Local positioning method, device and equipment of optical positioning system and storage medium

Abstract

The application relates to the technical field of optical positioning, in particular to a local positioning method, device and equipment of an optical positioning system and a storage medium, wherein the method comprises the following steps: acquiring area information, wherein the area information comprises area coordinates and a rigid body pose; when the connecting line of a mark ball on a rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the mark ball distance, obtaining a correction coefficient in the direction of the corresponding coordinate axis according to the mark ball distance; and correcting the area coordinates according to the correction coefficient in the direction of the corresponding coordinate axis to obtain local positioning coordinates. The method solves the problem that the result of camera calibration and the actual parameters of the camera have certain errors, leading to low accuracy in some field of view areas.

Description

Technical Field

[0001] This 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. Background Technology

[0002] Binocular vision positioning systems are based on the principle of parallax, similar to human eyes. Two cameras are fixed to the same rigid body at a certain distance and angle. During operation, each camera acquires a mapped image of the same feature point within its field of view. Then, based on the placement of the two cameras and the positions of the feature points obtained in the images, the specific position of the feature point in three-dimensional space is calculated using triangulation principles. This allows for the dynamic acquisition of the positions of multiple feature points. However, because there will be some error between the camera calibration results and the actual camera parameters, the accuracy in different areas of the field of view will vary, resulting in some areas having high accuracy and others having low accuracy. Summary of the Invention

[0003] The main objective of this application is to provide a local positioning method for an optical positioning system, which aims to solve the problem of inconsistent regional positioning accuracy caused by errors in camera calibration results.

[0004] To achieve the aforementioned objectives, this application proposes a local positioning method for an optical positioning system, the method comprising:

[0005] Obtain region information, wherein the region information includes region coordinates and rigid body pose;

[0006] When the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, the distance of the marker balls is measured, and the correction coefficient for the corresponding coordinate axis direction is obtained based on the distance of the marker balls.

[0007] The region coordinates are corrected according to the correction coefficients of the corresponding coordinate axis directions to obtain the local positioning coordinates.

[0008] Further, before measuring the distance of the marker balls when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, and obtaining the correction coefficient for the corresponding coordinate axis direction based on the marker ball distance, the process includes:

[0009] Obtain the initial distance of the marker ball on the rigid body.

[0010] Further, when the line connecting the marker spheres on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker spheres and obtaining the correction coefficient for the corresponding coordinate axis direction based on the marker sphere distance includes:

[0011] When the line connecting the marker balls is parallel to the X-axis of the optical positioning system, the X coordinate of the marker ball is obtained;

[0012] Multiple distances to the marked ball are measured repeatedly to obtain multiple first distances;

[0013] Calculate the mean of the plurality of first distances to obtain the mean of the first distances;

[0014] The correction coefficient in the X direction is obtained based on the first average distance and the initial distance.

[0015] Further, when the line connecting the marker spheres on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker spheres and obtaining the correction coefficient for the corresponding coordinate axis direction based on the marker sphere distance includes:

[0016] When the line connecting the marker balls is parallel to the Y-axis of the optical positioning system, the Y-coordinate of the marker ball is obtained;

[0017] Multiple distances to the marked ball are measured repeatedly to obtain multiple second distances;

[0018] Calculate the mean of the plurality of second distances to obtain the mean of the second distances;

[0019] The correction coefficient in the Y direction is obtained based on the second average distance and the initial distance.

[0020] Further, the adjustment of the rigid body pose, measuring the distance of the marker ball on the rigid body, and obtaining the correction coefficient includes:

[0021] When the line connecting the marker balls is parallel to the Z-axis of the optical positioning system, the Z-coordinate of the marker ball is obtained;

[0022] Multiple distances to the marked ball are measured repeatedly to obtain multiple third distances;

[0023] Calculate the mean of the multiple third distances to obtain the mean of the third distances;

[0024] Calculate the difference in X coordinates of the marked balls based on their X coordinates;

[0025] Calculate the difference in Y coordinates of the marked balls based on their Y coordinates;

[0026] Calculate the Z-coordinate difference of the marker balls based on their Z-coordinates;

[0027] The correction coefficient in the Z direction is obtained based on the mean of the third distance, the difference in the X coordinate, the difference in the Y coordinate, the difference in the Z coordinate, and the initial distance.

