CN115457139A - Local positioning method, device, equipment and storage medium of optical positioning system - Google Patents
Local positioning method, device, equipment and storage medium of optical positioning system Download PDFInfo
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Abstract
The present application relates to the field of optical positioning technology, and in particular, to a local positioning method, apparatus, device and storage medium for an optical positioning system, where the method includes: acquiring region information, wherein the region information comprises region coordinates and a rigid body pose; when the connecting line of the marker ball on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker ball, and obtaining a correction coefficient corresponding to the coordinate axis direction according to the distance of the marker ball; and correcting the region coordinates according to the correction coefficient corresponding to the coordinate axis direction to obtain local positioning coordinates. The problem of some field of view regional precision low that has resulted in there being certain error in the result of camera demarcation and camera actual parameter is solved.
Description
Technical Field
The present application relates to the field of optical positioning technologies, and in particular, to a local positioning method, device, apparatus, and storage medium for an optical positioning system.
Background
The binocular vision positioning system is based on the principle of parallax error, and resembles the eyes of a human. The two cameras are fixed on the same rigid body at a certain distance and angle, and when the device works, the two cameras respectively acquire mapping images of the same characteristic point in a field range, and then specific positions of the characteristic point in a three-dimensional space are calculated according to the arrangement positions of the two cameras and the positions of the characteristic point acquired in the images through a triangulation principle, so that the positions of a plurality of characteristic points can be dynamically acquired. However, a certain error exists between the camera calibration result and the actual parameters of the camera, which may cause a certain change in the precision of different regions in the field of view, resulting in high precision of some field of view regions and low precision of some field of view regions.
Disclosure of Invention
The main purpose of the present application is to provide a local positioning method for an optical positioning system, which aims to solve the problem of different area positioning accuracy caused by an error of a camera calibration result.
In order to achieve the above object, the present application provides a local positioning method of an optical positioning system, the method including:
acquiring region information, wherein the region information comprises region coordinates and a rigid body pose;
when the connecting line of the marker balls on the rigid body is parallel to the coordinate axis corresponding to the optical positioning system, measuring the distance of the marker balls, and obtaining the correction coefficient of the corresponding coordinate axis direction according to the distance of the marker balls;
and correcting the region coordinates according to the correction coefficient corresponding to the coordinate axis direction to obtain local positioning coordinates.
Further, before obtaining a correction coefficient corresponding to a coordinate axis direction according to the distance between the marker balls measured when a connection line of the marker balls on the rigid body is parallel to the coordinate axis corresponding to the optical positioning system, the method includes:
and acquiring the initial distance of the marking ball on the rigid body.
Further, when a connecting line of the marker ball on the rigid body is parallel to a coordinate axis corresponding to the optical positioning system, measuring a distance of the marker ball, and obtaining a correction coefficient corresponding to the coordinate axis direction according to the distance of the marker ball, the method includes:
when the connecting line of the marker ball is parallel to the X axis of the optical positioning system, obtaining the X coordinate of the marker ball;
measuring the distances of the marker balls for multiple times to obtain multiple first distances;
calculating the average value of the plurality of first distances to obtain a first distance average value;
and obtaining a correction coefficient in the X direction according to the first distance average value and the initial distance.
Further, when a connecting line of the marker ball on the rigid body is parallel to a coordinate axis corresponding to the optical positioning system, measuring a distance of the marker ball, and obtaining a correction coefficient corresponding to the coordinate axis direction according to the distance of the marker ball, the method includes:
when the connecting line of the marker ball is parallel to the Y axis of the optical positioning system, the Y coordinate of the marker ball is obtained;
measuring the distance of the marker ball for multiple times to obtain multiple second distances;
calculating the average value of the plurality of second distances to obtain a second distance average value;
and obtaining a correction coefficient in the Y direction according to the second distance average value and the initial distance.
Further, the adjusting the pose of the rigid body and measuring the distance between the marker balls on the rigid body to obtain the correction coefficient includes:
when the connecting line of the marker ball is parallel to the Z axis of the optical positioning system, obtaining the Z coordinate of the marker ball;
measuring the distance of the marker ball for multiple times to obtain multiple third distances;
calculating the average value of the plurality of third distances to obtain a third distance average value;
calculating the difference value of the X coordinates of the marker ball according to the X coordinates of the marker ball;
calculating the Y coordinate difference of the marker ball according to the Y coordinate of the marker ball;
calculating the Z coordinate difference of the marker ball according to the Z coordinate of the marker ball;
and obtaining a correction coefficient in the Z direction according to the third distance average value, the X coordinate difference value, the Y coordinate difference value, the Z coordinate difference value and the initial distance.
