Three-dimensional positioning method, three-dimensional positioning device, equipment and medium for implementing the same

Abstract

The three-dimensional positioning method of the present application, the three-dimensional positioning device, equipment and medium for implementing the same. The device includes a positioning tool, a three-axis orientation adjustment mechanism and a position measuring instrument. The positioning tool includes a plurality of reflective marker balls. The position measuring instrument is arranged within the detection range centered on the positioning tool. The three-axis orientation adjustment mechanism is used to adjust the position of the positioning tool, and the position measuring instrument is used to measure the position of the positioning tool. A first coordinate system can be established based on the positioning tool, and the first marker ball positions of the plurality of reflective marker balls in the first coordinate system are obtained. The position measuring instrument receives the reflected light of the plurality of reflective marker balls, and according to the binocular ranging principle, the second marker ball positions of the plurality of reflective marker balls in the second coordinate system can be obtained. The three-dimensional spatial distance between the positioning tool and the target position can be calculated based on the first marker ball positions and the second marker ball positions, and the three-axis orientation adjustment mechanism can move the positioning tool to the target position in the three-dimensional space at one time.

Description

Technical Field

[0001] This application relates to the technical field of three-dimensional positioning, for example, to a three-dimensional positioning method, a three-dimensional positioning device, equipment, and medium for implementing the same. Background Art

[0002] During ankle replacement surgery, multiple bone screws are usually implanted to fix the fine-tuning module, and the positioning tool is moved to the osteotomy site according to the positions of the multiple bone screws. The above method requires multiple X-ray scans to determine the accuracy of the positioning tool, which is not only complex in operation but also very time-consuming. Most of the existing methods are to select a reference point, translate the positioning tool in different directions in three-dimensional space multiple times, and continuously measure the distance between the positioning tool and the target position to move the positioning tool to the target position, which consumes a lot of time and results in low efficiency of three-dimensional positioning. Summary of the Invention

[0003] The purpose of this application is to provide a three-dimensional positioning method, a three-dimensional positioning device, equipment, and medium for implementing the same, which can solve the problem that the position and angle of the positioning tool cannot be adjusted after one-time positioning.

[0004] To achieve the above object, in a first aspect, this application provides a three-dimensional positioning device, including a positioning tool, a three-axis orientation adjustment mechanism, and a position measuring instrument. The positioning tool includes multiple reflective marking balls. The position measuring instrument is arranged within a detection range centered on the positioning tool. The three-axis orientation adjustment mechanism is used to adjust the position of the positioning tool, and the position measuring instrument is used to measure the position of the positioning tool.

[0005] Preferably, the positioning tool includes a positioning tool body and a support member. The support member is fixedly connected to the positioning tool body. Multiple reflective marking balls are arranged on the support member, and the reflective marking balls are used to determine the position of the positioning tool.

[0006] Preferably, the position measuring instrument includes a position measuring instrument body, a first lens, a second lens, and a display screen. The first lens and the second lens are oppositely arranged at both ends of the position measuring instrument body. The display screen is located between the first lens and the second lens. The first lens and the second lens are used to obtain the positions of multiple reflective marking balls, and the display screen is used to display the position of the positioning tool.

[0007] In a second aspect, this application provides a three-dimensional positioning method, including:

[0008] Detecting the first marking ball position of each reflective marking ball in a first coordinate system;

[0009] Detecting the second marking ball position of each reflective marking ball in a second coordinate system;

[0010] Calculate the position correspondence between each of the first marker ball positions and each of the second marker ball positions;

[0011] Calculate the pose of the positioning tool according to the position correspondence, and calculate the three-dimensional spatial distance between the positioning tool position and the target position according to the pose of the positioning tool;

[0012] Project the three-dimensional spatial distance onto each coordinate axis in the second coordinate system to obtain a plurality of axis distances;

[0013] Adjust the position of the positioning tool according to the plurality of axis distances.

[0014] Preferably, the detecting the first marker ball position of each of the reflective marker balls in the first coordinate system includes:

[0015] Establish a first coordinate system with the center point of the positioning tool as the origin;

[0016] Obtain the three-dimensional coordinates of each of the reflective marker balls in the first coordinate system to obtain the first marker ball position.

[0017] Preferably, the detecting the second marker ball position of each of the reflective marker balls in the second coordinate system includes:

[0018] Establish a second coordinate system based on the position measuring instrument;

[0019] Obtain the three-dimensional coordinates of each of the reflective marker balls in the second coordinate system through the position measuring instrument to obtain the second marker ball position.

[0020] Preferably, the calculating the position correspondence between each of the first marker ball positions and each of the second marker ball positions includes:

[0021] Calculate the distances between the reflective marker balls in the first coordinate system to obtain a first marker ball distance set;

[0022] Calculate the distances between the reflective marker balls in the second coordinate system to obtain a second marker ball distance set;

[0023] Perform distance matching according to the first marker ball distance set and the second marker ball distance set to obtain the position correspondence.

[0024] Preferably, the calculating the pose of the positioning tool according to the position correspondence includes:

[0025] Calculate the translation amount and rotation angle between the first coordinate system and the second coordinate system according to the position correspondence using the singular value decomposition method;

[0026] Take the translation amount and the rotation angle as the pose of the positioning tool.

