sided vision system or at least two all the time Spend the pick-up lens detection identification shot.
- 11. a kind of localization method of space positioning apparatus, it is characterised in that the space positioning apparatus is such as claim 1-3 Space positioning apparatus described in middle any one, the localization method comprise the following steps：A1：Locus to be positioned is clicked with the point of the harden structure；A2：Detection positions the position of the mark part in the harden structure；A3：The position of at least three mark parts is chosen, the distance of each mark part and point is determined, calculates with each mark part Position be the centre of sphere, and the spherical formula that the distance of correspondence markings part and point is radius；A4：At least three spherical formulas according to trying to achieve determine each unique point, be each sphere intersection point or apart from each spherical face Closest approach, the anchor point as point.
- 12. a kind of antidote of space positioning apparatus, it is characterised in that the space positioning apparatus is such as claim 1-3 Space positioning apparatus described in middle any one, the antidote comprise the following steps：B1：Control the harden structure to be moved in the range of certain angle around its point, while pass through locus identification device Detect some locus on each mark part movement locus；B2：Obtain some locus on each mark part movement locus；B3：It is identical or convergence is packet standard using the distance of locus to point position, the locus of acquisition is carried out Packet, obtain one group of locus of each mark part；B4：Sphere surface fitting is carried out to one group of locus of each mark part, obtains the spherical formula of each mark part；B5：Radius in the spherical formula of each mark part of extraction, the correction distance as each mark part to point.
- 13. the antidote of space positioning apparatus as claimed in claim 8, it is characterised in that the movement locus by with Lower motion mode determines：Intersection point using point position as two axis for being mutually perpendicular to and being on horizontal plane, control harden structure is around described each Axis is rotated, and obtains the movement locus of each mark part；Or, using point position as four mutually in 45 degree angles and the intersection point of the axis on the horizontal plane, control harden structure Rotated around each axis, obtain the movement locus of each mark part；Or, control panel structure ring is moved around the axis with horizontal plane and point position excessively, obtains each mark part Movement locus.
- 14. the antidote of space positioning apparatus as claimed in claim 8, it is characterised in that if the locus identifies Device is binocular vision system or at least two pick-up lens shot positioned at different angle, then when harden structure is moved, The direction of plate face provided with mark part to mark part all the time can be by the two-sided vision system or at least two positioned at difference The pick-up lens detection identification that angle is shot.
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| CN201711018986.5A CN107550576A (en) | 2017-10-26 | 2017-10-26 | Space positioning apparatus and localization method, rectifier, antidote |
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