[0028] Further, the step of correcting the region coordinates according to the correction coefficient of the corresponding coordinate axis direction to obtain the local positioning coordinates includes:

[0029] Based on the correction coefficient in the X direction, the X direction coordinates in the region coordinates are corrected to obtain the corrected X direction coordinates;

[0030] Based on the correction coefficient in the Y direction, the Y direction coordinates in the region coordinates are corrected to obtain the corrected Y direction coordinates;

[0031] Based on the correction coefficient in the Z direction, the Z direction coordinates in the region coordinates are corrected to obtain the corrected Z direction coordinates;

[0032] By combining the corrected X-direction coordinates, the corrected Y-direction coordinates, and the corrected Z-direction coordinates, the corrected region coordinates are obtained.

[0033] Furthermore, after obtaining the region information, the process includes:

[0034] Determine whether there is preset correction information in the area information;

[0035] If the correction information is available, the region coordinates are corrected according to the correction information to obtain the corrected region coordinates.

[0036] This application also provides a local positioning device for an optical positioning system, the device comprising:

[0037] A region information acquisition module is used to acquire region information, wherein the region information includes region coordinates and rigid body pose;

[0038] The correction coefficient determination module is used to measure the distance of the marker balls when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, and obtain the correction coefficient in the direction of the corresponding coordinate axis based on the distance of the marker balls.

[0039] The correction module is used to correct the region coordinates according to the correction coefficients of the corresponding coordinate axis directions to obtain local positioning coordinates.

[0040] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of any of the methods described above.

[0041] This application also provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of any of the methods described above.

[0042] This application provides a local positioning method for an optical positioning system. After locating a region using an optical positioning system and obtaining its coordinates, the region is calibrated to obtain correction coefficients. The region coordinates are then corrected based on these correction coefficients, resulting in higher accuracy. This method solves the problem of low accuracy in some fields of view due to discrepancies between camera calibration results and actual camera parameters. Attached Figure Description

[0043] Figure 1 This is a flowchart illustrating a local positioning method of an optical positioning system according to an embodiment of this application.

[0044] Figure 2 This is a schematic block diagram of the structure of a local positioning device of an optical positioning system according to an embodiment of this application;

[0045] Figure 3 This is a schematic block diagram of the structure of a computer device according to an embodiment of this application;

[0046] Figure 4 This is a schematic diagram of a coordinate system according to an embodiment of this application;

[0047] Among them, 1 is the left camera, and 2 is the right camera.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] Reference Figure 1 This application provides a local positioning method for an optical positioning system, including steps S1-S3, specifically:

[0051] S1. Obtain region information, wherein the region information includes region coordinates and rigid body pose.

[0052] Specifically, for step S1, the region information includes region coordinates and rigid body pose. The region coordinates are obtained by positioning the region using an optical positioning system. During local positioning, the rigid body pose is adjusted to ensure the line connecting the marker spheres on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system. The region information may also include preset correction information for that region. Since the same region may undergo multiple coordinate positioning operations, to improve the efficiency of coordinate correction, the region coordinates can be pre-corrected, and correction coefficients can be obtained and saved as preset correction information for that region. Subsequent positioning corrections for that region can directly utilize this preset correction information. This ensures the accuracy of the corrected coordinate results while reducing the computational load and improving the efficiency of coordinate correction.

[0053] S2. When the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measure the distance of the marker balls, and obtain the correction coefficient for the corresponding coordinate axis direction based on the distance of the marker balls.

[0054] S3. Correct the region coordinates according to the correction coefficients of the corresponding coordinate axis directions to obtain the local positioning coordinates.

[0055] Specifically, for steps S2 and S3, the rigid body pose is adjusted so that the line connecting the positions of the marker balls on the rigid body meets the requirements for measurement in the corresponding correction direction. The distance between the marker balls on the rigid body after pose adjustment is measured, and the correction coefficient for the corresponding correction direction is obtained based on the marker ball distance. The region coordinates are corrected based on the correction coefficient for the corresponding correction direction to obtain the corrected region coordinates. Corresponding compensation is made to the local coordinate data to obtain more accurate positioning results. This solves the problem of inconsistent regional positioning accuracy caused by errors in camera calibration results.