[0027] A three-dimensional positioning device of the present application includes a positioning tool, a three-axis orientation adjustment mechanism, and a position measuring instrument. The positioning tool includes a plurality of reflective marking balls. The position measuring instrument is arranged within a detection range centered on the positioning tool. The three-axis orientation adjustment mechanism is used to adjust the position of the positioning tool, and the position measuring instrument is used to measure the position of the positioning tool. According to the positioning tool, a first coordinate system can be established, and the first marker ball positions of the plurality of reflective marking balls in the first coordinate system can be obtained. The position measuring instrument receives the reflected light of the plurality of reflective marking balls, and according to the binocular ranging principle, the second marker ball positions of the plurality of reflective marking balls in the second coordinate system, that is, the optical coordinate system, can be obtained. According to the first marker ball position and the second marker ball position, the three-dimensional space distance between the positioning tool and the target position can be calculated, and the three-axis orientation adjustment mechanism can move the positioning tool to the target position at one time in the three-dimensional space, improving the efficiency of the three-dimensional positioning process. Description of the Drawings

[0028] Figure 1 It is a schematic structural diagram of a three-dimensional positioning device according to an embodiment;

[0029] Figure 2 It is a schematic structural diagram of a positioning tool according to an embodiment;

[0030] Figure 3 It is a schematic structural diagram of a position measuring instrument according to an embodiment;

[0031] Figure 4 It is a schematic flowchart of a three-dimensional positioning method according to an embodiment;

[0032] Figure 5 It is a schematic flowchart of calculating the position correspondence relationship according to an embodiment;

[0033] Figure 6 It is a schematic flowchart of calculating the pose of the positioning tool according to an embodiment;

[0034] Figure 7 It is a schematic block diagram of the structure of a computer device according to an embodiment;

[0035] Figure 8 It is a top view of a first guiding slide rail according to an embodiment;

[0036] Figure 9 It is a left view of a second guiding slide rail according to an embodiment;

[0037] Figure 10 It is a front view of a third guiding slide rail according to an embodiment;

[0038] Figure 11Schematic structural diagram of a universal ball according to an embodiment;

[0039] Figure 12 Top view of a universal ball according to an embodiment;

[0040] Figure 13 Schematic structural diagram of a fixing plate according to an embodiment;

[0041] Figure 14 Another schematic structural diagram of a positioning tool according to an embodiment.

[0042] Wherein, 1, positioning tool; 2, three-axis orientation mechanism; 3, position measuring instrument; 4, universal ball; 5, fixing plate; 11, reflective marking ball; 12, positioning tool body; 13, support member; 21, first guiding slide rail; 22, second guiding slide rail; 23, third guiding slide rail; 241, first fine-tuning knob; 242, second fine-tuning knob; 243, third fine-tuning knob; 251, first inclined rack; 252, second inclined rack; 253, third inclined rack; 261, first moving module; 262, second moving module; 263, third moving module; 31, measuring instrument body; 32, first lens; 33, second lens; 34, display screen; 41, dovetail groove; 42, rotating disk; 43, support arm; 44, universal ball body; 45, first knob; 46, second knob; 51, fixing hole; 52, perforation; 121, mounting and fixing hole; 411, first through hole.

[0043] The realization, functional features and advantages of the purpose of this application will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0044] In order to make the purpose, technical solutions and advantages of this application clearer, the following further details this application with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0045] Those skilled in the art can understand that, unless specifically stated, the singular forms "a", "an", "the above" and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the description of the present invention means the presence of features, integers, steps, operations, elements, modules, modules and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, modules, components and / or their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any module and all combinations of one or more related listed items.

[0046] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those of ordinary skill in the art to which the present invention pertains. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as here.

[0047] In one embodiment, referring to Figures 1 - 3 , the three-dimensional positioning device includes a positioning tool 1, a three-axis orientation adjustment mechanism 2, and a position measuring instrument 3. The positioning tool 1 includes a plurality of reflective marking balls 11. The position measuring instrument 3 is disposed within a detection range centered on the positioning tool 1. The three-axis orientation adjustment mechanism 2 is used to adjust the position of the positioning tool 1, and the position measuring instrument 3 is used to measure the position of the positioning tool 1. The three-axis orientation adjustment mechanism 2 can be composed of a plurality of sliding tracks or can be in other forms.

[0048] The three-axis orientation adjustment mechanism 2 includes a first guiding slide rail 21, a second guiding slide rail 22, and a third guiding slide rail 23. The first guiding slide rail 21 is connected to the positioning tool 1. The first guiding slide rail 21 is connected to the third guiding slide rail 23. The third guiding slide rail 23 is connected to the second guiding slide rail 22. The three-axis orientation adjustment mechanism 2 is used to adjust the position of the positioning tool 1. By translating the first guiding slide rail 21, the positioning tool 1 can be driven to translate in the y direction. By translating the second guiding slide rail 22, the positioning tool 1 can be driven to translate in the x direction. By translating the third guiding slide rail 23, the positioning tool 1 can be driven to translate in the z direction. The positioning tool 1 can be adjusted to a preset position through the three-axis orientation adjustment mechanism 2. The three-dimensional positioning device can be used for positioning the leg bone.

[0049] As described above, according to the positioning tool 1, a first coordinate system can be established, and the first marker ball positions of a plurality of reflective marker balls 11 in the first coordinate system can be obtained. The position measuring instrument 3 receives the reflected light of the plurality of reflective marker balls 11, and according to the binocular ranging principle, the position measuring instrument 3 can obtain the second marker ball positions of the plurality of reflective marker balls 11 in the second coordinate system, that is, the optical coordinate system. According to the first marker ball position and the second marker ball position, the three-dimensional space distance between the positioning tool 1 and the target position can be calculated, and the three-axis orientation mechanism can move the positioning tool 1 to the target position in the three-dimensional space at one time.