Further, the correcting the region coordinate according to the correction coefficient corresponding to the coordinate axis direction to obtain a local positioning coordinate includes:
correcting the X-direction coordinate in the area coordinate according to the correction coefficient in the X direction to obtain the corrected X-direction coordinate;
correcting the Y-direction coordinate in the area coordinate according to the correction coefficient in the Y direction to obtain the corrected Y-direction coordinate;
correcting the Z-direction coordinate in the area coordinate according to the correction coefficient in the Z direction to obtain the corrected Z-direction coordinate;
and combining the corrected X-direction coordinate, the corrected Y-direction coordinate and the corrected Z-direction coordinate to obtain a corrected area coordinate.
Further, after the acquiring the area information, the method includes:
judging whether the area information has preset correction information or not;
and if the correction information exists, correcting the area coordinate according to the correction information to obtain the corrected area coordinate.
The present application further provides a local positioning device of an optical positioning system, the device comprising:
the system comprises a region information acquisition module, a region information acquisition module and a region information processing module, wherein the region information acquisition module is used for acquiring region information, and the region information comprises region coordinates and rigid body poses;
the correction coefficient determining module is used for measuring the distance of the marker ball when the connecting line of the marker ball on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, and obtaining the correction coefficient in the direction of the corresponding coordinate axis according to the distance of the marker ball;
and the correction module is used for correcting the region coordinates according to the correction coefficient in the corresponding coordinate axis direction to obtain local positioning coordinates.
The present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of any one of the above methods when executing the computer program.
The present application also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any of the above.
According to the local positioning method of the optical positioning system, after the area is positioned through the optical positioning system to obtain the area coordinates, the area is calibrated to obtain the correction coefficient. And correcting the region coordinates according to the correction coefficient, so that the corrected region coordinates have higher accuracy. The problem of some field of view region low accuracy that there is certain error in the result of camera demarcation and camera actual parameter has been solved.
Drawings
FIG. 1 is a flowchart illustrating a local positioning method of an optical positioning system according to an embodiment of the present disclosure;
FIG. 2 is a block diagram of a local positioning device of an optical positioning system according to an embodiment of the present application;
FIG. 3 is a block diagram illustrating a computer device according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a coordinate system according to an embodiment of the present application;
wherein, 1, left camera, 2, right camera.
The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
Referring to fig. 1, an embodiment of the present application provides a local positioning method of an optical positioning system, including steps S1 to S3, specifically:
s1, obtaining region information, wherein the region information comprises region coordinates and a rigid body pose.
Specifically, for step S1, the region information includes region coordinates and rigid body poses. The area coordinates are the area coordinates corresponding to the area, which are obtained by positioning through an optical positioning instrument system. The pose of the rigid body can be adjusted correspondingly when the pose is locally positioned, so that the connecting line of the marking ball on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system. The area information may also include correction information preset for the area. Since the same area may be subjected to coordinate positioning for multiple times, in order to improve the efficiency of coordinate correction, the coordinates of the area may be corrected in advance, and a correction coefficient may be obtained and stored as correction information preset in the area. When the area is subsequently positioned and corrected, the preset correction information of the area can be directly called for correction. And the correction calculation amount is reduced and the coordinate correction efficiency is improved while the correction coordinate result is ensured to be correct.
And S2, when the connecting line of the marker ball on the rigid body is parallel to the coordinate axis corresponding to the optical positioning system, measuring the distance of the marker ball, and obtaining the correction coefficient corresponding to the coordinate axis direction according to the distance of the marker ball.
And S3, correcting the region coordinate according to the correction coefficient of the corresponding coordinate axis direction to obtain a local positioning coordinate.
Specifically, for steps S2 and S3, the pose of the rigid body is adjusted so that the connection line of the positions of the marker balls on the rigid body satisfies the requirement of the corresponding correction direction measurement. And measuring the distance of the marker ball on the rigid body after the pose is adjusted, and obtaining a corresponding correction direction correction coefficient according to the distance of the marker ball. And correcting the area coordinates according to the corresponding correction direction correction coefficient to obtain corrected area coordinates. And corresponding compensation is carried out on the local coordinate data, so that a more accurate positioning result is obtained. The problem of different area positioning accuracy caused by errors of camera calibration results is solved.