[0056] In one embodiment, before step S2, which involves measuring the distance between the marker balls on the rigid body and obtaining the correction coefficient for the corresponding coordinate axis direction based on the distance between the marker balls when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, the method includes:

[0057] S200, Obtain the initial distance of the marker ball on the rigid body.

[0058] Specifically, in step S200, the initial distance between the marker balls is obtained by measuring the distance between the marker balls on the rigid body using a higher precision device, such as a coordinate measuring machine. For example, when there are two marker balls on the rigid body, the initial distance between the two marker balls is denoted as Lo.

[0059] In one embodiment, step S2, which involves measuring the distance between the marker balls on the rigid body and obtaining a correction coefficient for the corresponding coordinate axis direction based on the distance between the marker balls when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, includes:

[0060] S201. When the line connecting the marker balls is parallel to the X-axis of the optical positioning system, the X coordinate of the marker ball is obtained;

[0061] S202. Measure the distance of the marked ball multiple times to obtain multiple first distances;

[0062] S203. Calculate the average of the plurality of first distances to obtain the average of the first distances;

[0063] S204. Based on the first average distance and the initial distance, obtain the correction coefficient in the X direction.

[0064] Specifically, for steps S201, S202, S203, and S204, the rigid body pose is adjusted to ensure that the line connecting the marker balls is parallel to the system's X-axis. The distance and X-coordinate of the marker balls are measured multiple times using an optical positioning system to obtain multiple first distances. The average of these multiple first distances is calculated. Based on the average of the multiple first distances and the initial distance of the marker balls, a correction coefficient in the X-direction is obtained. For example, when there are two marker balls on the rigid body, the distance between the marker balls is measured multiple times, and the average of the multiple first distances is calculated to be Lx. Then, the correction coefficient in the X-direction is Ax = Lo / Lx. The X-coordinate in the aforementioned region coordinates can be corrected using the X-direction correction coefficient, improving positioning accuracy. The coordinate system involved in this application is as follows: Figure 4 As shown, the origin is the midpoint of the line connecting the optical centers of the left and right cameras. The X-axis is the vector from the optical center of the left camera 1 to the optical center of the right camera 2. The Z-axis is coplanar with the X-axis and the optical axis of the left camera and is perpendicular to the X-axis, pointing in the direction of the field of view. The Y-axis is perpendicular to the X-axis and the Z-axis. The entire coordinate system conforms to the right-hand rule.

[0065] In one embodiment, step S2, which involves measuring the distance between the marker balls on the rigid body and obtaining a correction coefficient for the corresponding coordinate axis direction based on the distance between the marker balls when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, includes:

[0066] S205. When the line connecting the marker balls is parallel to the Y-axis of the optical positioning system, the Y-coordinate of the marker ball is obtained;

[0067] S206. Measure the distance of the marked ball multiple times to obtain multiple second distances;

[0068] S207. Calculate the mean of the plurality of second distances to obtain the mean of the second distances;

[0069] S208. Based on the second average distance and the initial distance, obtain the correction coefficient in the Y direction.

[0070] Specifically, for steps S205, S206, S207, and S208, the rigid body pose is adjusted to ensure that the line connecting the marker balls is parallel to the system's Y-axis. The distance and Y-coordinate of the marker balls are measured multiple times using the optical positioning system to obtain multiple second distances. The average of these multiple second distances is calculated. Based on the average of the multiple second distances and the initial distance of the marker balls, a correction coefficient in the Y-direction is obtained. For example, when there are two marker balls on the rigid body, after multiple measurements of the distance between the marker balls and calculating the average of the multiple second distances as Ly, the correction coefficient in the Y-direction is Ay = Lo / Ly. The Y-coordinate in the aforementioned area coordinate system can be corrected using the correction coefficient in the Y-direction, thus improving positioning accuracy.

[0071] In one embodiment, step S2, which involves measuring the distance between the marker balls on the rigid body and obtaining a correction coefficient for the corresponding coordinate axis direction based on the distance between the marker balls when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, includes:

[0072] S209. When the line connecting the marker balls is parallel to the Z-axis of the optical positioning system, the Z-coordinate of the marker ball is obtained;

[0073] S210. Measure the distance of the marked ball multiple times to obtain multiple third distances;

[0074] S211. Calculate the mean of the plurality of third distances to obtain the mean of the third distances;

[0075] S212. Calculate the difference in X coordinates of the marker balls based on their X coordinates;

[0076] S213. Calculate the difference in the Y coordinates of the marker balls based on their Y coordinates;

[0077] S214. Calculate the Z-coordinate difference of the marker ball based on the Z-coordinate of the marker ball;

[0078] S215. Based on the mean third distance, the difference in X coordinates, the difference in Y coordinates, the difference in Z coordinates, and the initial distance, obtain the correction coefficient in the Z direction.