[0050] In one embodiment, referring to Figure 2 , the positioning tool 1 includes a positioning tool body 12 and a support member 13. The support member 13 is fixedly connected to the positioning tool body 12. A plurality of the reflective marker balls 11 are provided on the support member 13, and the reflective marker balls 11 are used to determine the position of the positioning tool 1. Specifically, the support member 13 includes a first frame portion, a second frame portion, a third frame portion and a support member body. A reflective marker ball 11 is provided on each of the first frame portion, the second frame portion, the third frame portion and the support member body.

[0051] The first frame portion, the second frame portion and the third frame portion are distributed in a clockwise direction.

[0052] As described above, the positioning tool 1 includes four reflective marker balls 11. Among them, the angles between two adjacent ones of the three reflective marker balls 11 are fixed. The angle can be 10 degrees or other degrees. The center of the other reflective marker ball 11 and the center of the reflective marker ball 11 at the middle position of the three reflective marker balls 11 are on the same straight line. The reflective marker ball reflects infrared light or visible light, and the position measuring instrument can receive the reflected infrared light or visible light.

[0053] In one embodiment, referring to Figure 3 , the position measuring instrument 3 includes a position measuring instrument body 31, a first lens 32, a second lens 33 and a display screen 34. The first lens 32 and the second lens 33 are oppositely arranged at both ends of the position measuring instrument body 31. The display screen 34 is located between the first lens 32 and the second lens 33. The first lens 32 and the second lens 33 are used to obtain the positions of the plurality of reflective marker balls 11, and the display screen 34 is used to display the position of the positioning tool 1. Preferably, an infrared LED or a visible light LED can be provided between the positioning tool 1 and the position measuring instrument 3. The plurality of reflective marker balls 11 reflect the infrared light emitted by the infrared LED or the visible light emitted by the visible light LED, and the position measuring instrument 3 receives the reflected infrared light or visible light.

[0054] As described above, the position measuring instrument 3 can receive infrared light or visible light reflected by a plurality of reflective marker balls 11. The position measuring instrument 3 detects the second marker ball positions of each reflective marker ball 11 in the second coordinate system according to the binocular ranging principle, and displays the second marker ball positions of one or more of the reflective marker balls 11 on the display screen.

[0055] In one embodiment, referring to Figures 8 - 10 , the first guiding slide rail 21, the second guiding slide rail 22 and the third guiding slide rail 23 are perpendicular to each other pairwise. The first guiding slide rail 21 is used to adjust the position of the positioning tool 1 in the y direction, the second guiding slide rail 22 is used to adjust the position of the positioning tool 1 in the x direction, and the third guiding slide rail 23 is used to adjust the position of the positioning tool 1 in the z direction.

[0056] As described above, the length direction of the first guiding slide rail 21 is the y direction, the length direction of the second guiding slide rail 22 is the x direction, the length direction of the third guiding slide rail 23 is the z direction, and the positioning tool 1 is parallel to the second guiding slide rail 22. The first guiding slide rail 21 can be translated in the y direction, the second guiding slide rail 22 can be translated in the x direction, and the third guiding slide rail 23 can be translated in the z direction. The first guiding slide rail 21, the second guiding slide rail 22 and the third guiding slide rail 23 are perpendicular to each other pairwise, which can ensure a high efficiency in adjusting the positioning tool 1.

[0057] In one embodiment, referring to Figure 1 and Figure 8 , the three-dimensional positioning device further includes a universal ball 4. The universal ball 4 is connected to the first guiding slide rail 21, and the universal ball 4 is connected to the positioning tool 1.

[0058] As described above, the first guiding slide rail 21 can drive the positioning tool 1 to move in the y direction through the universal ball 4.

[0059] In one embodiment, referring to Figures 11 - 12 , the universal ball 4 includes a dovetail groove 41, a rotating disk 42, a support arm 43 and a universal ball body 44. The dovetail groove 41 is adapted to the bottom of the positioning tool 1. The rotating disk 42 is connected to the support arm 43, and the support arm 43 is connected to the universal ball body 44. A first through hole 411 adapted to the size of the support arm 43 is provided on the dovetail groove 41. The support arm 43 extends out from the first through hole 411 and abuts against the tail of the positioning tool 1. A first knob 45 and a second knob 46 are provided on the side wall of the universal ball body 44. The first knob 45 is located above the second knob 46. The first knob 45 is used to adjust the angle of the positioning tool 1, and the second knob 46 is used to fix the universal ball 4 on the first guiding slide rail 21.