In an embodiment, before the step S2 of measuring the distance of the marker ball when the connection line of the marker ball on the rigid body is parallel to the corresponding coordinate axis of the optical locating system, and obtaining the correction coefficient in the direction of the corresponding coordinate axis according to the distance of the marker ball, the method includes:
and S200, acquiring the initial distance of the marking ball on the rigid body.
Specifically, for step S200, the initial distance of the marker balls is measured using a higher precision device, such as a three-coordinate measuring machine, for the distance between the marker balls on the rigid body. For example, when there are two marker balls on a rigid body, the initial distance of the two marker balls is recorded as Lo.
In an embodiment, the step S2 of measuring a distance between the marker balls when a connection line of the marker balls on the rigid body is parallel to a coordinate axis corresponding to the optical positioning system, and obtaining a correction coefficient corresponding to the coordinate axis direction according to the distance between the marker balls includes:
s201, when the connecting line of the marker ball is parallel to the X axis of the optical positioning system, obtaining the X coordinate of the marker ball;
s202, measuring the distances of the marker balls for multiple times to obtain multiple first distances;
s203, calculating the mean value of the plurality of first distances to obtain a first distance mean value;
and S204, obtaining a correction coefficient in the X direction according to the first distance average value and the initial distance.
Specifically, for steps S201, S202, S203, and S204, the pose of the rigid body is adjusted, and it is ensured that the connecting line of the marker ball is parallel to the system X axis. And measuring the distance of the marker ball and the X coordinate of the marker ball by using the optical position finder system for multiple times to obtain a plurality of first distances. And calculating an average of the plurality of first distances. And obtaining a correction coefficient in the X direction according to the average value of the plurality of first distances and the initial distance of the marker ball. For example, when there are two marker balls on the rigid body, the distances of the marker balls are measured a plurality of times, and the average value of the plurality of first distances is calculated to be Lx, the correction coefficient in the X direction is Ax = Lo/Lx. The X coordinate in the area coordinate can be corrected through the correction coefficient in the X direction, and the positioning precision is improved. The coordinate system related to the present application is shown in fig. 4, a midpoint of a connection line of optical centers of the left camera and the right camera is used as an origin, a vector of the optical center of the left camera 1 pointing to the optical center of the right camera 2 is used as an X-axis, a Z-axis is coplanar with the X-axis and the optical axis of the left camera and is perpendicular to the X-axis, the direction points to a viewing field direction, and a Y-axis is perpendicular to the X-axis and the Z-axis, so that the whole coordinate system conforms to the right-hand rule.
In an embodiment, the step S2 of measuring a distance between the marker balls when a connection line of the marker balls on the rigid body is parallel to a coordinate axis corresponding to the optical locating system, and obtaining a correction coefficient in a direction corresponding to the coordinate axis according to the distance between the marker balls includes:
s205, when the connecting line of the marker ball is parallel to the Y axis of the optical positioning system, obtaining the Y coordinate of the marker ball;
s206, measuring the distance of the marker ball for multiple times to obtain multiple second distances;
s207, calculating the mean value of the plurality of second distances to obtain a mean value of the second distances;
and S208, obtaining a correction coefficient in the Y direction according to the second distance average value and the initial distance.
Specifically, for steps S205, S206, S207, and S208, the pose of the rigid body is adjusted, and it is ensured that the connecting line of the marker ball is parallel to the Y axis of the system. And measuring the distance of the marker ball and the Y coordinate of the marker ball for multiple times by using the optical position finder system to obtain multiple second distances. And calculating an average of the plurality of second distances. And obtaining a correction coefficient in the Y direction according to the average value of the plurality of second distances and the initial distance of the marker ball. For example, when there are two marker balls on the rigid body, the distance of the marker ball is measured a plurality of times, and the average value of the plurality of second distances is calculated to be Ly, the correction coefficient in the Y direction is Ay = Lo/Ly. The Y coordinate in the area coordinate can be corrected through the correction coefficient in the Y direction, and the positioning precision is improved.