[0079] Specifically, for steps S209, S210, S211, S212, S213, S214, and S215, the rigid body pose is adjusted to ensure that the line connecting the marker balls is parallel to the system's Z-axis. Considering that occlusion may occur when the line connecting the marker balls is horizontal to the system's Z-axis, the angle between the line connecting the marker balls and the Z-axis is less than α, ensuring no occlusion occurs. Here, α is a preset value. The distance and Z-coordinate of the marker balls are measured multiple times using the optical positioning system to obtain multiple third distances. The average value Lz of these multiple third distances is calculated. Since the angle is not zero, the correction coefficient Az in the Z-direction ≠ Lo / Lz. Taking two marker balls on the rigid body as an example, if the coordinates of the two marker balls in a certain measurement are (x1, y1, z1) and (x2, y2, z2), then the measurement differences in the X, Y, and Z directions are dx = x1 - x2, dy = y1 - y2, and dz = z1 - z2, respectively. Since the correction coefficients for the X and Y directions have been calculated in steps S204 and S208, the corrected differences in the X and Y directions can be obtained as dxo = dx * Ax and dyo = dy * Ay. Because of the corrections, dxo and dyo can be considered to have sufficient accuracy. Combined with the initial distance Lo, the theoretical difference in the Z direction can be calculated. Therefore, the correction coefficient in the Z direction for this measurement is Azi = dzo / dz. The Z-direction correction coefficient Az can be obtained by measuring Azi multiple times and averaging the results. This Z-direction correction coefficient can correct the Z-coordinate in the aforementioned region coordinate system, thus improving positioning accuracy.

[0080] In one embodiment, step S3, which corrects the region coordinates according to the correction coefficient of the corresponding coordinate axis direction to obtain the local positioning coordinates, includes:

[0081] S301. Correct the X-direction coordinates in the region coordinates according to the correction coefficient in the X-direction to obtain the corrected X-direction coordinates;

[0082] S302. Based on the correction coefficient in the Y direction, correct the Y direction coordinates in the region coordinates to obtain the corrected Y direction coordinates;

[0083] S303. Correct the Z-direction coordinates in the region coordinates according to the Z-direction correction coefficient to obtain the corrected Z-direction coordinates;

[0084] S304. By combining the corrected X-direction coordinates, the corrected Y-direction coordinates, and the corrected Z-direction coordinates, the corrected region coordinates are obtained.

[0085] Specifically, for steps S301, S302, S303, and S304, based on the correction coefficients Ax, Ay, and Az in the X, Y, and Z directions obtained in steps S204, S208, and S215, the corresponding direction coordinates in the region coordinates are corrected. The region coordinates in the corresponding direction are multiplied by the corresponding direction correction coefficient to obtain the corrected region coordinates. For example, when the region coordinates are (Xi, Yi, Zi), the X, Y, and Z direction coordinates are corrected to Xia = Xi * Ax, Yi = Yi * Ay, and Zi = Zi * Az, resulting in the corrected region coordinates (Xia, Yia, Zia). This improves the positioning accuracy and solves the problem of low accuracy in some field-of-view areas during camera calibration.

[0086] In one embodiment, after the step of obtaining area information described above, the following is included:

[0087] S101. Determine whether there is preset correction information in the area information;

[0088] S102. If the correction information is available, the region coordinates are corrected according to the correction information to obtain the corrected region coordinates.

[0089] Specifically, for steps S101 and S102, since the same area may undergo multiple coordinate positioning operations, to improve the efficiency of coordinate correction, the coordinates of this area can be pre-corrected to obtain correction coefficients and saved as preset correction information for this area. Therefore, it is necessary to determine whether there is preset correction information in the area information. If so, the preset correction information for this area can be directly called for correction. This ensures the accuracy of the corrected coordinate results while reducing the amount of correction computation and improving the efficiency of coordinate correction.