[0060] As described above, the opening direction of the dovetail groove 41 can be set in any direction, and the dovetail groove 41 and the rotating disk 42 are integral. When the rotating disk 42 is rotated clockwise, the rotating disk 42 and the dovetail groove 41 will gradually disengage from the support arm 43. After the rotating disk 42 and the dovetail groove 41 disengage from the support arm 43, the rotating disk 42 and the dovetail groove 41 can slide up and down along the support arm 43. When the rotating disk 42 is rotated counterclockwise, the rotating disk 42 and the dovetail groove 41 will gradually be fixed on the support arm 43. After the rotating disk 42 is rotated counterclockwise by a certain angle, the rotating disk 42 and the dovetail groove 41 cannot slide up and down along the support arm 43. It can also be that when the rotating disk 42 is rotated clockwise, the rotating disk 42 and the dovetail groove 41 will gradually be fixed on the support arm 43, and when the rotating disk 42 is rotated counterclockwise, the rotating disk 42 and the dovetail groove 41 will gradually disengage from the support arm 43. The universal ball body 44 is provided with a groove for the connecting portion at the bottom of the support arm 43 to be inserted, and the size of the groove is adapted to the connecting portion. It can also be that the support arm 43 and the universal ball body 44 are integral. Rotating the rotating disk 42 causes the rotating disk 42 and the dovetail groove 41 to slide vertically downward, so that the support arm 43 extends out of the first through hole 411. The longer the distance that the rotating disk 42 and the dovetail groove 41 slide vertically downward, the longer the length of the support arm extending out. During the process of the rotating disk 42 and the dovetail groove 41 sliding vertically downward, the tail of the positioning tool 1 is inserted into the dovetail groove 41. When the support arm 43 abuts against the tail of the positioning tool 1, rotate the rotating disk 42 to stop the rotating disk 42 and the dovetail groove 41 from sliding downward, and fix the rotating disk 42 and the dovetail groove 41 on the support arm 43. At this time, the positioning tool 1 is connected to the universal ball 4. When the first knob 45 is rotated clockwise or counterclockwise, the support arm 43 rotates clockwise in the horizontal plane perpendicular to the height direction. When the first knob 45 is rotated counterclockwise or clockwise, the support arm 43 rotates counterclockwise in the horizontal plane perpendicular to the height direction. The angle range of the support arm 43 rotating clockwise or counterclockwise in the horizontal plane is from 0 degree to 360 degrees. The bottom of the universal ball 4 has a plurality of through holes. When the second knob 46 is rotated clockwise or counterclockwise, the universal ball 4 is fixed on the first guiding slide rail 21. When the second knob 46 is rotated counterclockwise or clockwise, the universal ball 4 is detached from the first guiding slide rail 21.

[0061] In one embodiment, referring to Figure 1 and Figure 13 , the three-dimensional positioning device further includes a fixing plate 5. A plurality of fixing holes 51 are provided on the fixing plate 5, and the fixing holes 51 are used for installing the three-axis alignment mechanism 2.

[0062] As described above, the fixing holes 51 of the fixing plate 5 can be selected, so as to select the installation position of the three-axis alignment mechanism 2. Use hexagon head screws to fix the second guiding slide rail 22 on the fixing plate 5, fix the third guiding slide rail 23 and the second guiding slide rail 22 fixedly connected, and fix the first guiding slide rail 21 and the third guiding slide rail 23 fixedly connected.

[0063] In one embodiment, referring to Figure 13 , a perforation 52 is provided on the fixing plate 5, and the installation bandage can pass through or be inserted into the perforation 52, and the installation bandage is used to fix the leg bone.

[0064] As described above, after the installation bandage passes through one perforation 52 and is inserted into another perforation 52, the installation bandage is used to fix the leg bone, so that the positioning tool 1 can find the target position on the leg bone.

[0065] In one embodiment, referring to Figure 14 , the positioning tool body 12 includes a mounting and fixing hole 121, the mounting and fixing hole 121 is located at the bottom of the positioning tool body 12, and the size of the mounting and fixing hole 121 is adapted to the support arm 43.

[0066] As described above, after the support arm 43 extends out of the first through hole 411, the support arm 43 abuts against the mounting and fixing hole 121 at the bottom of the positioning tool body 12, playing a fixing role for the positioning tool 1.

[0067] In one embodiment, referring to Figures 8 - 10 , the second guiding slide rail 22 is provided on the fixing plate 5, a second inclined rack 252 is provided on the second guiding slide rail 22, a second moving module 262 is provided on the second inclined rack 252, a second fine adjustment knob 242 is provided on the second moving module 262, the second fine adjustment knob 242 meshes with the second inclined rack 252, the second fine adjustment knob 242 is used to drive the second moving module 262 to move, and the second inclined rack 252 is used to limit the moving direction of the second moving module 262; a third guiding slide rail 23 is provided on the second moving module 262, a third inclined rack 253 is provided on the third guiding slide rail 23, a third moving module 263 is provided on the third inclined rack 253, a third fine adjustment knob 243 is provided on the third moving module 263, the third fine adjustment knob 243 meshes with the third inclined rack 253, the third fine adjustment knob 243 is used to drive the third moving module 263 to move, and the third inclined rack 253 is used to limit the moving direction of the third moving module 263; a first guiding slide rail 21 is provided on the third moving module 263, a first inclined rack 251 is provided on the first guiding slide rail 21, a first moving module 261 is provided on the first inclined rack 251, a first fine adjustment knob 241 is provided on the first moving module 261, the first fine adjustment knob 241 meshes with the first inclined rack 251, and the first fine adjustment knob 241 is used to drive the first moving module 261 to move, and the first inclined rack 251 is used to limit the moving direction of the first moving module 261.

[0068] As described above, the gears inside the second moving module 262 are also inclined. Rotating the second fine-tuning knob 242 causes the second moving module 262 to move linearly along the x direction. The gears inside the third moving module 263 are also inclined. Rotating the third fine-tuning knob 243 causes the third moving module 263 to move linearly along the z direction. The gears inside the first moving module 261 are also inclined. Rotating the first fine-tuning knob 241 causes the first moving module 261 to move linearly along the y direction.