In an embodiment, the step S2 of measuring a distance between the marker balls when a connection line of the marker balls on the rigid body is parallel to a coordinate axis corresponding to the optical positioning system, and obtaining a correction coefficient corresponding to the coordinate axis direction according to the distance between the marker balls includes:
s209, when the connecting line of the marker ball is parallel to the Z axis of the optical positioning system, obtaining the Z coordinate of the marker ball;
s210, measuring the distances of the marker balls for multiple times to obtain multiple third distances;
s211, calculating the average value of the plurality of third distances to obtain a third distance average value;
s212, calculating the difference value of the X coordinate of the marker ball according to the X coordinate of the marker ball;
s213, calculating a Y coordinate difference value of the marker ball according to the Y coordinate of the marker ball;
s214, calculating a Z coordinate difference value of the marker ball according to the Z coordinate of the marker ball;
s215, obtaining a correction coefficient in the Z direction according to the third distance mean value, the X coordinate difference value, the Y coordinate difference value, the Z coordinate difference value and the initial distance.
Specifically, for steps S209, S210, S211, S212, S213, S214, and S215, the pose of the rigid body is adjusted, and it is ensured that the connecting line of the marker ball is parallel to the Z axis of the system. At this time, when the connecting line of the marking ball is horizontal to the Z axis of the system, the problem of shielding is easy to occur, so that the included angle between the connecting line of the marking ball and the Z axis is less than alpha on the premise of ensuring that shielding does not occur. Wherein alpha is a preset value. And measuring the distance of the marker ball and the Z coordinate of the marker ball for multiple times by using the optical position finder system to obtain multiple third distances. And calculates a mean value Lz of the plurality of third distances. Since the included angle is not 0, the correction coefficient Az ≠ Lo/Lz in the Z direction, taking the example that there are two marker balls on a rigid body, and the coordinates of the two marker balls at a certain time are (X1, Y1, Z1) and (X2, Y2, Z2), the measurement difference values in the X, Y, and Z directions are dx = X1-X2, dy = Y1-Y2, and dz = Z1-Z2, respectively. Since the correction coefficients in the X and Y directions have been calculated in steps S204 and S208, the corrected difference values in the X and Y directions are dxo = dx Ax and dyo = dy Ay, and it can be considered that dxo and dyo have sufficient accuracy after correction. The difference in the theoretical Z direction can be calculated by combining the initial distance Lo
Thus, the correction coefficient Azi = dzo/dz in the Z direction for this measurement. The correction coefficient Az in the Z direction can be obtained by measuring Azi for multiple times and averaging. The Z coordinate in the area coordinate can be corrected through the correction coefficient in the Z direction, and the positioning precision is improved.
In an embodiment, the step S3 of correcting the area coordinate according to the correction coefficient in the corresponding coordinate axis direction to obtain a local positioning coordinate includes:
s301, correcting the X-direction coordinate in the region coordinate according to the correction coefficient in the X direction to obtain the corrected X-direction coordinate;
s302, correcting the Y-direction coordinate in the area coordinate according to the correction coefficient in the Y direction to obtain the corrected Y-direction coordinate;
s303, correcting the Z-direction coordinate in the area coordinate according to the correction coefficient in the Z direction to obtain the corrected Z-direction coordinate;
s304, combining the corrected X-direction coordinate, the corrected Y-direction coordinate and the corrected Z-direction coordinate to obtain a corrected area coordinate.
Specifically, in steps S301, S302, S303, and S304, the corresponding direction coordinates in the area coordinates are corrected based on the correction coefficients Ax, ay, az in the X, Y, and Z directions obtained in steps S204, S208, and S215, respectively, and the area coordinates in the corresponding direction are multiplied by the corresponding coordinate direction correction coefficient to obtain corrected area coordinates. For example, when the region coordinates are (Xi, yi, zi), the X, Y, Z-direction coordinates are corrected to Xia = Xi X, yi = Yi, ay, and Zia = Zi Az, and the corrected region coordinates (Xi, yi, zia) are obtained. The positioning accuracy is improved, and the problem of low accuracy of some view field areas during camera calibration is solved.
In an embodiment, the step of obtaining the area information includes:
s101, judging whether preset correction information exists in the area information or not;
and S102, if the correction information exists, correcting the area coordinate according to the correction information to obtain the corrected area coordinate.
Specifically, for steps S101 and S102, since the same area may be subjected to coordinate positioning for multiple times, in order to improve the efficiency of coordinate correction, the coordinates of the area may be corrected in advance, and a correction coefficient may be obtained and stored as correction information preset for the area. Therefore, it is necessary to determine whether there is preset correction information in the area information, and if there is preset correction information in the area information, the preset correction information in the area may be directly called for correction. And the correction calculation amount is reduced and the coordinate correction efficiency is improved while the correction coordinate result is ensured to be correct.