[0090] Reference Figure 2 This is a structural block diagram of a local positioning device of an optical positioning system according to an embodiment of this application. The device includes:

[0091] The region information acquisition module 100 is used to acquire region information, wherein the region information includes region coordinates and rigid body pose;

[0092] The correction coefficient determination module 200 is used to measure the distance of the marker balls when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, and obtain the correction coefficient in the direction of the corresponding coordinate axis based on the distance of the marker balls.

[0093] The correction module 300 is used to correct the region coordinates according to the correction coefficient of the corresponding coordinate axis direction to obtain the local positioning coordinates.

[0094] In one embodiment, the local positioning device of the above-mentioned optical positioning system further includes:

[0095] The initial distance acquisition module is used to obtain the initial distance of the marker ball on the rigid body.

[0096] In one embodiment, the local positioning device of the above-mentioned optical positioning system further includes:

[0097] The X-direction correction coefficient determination module is used to obtain the X coordinate of the marker ball when the line connecting the marker balls is parallel to the X-axis of the optical positioning system; measure the distance of the marker ball multiple times to obtain multiple first distances; calculate the average of the multiple first distances to obtain a first distance average; and obtain the X-direction correction coefficient based on the first distance average and the initial distance.

[0098] In one embodiment, the local positioning device of the above-mentioned optical positioning system further includes:

[0099] The Y-direction correction coefficient determination module is used to obtain the Y coordinate of the marker ball when the line connecting the marker balls is parallel to the Y-axis of the optical positioning system; measure the distance of the marker ball multiple times to obtain multiple second distances; calculate the average of the multiple second distances to obtain the average second distance; and obtain the correction coefficient in the Y direction based on the average second distance and the initial distance.

[0100] In one embodiment, the local positioning device of the above-mentioned optical positioning system further includes:

[0101] The Z-direction correction coefficient determination module is used to obtain the Z-coordinate of the marker ball when the line connecting the marker balls is parallel to the Z-axis of the optical positioning system; measure the distance of the marker ball multiple times to obtain multiple third distances; calculate the average of the multiple third distances to obtain the average third distance; calculate the X-coordinate difference of the marker ball based on the X-coordinate of the marker ball; calculate the Y-coordinate difference of the marker ball based on the Y-coordinate of the marker ball; calculate the Z-coordinate difference of the marker ball based on the Z-coordinate of the marker ball; and obtain the Z-direction correction coefficient based on the average third distance, the X-coordinate difference, the Y-coordinate difference, the Z-coordinate difference, and the initial distance.

[0102] In one embodiment, the local positioning device of the above-mentioned optical positioning system further includes:

[0103] The correction submodule is used to correct the X-direction coordinates in the region coordinates according to the correction coefficient in the X-direction to obtain the corrected X-direction coordinates; correct the Y-direction coordinates in the region coordinates according to the correction coefficient in the Y-direction to obtain the corrected Y-direction coordinates; correct the Z-direction coordinates in the region coordinates according to the correction coefficient in the Z-direction to obtain the corrected Z-direction coordinates; and combine the corrected X-direction coordinates, the corrected Y-direction coordinates, and the corrected Z-direction coordinates to obtain the corrected region coordinates.

[0104] In one embodiment, the local positioning device of the above-mentioned optical positioning system further includes:

[0105] A preset correction module is used to determine whether there is preset correction information in the area information; if there is correction information, the area coordinates are corrected according to the correction information to obtain the corrected area coordinates.

[0106] Reference Figure 3 This application also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 3 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor is designed to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and the database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store operational data such as the local positioning method of the optical positioning system. The network interface of the computer device is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a local positioning method of an optical positioning system according to any of the above embodiments.

[0107] Those skilled in the art will understand that Figure 3 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer equipment on which the present application is applied.

[0108] One embodiment of this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a local positioning method for an optical positioning system. It is understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0109] This application provides a local positioning method for an optical positioning system. After locating a region using an optical positioning system and obtaining its coordinates, the region is calibrated to obtain correction coefficients. The region coordinates are then corrected based on these correction coefficients, resulting in higher accuracy. This method solves the problem of low accuracy in some fields of view due to discrepancies between camera calibration results and actual camera parameters.