[0069] The displacement amounts of the first guiding slide rail 21, the second guiding slide rail 22, and the third guiding slide rail 23 can be obtained by observing the scale marks on the three guiding slide rails respectively.

[0070] The present application also provides a three-dimensional positioning method. The three-dimensional positioning method is based on the above three-dimensional positioning device, and the three-dimensional positioning device and the three-dimensional positioning method can be used to position the osteotomy site during ankle joint replacement surgery.

[0071] In one embodiment, referring to Figure 4 , the three-dimensional positioning method includes:

[0072] S1: Detect the first marker ball positions of each of the reflective marker balls in the first coordinate system.

[0073] Establish a first coordinate system with the center point of the positioning tool 1 as the origin;

[0074] Obtain the three-dimensional coordinates of each of the reflective marker balls 11 in the first coordinate system to obtain the first marker ball positions.

[0075] The center point of the positioning tool 1 is located at the center of the opposite side of the contact surface between the positioning tool 1 and the joint.

[0076] The first coordinate system can describe the positional relationship between multiple reflective marker balls 11 based on the positioning tool 1.

[0077] S2: Detect the second marker ball positions of each of the reflective marker balls in the second coordinate system.

[0078] Establish a second coordinate system based on the position measuring instrument 3;

[0079] Obtain the three-dimensional coordinates of each of the reflective marker balls 11 in the second coordinate system through the position measuring instrument 3 to obtain the second marker ball positions.

[0080] The second coordinate system can describe the positional relationship between multiple reflective marker balls 11 based on the position measuring instrument 11.

[0081] S3: Calculate the positional correspondence between each of the positions of the first marker balls and each of the positions of the second marker balls.

[0082] Calculate the distances between each of the reflective marker balls in the first coordinate system to obtain a set of first marker ball distances;

[0083] Calculate the distances between each of the reflective marker balls in the second coordinate system to obtain a set of second marker ball distances;

[0084] Perform distance matching based on the set of first marker ball distances and the set of second marker ball distances to obtain the positional correspondence.

[0085] There is a specific distance between every two reflective marker balls 11. There are a total of six distances among the four reflective marker balls 11, and the values of the six distances are different. The set of first marker ball distances includes the six distances of the four reflective marker balls 11 in the first coordinate system, and the set of second marker ball distances includes the six distances of the four reflective marker balls 11 in the second coordinate system. The six distances of the four reflective marker balls 11 in the first coordinate system and the six distances in the second coordinate system have the same magnitude relationship.

[0086] The relative magnitudes of the distances between two reflective marker balls 11 in different sets of marker ball distances are the same. By sorting according to the distance magnitudes, the positional correspondence can be obtained.

[0087] S4: Calculate the pose of the positioning tool according to the positional correspondence, and calculate the three-dimensional spatial distance between the position of the positioning tool and the target position according to the pose of the positioning tool.

[0088] Use the singular value decomposition method to calculate the translation amount and rotation angle between the first coordinate system and the second coordinate system according to the positional correspondence;

[0089] Take the translation amount and the rotation angle as the pose of the positioning tool.

[0090] Take the component of the translation amount in the x direction as the x-direction coordinate of the positioning tool;

[0091] Take the component of the translation amount in the y direction as the y-direction coordinate of the positioning tool;

[0092] Take the component of the translation amount in the z direction as the z-direction coordinate of the positioning tool;

[0093] Obtain the position of the positioning tool according to the x-direction coordinate of the positioning tool, the y-direction coordinate of the positioning tool, and the z-direction coordinate of the positioning tool;

[0094] Use the Euclidean distance method to calculate the three-dimensional spatial distance.

[0095] The pose of the positioning tool includes a translation amount and a rotation angle. Based on the translation amount, the position of the positioning tool can be obtained, and the three-dimensional space distance between the position of the positioning tool and the target position can be calculated. According to the three-dimensional space distance, the positioning tool 1 can be moved to the target position.

[0096] S5: Project the three-dimensional space distance onto each coordinate axis in the second coordinate system to obtain a plurality of coordinate axis distances.

[0097] Project the three-dimensional space distance onto the x-axis, y-axis, and z-axis of the three-dimensional space respectively to obtain the x-direction distance, y-direction distance, and z-direction distance, and use the x-direction distance, y-direction distance, and z-direction distance as a plurality of coordinate axis distances.

[0098] S6: Adjust the position of the positioning tool according to the plurality of coordinate axis distances.

[0099] Translate the positioning tool in the x direction by the x-direction distance;

[0100] Translate the positioning tool in the y direction by the y-direction distance;

[0101] Translate the positioning tool in the z direction by the z-direction distance.

[0102] The translation order of the positioning tool is not fixed. The positioning tool can be translated in the y direction first, then in the x direction, and finally in the z direction, or the positioning tool can be translated in other orders.

[0103] In the specific implementation process, the computer device obtains the position of the second marker ball detected by the position measuring instrument 3 and the position of the first marker ball based on the positioning tool 1 in real time, and then calculates a plurality of coordinate axis distances through the above-mentioned multiple steps. The computer device drives the three-axis orientation mechanism to translate in the x direction, y direction, and z direction according to the plurality of coordinate axis distances, so as to adjust the position of the positioning tool 1.