Referring to fig. 2, a block diagram of a local positioning device of an optical positioning system in an embodiment of the present application is shown, where the local positioning device includes:
the system comprises a region information acquisition module 100, a region information acquisition module, a region information processing module and a region information processing module, wherein the region information comprises region coordinates and rigid body poses;
the correction coefficient determining module 200 is configured to measure a distance between the marker balls when a connection line of the marker balls on the rigid body is parallel to a coordinate axis corresponding to the optical positioning system, and obtain a correction coefficient in a direction corresponding to the coordinate axis according to the distance between the marker balls;
and the correction module 300 is configured to correct the region coordinate according to the correction coefficient in the corresponding coordinate axis direction, so as to obtain a local positioning coordinate.
In one embodiment, the local positioning device of the optical positioning system further includes:
and the initial distance acquisition module is used for acquiring the initial distance of the marking ball on the rigid body.
In one embodiment, the local positioning device of the optical positioning system further includes:
the correction coefficient determining module in the X direction is used for obtaining the X coordinate of the marker ball when the connecting line of the marker ball is parallel to the X axis of the optical positioning system; measuring the distances of the marker balls for multiple times to obtain multiple first distances; calculating the average value of the plurality of first distances to obtain a first distance average value; and obtaining a correction coefficient in the X direction according to the first distance average value and the initial distance.
In one embodiment, the local positioning device of the optical positioning system further includes:
the correction coefficient determining module in the Y direction is used for obtaining the Y coordinate of the marker ball when the connecting line of the marker ball is parallel to the Y axis of the optical positioning system; measuring the distance of the marker ball for multiple times to obtain multiple second distances; calculating the average value of the plurality of second distances to obtain a second distance average value; and obtaining a correction coefficient in the Y direction according to the second distance average value and the initial distance.
In one embodiment, the local positioning device of the optical positioning system further includes:
the correction coefficient determining module in the Z direction is used for obtaining the Z coordinate of the marker ball when the connecting line of the marker ball is parallel to the Z axis of the optical positioning system; measuring the distance of the marker ball for multiple times to obtain multiple third distances; calculating the average value of the plurality of third distances to obtain a third distance average value; calculating the difference value of the X coordinates of the marker ball according to the X coordinates of the marker ball; calculating the Y coordinate difference of the marker ball according to the Y coordinate of the marker ball; calculating the Z coordinate difference of the marker ball according to the Z coordinate of the marker ball; and obtaining a correction coefficient in the Z direction according to the third distance average value, the X coordinate difference value, the Y coordinate difference value, the Z coordinate difference value and the initial distance.
In one embodiment, the local positioning device of the optical positioning system further includes:
the correction submodule is used for correcting the X-direction coordinate in the area coordinate according to the correction coefficient in the X direction to obtain the corrected X-direction coordinate; correcting the Y-direction coordinate in the area coordinate according to the correction coefficient in the Y direction to obtain the corrected Y-direction coordinate; correcting the Z-direction coordinate in the area coordinate according to the correction coefficient in the Z direction to obtain the corrected Z-direction coordinate; and combining the corrected X-direction coordinate, the corrected Y-direction coordinate and the corrected Z-direction coordinate to obtain a corrected area coordinate.
In an embodiment, the local positioning device of the optical positioning system further includes:
the preset correction module is used for judging whether the area information contains preset correction information or not; and if the correction information exists, correcting the area coordinate according to the correction information to obtain the corrected area coordinate.
Referring to fig. 3, a computer device, which may be a server and whose internal structure may be as shown in fig. 3, is also provided in the embodiment of the present application. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the computer designed processor is used to provide computational and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing local positioning method operating data of the optical positioning system and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a local positioning method of an optical positioning system of any of the above embodiments.
It will be understood by those skilled in the art that the structure shown in fig. 3 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation to the computer device to which the present application is applied.
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a local positioning method of an optical positioning system. It is to be understood that the computer readable storage medium in this embodiment may be a volatile readable storage medium or a non-volatile readable storage medium.
According to the local positioning method of the optical positioning system, after the area is positioned through the optical positioning system to obtain the area coordinates, the area is calibrated to obtain the correction coefficient. And correcting the region coordinates according to the correction coefficient, so that the corrected region coordinates have higher accuracy. The problem of some field of view regional precision low that has resulted in there being certain error in the result of camera demarcation and camera actual parameter is solved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium provided herein and used in the examples may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRDRAM), enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, apparatus, article, or method comprising the element.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A method of local positioning in an optical positioning system, the method comprising:
acquiring region information, wherein the region information comprises region coordinates and a rigid body pose;
when the connecting line of the marker ball on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker ball, and obtaining a correction coefficient corresponding to the coordinate axis direction according to the distance of the marker ball;
and correcting the region coordinates according to the correction coefficient corresponding to the coordinate axis direction to obtain local positioning coordinates.