[0110] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media provided in this application and in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may 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), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0111] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0112] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method of local positioning of an optical positioning system, characterized in that The method comprises: acquiring region information, wherein the region information comprises region coordinates and a rigid body pose; when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker balls, and obtaining a correction coefficient of the corresponding coordinate axis direction according to the distance of the marker balls; correcting the region coordinates according to the correction coefficient of the corresponding coordinate axis direction to obtain local positioning coordinates, specifically comprising: correcting the X direction coordinate in the region coordinates according to the correction coefficient of the X direction to obtain the corrected X direction coordinate; correcting the Y direction coordinate in the region coordinates according to the correction coefficient of the Y direction to obtain the corrected Y direction coordinate; correcting the Z direction coordinate in the region coordinates according to the correction coefficient of the Z direction to obtain the corrected Z direction coordinate; and multiplying the region coordinates of the corresponding direction by the correction coefficient of the corresponding coordinate direction to obtain the corrected region coordinates in combination with the corrected X direction coordinate, the corrected Y direction coordinate and the corrected Z direction coordinate.

2. The local positioning method of an optical positioning system according to claim 1, characterized in that, Before the step of when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker balls, and obtaining a correction coefficient of the corresponding coordinate axis direction according to the distance of the marker balls, the method further comprises: acquiring an initial distance of the marker balls on the rigid body.

3. The local positioning method of an optical positioning system according to claim 2, characterized in that, The step of when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker balls, and obtaining a correction coefficient of the corresponding coordinate axis direction according to the distance of the marker balls, comprises: when the line connecting the marker balls is parallel to the X axis of the optical positioning system, obtaining the X coordinate of the marker balls; measuring the distance of the marker balls multiple times to obtain multiple first distances; calculating the mean value of the multiple first distances to obtain a first distance mean value; obtaining a correction coefficient of the X direction according to the first distance mean value and the initial distance.

4. The local positioning method of an optical positioning system according to claim 3, characterized in that, The step of when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker balls, and obtaining a correction coefficient of the corresponding coordinate axis direction according to the distance of the marker balls, comprises: when the line connecting the marker balls is parallel to the Y axis of the optical positioning system, obtaining the Y coordinate of the marker balls; measuring the distance of the marker balls multiple times to obtain multiple second distances; calculating the mean value of the multiple second distances to obtain a second distance mean value; obtaining a correction coefficient of the Y direction according to the second distance mean value and the initial distance.

5. The method of local positioning of an optical positioning system according to claim 4, characterized in that The step of when the line connecting the marker balls on the rigid body is parallel to the corresponding coordinate axis of the optical positioning system, measuring the distance of the marker balls, and obtaining a correction coefficient of the corresponding coordinate axis direction according to the distance of the marker balls, comprises: when the line connecting the marker balls is parallel to the Z axis of the optical positioning system, obtaining the Z coordinate of the marker balls; measuring the distance of the marker balls multiple times to obtain multiple third distances; calculating the mean value of the multiple third distances to obtain a third distance mean value; calculating the X coordinate difference value of the marker balls according to the X coordinate of the marker balls; calculating the Y coordinate difference value of the marker balls according to the Y coordinate of the marker balls; calculating the Z coordinate difference value of the marker balls according to the Z coordinate of the marker balls; 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, a correction coefficient in a Z direction is obtained.

6. The method of local positioning of an optical positioning system according to claim 1, characterized in that After the area information is acquired, the method comprises: determining whether there is preset correction information in the area information; if the correction information exists, correcting the area coordinate according to the correction information to obtain a corrected area coordinate.

7. A local positioning device for an optical positioning system for implementing the method according to any one of claims 1 to 6, characterized in that The device comprises: an area information acquisition module, configured to acquire area information, wherein the area information comprises area coordinates and a rigid body pose; a correction coefficient determination module, configured to, when a connecting line of a marker ball on a rigid body is parallel to a corresponding coordinate axis of an optical positioning system, measure a distance of the marker ball, and according to the distance of the marker ball, obtain a correction coefficient in a direction of the corresponding coordinate axis; a correction module, configured to correct the area coordinates according to the correction coefficient in the direction of the corresponding coordinate axis to obtain a local positioning coordinate. 8.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-7. The processor executes the computer program to implement the steps of the method in any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 6.

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