[0104] As described above, detect the first marker ball position of each of the reflective marker balls in the first coordinate system. Detect the second marker ball position of each of the reflective marker balls in the second coordinate system. Calculate the position correspondence between each of the first marker ball positions and each of the second marker ball positions. Calculate the pose of the positioning tool according to the position correspondence, and calculate the three-dimensional space distance between the positioning tool position and the target position according to the pose of the positioning tool. Project the three-dimensional space distance onto each coordinate axis in the second coordinate system to obtain a plurality of axis distances. Adjust the position of the positioning tool according to the plurality of axis distances. Describing the positions of the reflective marker balls in two different coordinate systems can obtain the conversion relationship between the two coordinate systems. According to the conversion relationship, the accurate three-dimensional space distance between the positioning tool and the target position can be obtained. According to the three-dimensional space distance, the positioning tool can be moved to the target position at one time, improving the efficiency of the three-dimensional positioning process.

[0105] In one embodiment, the detecting the first marker ball position of each of the reflective marker balls in the first coordinate system includes:

[0106] S11: Establish a first coordinate system with the center point of the positioning tool as the origin.

[0107] The center point of positioning tool 1 is located at the center of the opposite side of the contact surface between positioning tool 1 and the joint.

[0108] The first coordinate system can describe the positional relationship between a plurality of reflective marker balls 11 based on positioning tool 1.

[0109] S12: Obtain the three-dimensional coordinates of each of the reflective marker balls in the first coordinate system to obtain the first marker ball position.

[0110] According to the coordinate system tool, obtain the three-dimensional coordinates of each reflective marker ball 11 in the first coordinate system to obtain the first marker ball position corresponding to each reflective marker ball 11.

[0111] The first coordinate system describes the position of the reflective marker balls 11 based on positioning tool 1.

[0112] As described above, detecting the first marker ball position of each of the reflective marker balls 11 in the first coordinate system includes establishing a first coordinate system with the center point of the positioning tool 1 as the origin, obtaining the three-dimensional coordinates of each of the reflective marker balls 11 in the first coordinate system to obtain the first marker ball position. The first coordinate system describes the position of the reflective marker balls 11 based on positioning tool 1.

[0113] In one embodiment, the detecting the second marker ball position of each of the reflective marker balls in the second coordinate system includes:

[0114] S21: Establish a second coordinate system based on the position measuring instrument 3.

[0115] S22: Obtain the three-dimensional coordinates of each of the reflective marker balls 11 in the second coordinate system through the position measuring instrument 3, and obtain the second marker ball positions.

[0116] The second coordinate system can describe the positional relationship between multiple reflective marker balls 11 based on the position measuring instrument 11.

[0117] Preferably, the position measuring instrument 3 can only recognize the reflective marker balls 11.

[0118] The position measuring instrument 3 obtains the three-dimensional coordinates of each reflective marker ball 11 in the second coordinate system through the first lens 32 and the second lens 33 according to the binocular ranging principle. The second marker ball positions are used to describe the optical positional relationship between different reflective marker balls 11.

[0119] As described above, detecting the second marker ball positions of each of the reflective marker balls in the second coordinate system includes establishing a second coordinate system based on the position measuring instrument 3, obtaining the three-dimensional coordinates of each of the reflective marker balls 11 in the second coordinate system through the position measuring instrument 3, and obtaining the second marker ball positions. The second marker ball positions are used to describe the optical positional relationship between different reflective marker balls 11.

[0120] In one embodiment, referring to Figure 5 , calculating the positional correspondence between each of the first marker ball positions and each of the second marker ball positions includes:

[0121] S31: Calculate the distances between each of the reflective marker balls in the first coordinate system to obtain a first marker ball distance set.

[0122] There is a specific distance between every two reflective marker balls 11. There are a total of six distances among the four reflective marker balls 11, and the values of the six distances are different. The first marker ball distance set includes the six distances of the four reflective marker balls 11 in the first coordinate system.

[0123] S32: Calculate the distances between each of the reflective marker balls in the second coordinate system to obtain a second marker ball distance set.

[0124] The second marker ball distance set includes the six distances of the four reflective marker balls 11 in the second coordinate system.

[0125] S33: Perform distance matching according to the first marker ball distance set and the second marker ball distance set to obtain the positional correspondence.

[0126] The six distances of the four reflective marker balls 11 in the first coordinate system and the six distances in the second coordinate system have the same magnitude relationship.

[0127] Exemplarily, the distance between the first reflective marker ball 11 and the fourth reflective marker ball 11 is the largest, and the distance between the first reflective marker ball 11 and the second reflective marker ball 11 is the smallest. The minimum distance in the first reflective marker ball distance set is 4, and the minimum distance in the second reflective marker ball distance set is 5. 4 is the distance between the first reflective marker ball and the second reflective marker ball in the first coordinate system, and 5 is the distance between the first reflective marker ball and the second reflective marker ball in the second coordinate system.

[0128] The relative magnitudes of the distances between two reflective marker balls 11 in different marker ball distance sets are the same. By sorting according to the distance magnitudes, the position correspondence relationship can be obtained.

[0129] As described above, calculating the position correspondence relationship between each first marker ball position and each second marker ball position includes calculating the distances between each reflective marker ball in the first coordinate system to obtain the first marker ball distance set. Calculating the distances between each reflective marker ball in the second coordinate system to obtain the second marker ball distance set. Performing distance matching based on the first marker ball distance set and the second marker ball distance set to obtain the position correspondence relationship. The relative magnitudes of the distances between two reflective marker balls 11 in different marker ball distance sets are the same. By sorting according to the distance magnitudes, the position correspondence relationship can be obtained.