2. The local positioning method of the optical positioning system according to claim 1, wherein before the step of measuring the distance between the marker balls when the connecting line of the marker balls on the rigid body is parallel to the coordinate axis corresponding to the optical positioning system and obtaining the correction coefficient corresponding to the coordinate axis direction according to the distance between the marker balls, the method comprises:
and acquiring the initial distance of the marking ball on the rigid body.
3. The local positioning method of claim 2, wherein the measuring a distance between the marker balls when a connection line of the marker balls on the rigid body is parallel to a corresponding coordinate axis of the optical positioning system, and obtaining the correction coefficient in the direction of the corresponding coordinate axis according to the distance between the marker balls comprises:
when the connecting line of the marker ball is parallel to the X axis of the optical positioning system, obtaining the X coordinate of the marker ball;
measuring the distances of the marker balls for multiple times to obtain multiple first distances;
calculating the average value of the plurality of first distances to obtain a first distance average value;
and obtaining a correction coefficient in the X direction according to the first distance average value and the initial distance.
4. The local positioning method of claim 3, wherein when a connection line of a marker ball on the rigid body is parallel to a coordinate axis corresponding to the optical positioning system, measuring a distance of the marker ball, and obtaining a correction coefficient corresponding to the coordinate axis direction according to the distance of the marker ball, comprises:
when the connecting line of the marker ball is parallel to the Y axis of the optical positioning system, the Y coordinate of the marker ball is obtained;
measuring the distance of the marker ball for multiple times to obtain multiple second distances;
calculating the average value of the plurality of second distances to obtain a second distance average value;
and obtaining a correction coefficient in the Y direction according to the second distance average value and the initial distance.
5. The local positioning method of the optical positioning system according to claim 4, wherein the adjusting the pose of the rigid body and measuring the distance between the marker balls on the rigid body to obtain the correction coefficient comprises:
when the connecting line of the marker ball is parallel to the Z axis of the optical positioning system, obtaining the Z coordinate of the marker ball;
measuring the distances of the marker balls for multiple times to obtain multiple third distances;
calculating the average value of the plurality of third distances to obtain a third distance average value;
calculating the difference value of the X coordinates of the marker ball according to the X coordinates of the marker ball;
calculating the Y coordinate difference of the marker ball according to the Y coordinate of the marker ball;
calculating the Z coordinate difference of the marker ball according to the Z coordinate of the marker ball;
and obtaining a correction coefficient in the Z direction according to the third distance average value, the X coordinate difference value, the Y coordinate difference value, the Z coordinate difference value and the initial distance.
6. The local positioning method of the optical positioning system according to claim 5, wherein the modifying the region coordinates according to the modification coefficient of the corresponding coordinate axis direction to obtain local positioning coordinates comprises:
correcting the X-direction coordinate in the area coordinate according to the correction coefficient in the X direction to obtain the corrected X-direction coordinate;
correcting the Y-direction coordinate in the area coordinate according to the correction coefficient in the Y direction to obtain the corrected Y-direction coordinate;
correcting the Z-direction coordinate in the area coordinate according to the correction coefficient in the Z direction to obtain the corrected Z-direction coordinate;
and combining the corrected X-direction coordinate, the corrected Y-direction coordinate and the corrected Z-direction coordinate to obtain a corrected area coordinate.
7. The local positioning method of the optical positioning system according to claim 1, wherein after the obtaining the area information, the method comprises:
judging whether the area information has preset correction information or not;
and if the correction information exists, correcting the area coordinate according to the correction information to obtain the corrected area coordinate.
8. A local positioning device of an optical positioning system, the device comprising:
the system comprises a region information acquisition module, a region information acquisition module and a region information acquisition module, wherein the region information acquisition module is used for acquiring region information, and the region information comprises region coordinates and rigid body poses;
the correction coefficient determining module is used for measuring the distance of the marker ball when the connecting line of the marker ball on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, and obtaining the correction coefficient in the direction of the corresponding coordinate axis according to the distance of the marker ball;
and the correction module is used for correcting the region coordinates according to the correction coefficient corresponding to the coordinate axis direction to obtain local positioning coordinates.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program performs the steps of the method according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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