[0130] In one embodiment, referring to Figure 6 , calculating the pose of the positioning tool according to the position correspondence relationship includes:

[0131] S41: Using the singular value decomposition method to calculate the translation amount and rotation angle between the first coordinate system and the second coordinate system according to the position correspondence relationship.

[0132] S42: Taking the translation amount and the rotation angle as the pose of the positioning tool.

[0133] The pose of the positioning tool includes a translation amount and a rotation angle. According to the translation amount, the position of the positioning tool can be obtained. Calculating the three-dimensional space distance between the position of the positioning tool and the target position, and the positioning tool 1 can be moved to the target position according to the three-dimensional space distance.

[0134] The translation amount is in the form of a vector, and the rotation angle is in the form of a matrix.

[0135] The positioning tool 1 can be translated according to the translation amount to move the positioning tool 1 to the target position, and the positioning tool 1 can be rotated according to the rotation angle so that the angle of the positioning tool 1 in the three-dimensional space conforms to the target angle. The positioning tool 1 can be rotated by means of a universal ball, or the positioning tool 1 can be rotated by other means, which is specifically determined according to the actual situation and is not limited herein.

[0136] As described above, calculating the pose of the positioning tool according to the position correspondence relationship includes calculating the translation amount and rotation angle between the first coordinate system and the second coordinate system by using the singular value decomposition method according to the position correspondence relationship. The translation amount and the rotation angle are used as the pose of the positioning tool. The positioning tool 1 can be translated according to the translation amount to move the positioning tool 1 to the target position, and the positioning tool 1 can be rotated according to the rotation angle so that the angle of the positioning tool 1 in the three-dimensional space conforms to the target angle.

[0137] In one embodiment, the plurality of axis distances include the x-direction distance, the y-direction distance, and the z-direction distance; adjusting the position of the positioning tool according to the plurality of axis distances includes:

[0138] S61: Translate the positioning tool in the x direction by the x-direction distance.

[0139] Exemplarily, the three-dimensional coordinates of the target position are (100, 150, 200), and the three-dimensional coordinates of the positioning tool 1 before movement are (50, 120, 180). The positioning tool 1 is moved for the first time, specifically, the positioning tool 1 is translated by 50 in the x direction so that the coordinate of the positioning tool 1 in the x direction is the same as the coordinate of the target position in the x direction.

[0140] S62: Translate the positioning tool in the y direction by the y-direction distance.

[0141] Exemplarily, after the positioning tool 1 is moved for the first time, the three-dimensional coordinates of the positioning tool 1 are (100, 120, 180). The positioning tool 1 is moved for the second time, specifically, the positioning tool 1 is translated by 30 in the y direction so that the coordinate of the positioning tool 1 in the y direction is the same as the coordinate of the target position in the y direction.

[0142] S63: Translate the positioning tool in the z direction by the z-direction distance.

[0143] Exemplarily, after the positioning tool 1 is moved for the second time, the three-dimensional coordinates of the positioning tool 1 are (100, 150, 180). The positioning tool 1 is moved for the third time, specifically, the positioning tool 1 is translated by 20 in the z direction so that the coordinate of the positioning tool 1 in the z direction is the same as the coordinate of the target position in the z direction.

[0144] The translation order of the positioning tool is not fixed. The positioning tool can be translated a distance in the y direction first, then a distance in the x direction, and finally a distance in the z direction. Or the positioning tool can be translated in other orders.

[0145] The positioning tool 1 can be translated in different orders, making the translation process of the positioning tool 1 flexible.

[0146] As described above, the multiple axis distances include the x-axis distance, the y-axis distance, and the z-axis distance. Adjusting the position of the positioning tool according to the multiple axis distances includes translating the positioning tool a distance in the x direction, translating the positioning tool a distance in the y direction, and translating the positioning tool a distance in the z direction. The positioning tool 1 can be translated in different orders, making the translation process of the positioning tool 1 flexible.

[0147] Refer to Figure 7 , an embodiment of the present application also provides a computer device, and the internal structure of the computer device can be as Figure 7 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor designed in the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating device, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store position correspondence relationships, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes a three-dimensional positioning method, including the following steps: detecting the first marker ball position of each of the reflective marker balls in a first coordinate system; detecting the second marker ball position of each of the reflective marker balls in a second coordinate system; calculating the position correspondence relationship between each of the first marker ball positions and each of the second marker ball positions; calculating the pose of the positioning tool according to the position correspondence relationship, and calculating the three-dimensional space distance between the position of the positioning tool and the target position according to the pose of the positioning tool; projecting the three-dimensional space distance onto each axis in the second coordinate system to obtain multiple axis distances; adjusting the position of the positioning tool according to the multiple axis distances. Those skilled in the art can understand that Figure 7 the structure shown in

[0148] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a three-dimensional positioning method is implemented, including the following steps: detecting the first marker ball positions of each of the reflective marker balls in a first coordinate system; detecting the second marker ball positions of each of the reflective marker balls in a second coordinate system; calculating the position correspondence between each of the first marker ball positions and each of the second marker ball positions; calculating the pose of the positioning tool according to the position correspondence, and calculating the three-dimensional space distance between the position of the positioning tool and the target position according to the pose of the positioning tool; projecting the three-dimensional space distance onto each coordinate axis in the second coordinate system to obtain a plurality of coordinate axis distances; adjusting the position of the positioning tool according to the plurality of coordinate axis distances. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0149] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium provided in the present application and used in the embodiments can include non-volatile and / or volatile memories. 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 various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0150] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article or method comprising a series of elements not only includes those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article or method. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, apparatus, article or method comprising such element.

[0151] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural or equivalent process transformations made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are similarly included in the patent protection scope of the present invention.

Claims

1. A three-dimensional positioning device, characterized in that, It includes a positioning tool, a three-axis orientation mechanism and a position measuring instrument. The positioning tool includes a plurality of reflective marker balls. The position measuring instrument is arranged within a detection range centered on the positioning tool. The three-axis orientation mechanism is used to adjust the position of the positioning tool, and the position measuring instrument is used to measure the position of the positioning tool; The three-dimensional positioning device further includes a universal ball. The universal ball is connected to the first guiding slide rail of the three-axis orientation mechanism, and the universal ball is connected to the positioning tool. There are a plurality of through holes at the bottom of the universal ball. When the second knob rotates clockwise or counterclockwise, the universal ball is fixed on the first guiding slide rail. When the second knob rotates counterclockwise or clockwise, the universal ball is detached from the first guiding slide rail; The universal ball includes a dovetail groove, a rotating disc, a support arm and a universal ball body. The dovetail groove is adapted to the bottom of the positioning tool. The rotating disc is connected to the support arm, and the support arm is connected to the universal ball body. A first through hole adapted to the size of the support arm is provided on the dovetail groove. The support arm extends out from the first through hole and abuts against the tail of the positioning tool. A first knob and a second knob are provided on the side wall of the universal ball body. The first knob is located above the second knob. The first knob is used to adjust the angle of the positioning tool, and the second knob is used to fix the universal ball on the first guiding slide rail; The universal ball body is provided with a groove for the connecting part at the bottom of the support arm to be inserted. When the first knob rotates clockwise or counterclockwise, the support arm rotates clockwise in a horizontal plane perpendicular to the height direction. When the first knob rotates counterclockwise or clockwise, the support arm rotates counterclockwise in a horizontal plane perpendicular to the height direction.

2. The three-dimensional positioning device according to claim 1, wherein The positioning tool includes a positioning tool body and a support member. The support member is fixedly connected to the positioning tool body. A plurality of the reflective marker balls are provided on the support member, and the reflective marker balls are used to determine the position of the positioning tool.

3. The three-dimensional positioning device according to claim 1, characterized in that, The position measuring instrument includes a position measuring instrument body, a first lens, a second lens and a display screen. The first lens and the second lens are oppositely arranged at both ends of the position measuring instrument body. The display screen is located between the first lens and the second lens. The first lens and the second lens are used to obtain the positions of a plurality of the reflective marker balls, and the display screen is used to display the position of the positioning tool.

4. A three-dimensional positioning method, characterized in that, Based on the three-dimensional positioning device according to any one of claims 1 to 3 above, the method includes: Detecting the first marker ball position of each of the reflective marker balls in a first coordinate system; Detecting the second marker ball position of each of the reflective marker balls in a second coordinate system; Calculating the position correspondence relationship between each of the first marker ball positions and each of the second marker ball positions; Calculating the pose of the positioning tool according to the position correspondence relationship, and calculating the three-dimensional space distance between the position of the positioning tool and the target position according to the pose of the positioning tool; Projecting the three-dimensional space distance onto each coordinate axis in the second coordinate system to obtain a plurality of coordinate axis distances; Adjusting the position of the positioning tool according to the plurality of coordinate axis distances.

5. The three-dimensional positioning method according to claim 4, characterized in that, Detecting the first marker ball position of each of the reflective marker balls in the first coordinate system includes: Establishing a first coordinate system with the center point of the positioning tool as the origin; Obtaining the three-dimensional coordinates of each of the reflective marker balls in the first coordinate system to obtain the first marker ball position.

6. The three-dimensional positioning method according to claim 4, wherein Detecting the second marker ball position of each of the reflective marker balls in the second coordinate system includes: Establishing a second coordinate system based on the position measuring instrument; Obtaining the three-dimensional coordinates of each of the reflective marker balls in the second coordinate system through the position measuring instrument to obtain the second marker ball position.

7. The three-dimensional positioning method according to claim 4, wherein Calculating the position correspondence between each of the first marker ball positions and each of the second marker ball positions includes: Calculating the distances between the reflective marker balls in the first coordinate system to obtain a first marker ball distance set; Calculating the distances between the reflective marker balls in the second coordinate system to obtain a second marker ball distance set; Performing distance matching based on the first marker ball distance set and the second marker ball distance set to obtain the position correspondence.

8. The three-dimensional positioning method according to claim 4, characterized in that Calculating the pose of the positioning tool according to the position correspondence includes: Calculating the translation amount and rotation angle between the first coordinate system and the second coordinate system using the singular value decomposition method according to the position correspondence; Taking the translation amount and the rotation angle as the pose of the positioning tool.

9. A computer device, comprising a memory and a processor, wherein a computer program is stored in the memory, characterized in that, When the processor executes the computer program, the steps of the three-dimensional positioning method according to any one of claims 4 to 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the three-dimensional positioning method according to any one of claims 4 to 8 are implemented.

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