Method for detecting precision of center coordinates of a marker and related device

Abstract

The embodiment of the application provides a center coordinate precision detection method of a marker and a related device, wherein the method comprises the following steps: acquiring a first coordinate, wherein the first coordinate is an actual top center coordinate of a first fixed column on a detection tool; acquiring a second coordinate in the case that a marker to be detected is installed on the first fixed column, wherein the second coordinate is an actual center coordinate of the marker to be detected; determining that the first coordinate is a theoretical center coordinate of the marker to be detected; and determining the precision of the center coordinate of the marker to be detected based on the distance between the theoretical center coordinate and the second coordinate. The center coordinate precision of the marker can be effectively detected through the application.

Description

Technical Field

[0001] This application relates to the field of accuracy detection, specifically to a method and related apparatus for detecting the accuracy of the center coordinates of a marker. Background Technology

[0002] In optical-based surgical navigation systems, optical tracking devices can acquire the center coordinates of a marker through a reflective coating on its surface. Typically, the marker can be connected to the device via a mounting post.

[0003] For example, in a robotic arm-based surgical scenario, a marker can be connected to the tracker via a fixed post on the tracker. During the surgery, it is necessary to calculate the coordinates of certain locations in space based on the structure of the tracker and its relative positional relationship with other devices. Therefore, the center coordinates of the marker should coincide with the center coordinates of the top of the fixed post.

[0004] However, mechanical manufacturing inevitably involves errors. In order to improve the accuracy of the surgical navigation system, a method for detecting the accuracy of the center coordinates of the markers is needed so that the errors in the center coordinates of the markers can be corrected in a timely manner. Summary of the Invention

[0005] This application provides a method and related apparatus for detecting the center coordinate accuracy of markers, which can effectively detect the center coordinate accuracy of markers.

[0006] In a first aspect, embodiments of this application provide a method for detecting the accuracy of the center coordinates of a marker, including:

[0007] Obtain the first coordinate, which is the actual top center coordinate of the first fixed column on the detection fixture;

[0008] When the marker to be detected is installed on the first fixed post, the second coordinate is obtained, which is the actual center coordinate of the marker to be detected.

[0009] The first coordinate mentioned above is determined to be the theoretical center coordinate of the marker to be detected.

[0010] The accuracy of determining the center coordinates of the marker to be detected is based on the distance between the theoretical center coordinates and the second coordinates.

[0011] In conjunction with the first aspect, in one possible implementation, the aforementioned detection fixture is a cube, and before obtaining the first coordinate, the method further includes:

[0012] A first reference surface is defined, which is the surface on the testing fixture where the first fixed column is installed;

[0013] At least two reference line segments are determined; with the first reference surface as the top surface, the reference line segment is the intersection line between the first reference surface and the side surface of the inspection fixture.

[0014] A reference coordinate system is determined based on the first reference plane and the above-mentioned at least two reference line segments, wherein the above-mentioned first coordinate and the above-mentioned second coordinate are obtained based on the above-mentioned reference coordinate system.

[0015] In conjunction with the first aspect, in one possible implementation, the above defines at least two reference line segments, including:

[0016] Candidate line segments are determined from the target surface. With the first reference surface mentioned above as the top surface, the target surface is any side of the detection fixture mentioned above.

[0017] Based on the projection of the candidate line segments onto the first reference plane, a reference line segment is obtained.

[0018] At least two reference line segments are obtained based on at least two of the aforementioned target surfaces.

[0019] In conjunction with the first aspect, in one possible implementation, when two reference line segments are determined, the determination of the reference coordinate system based on the first reference plane and the intersection of the at least two reference line segments includes:

[0020] Based on the first reference plane, the reference coordinate system is established with the intersection of the two reference line segments as the origin.

[0021] In conjunction with the first aspect, in one possible implementation, the first fixed post includes a first end portion, which includes a frustum and a cylinder, the frustum including a first end face and a second end face; axially, the first end face and the second end face are disposed opposite to each other, the area of ​​the second end face is larger than the area of ​​the first end face, and the cylinder is fixedly connected to the second end face; obtaining the first coordinate includes:

[0022] Obtain the third coordinate, which is the center coordinate of any cross-section of the cylinder.

[0023] The second reference surface is determined based on at least three reference points, all of which are located on the first end face.

[0024] The third coordinate is projected onto the second reference plane to obtain the first coordinate.

[0025] In conjunction with the first aspect, in one possible implementation, the accuracy of determining the center coordinates of the marker to be detected based on the distance between the aforementioned theoretical center coordinates and the aforementioned second coordinates includes:

[0026] Obtain the fourth coordinate, which is the top center coordinate of the first fixed post after the marker to be detected installed on the first fixed post is removed;

[0027] When the distance between the fourth coordinate and the first coordinate is less than or equal to the first threshold, the accuracy of determining the center coordinate of the marker to be detected based on the distance between the theoretical center coordinate and the second coordinate is as follows.

[0028] Secondly, embodiments of this application provide a marker center coordinate accuracy detection device, including a unit for performing the method in the first aspect or any possible implementation of the first aspect.

[0029] Thirdly, embodiments of this application disclose an electronic device, including: a processor and a memory, wherein the memory stores a computer program, and the processor calls the computer program stored in the memory to perform a method as described in the first aspect or any possible implementation of the first aspect.

[0030] Fourthly, this application also provides another electronic device, comprising: a processor, a transmitting device, an input device, an output device, and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect or any possible implementation thereof.

[0031] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on one or more processors, causes the method as described in the first aspect or any possible implementation thereof to be executed.

[0032] In a sixth aspect, embodiments of this application provide a computer program product including program instructions that, when executed by a processor, cause the processor to perform a method as described in the first aspect or any possible implementation thereof.

[0033] In this embodiment of the application, when the theoretical center coordinates of the marker cannot be obtained using existing measuring equipment, the relative relationship between the fixed column and the marker is cleverly utilized. The actual top center coordinates of the fixed column (i.e., the first coordinate) are used as the theoretical center coordinates of the marker to be detected. Then, the center coordinate accuracy of the marker to be detected is determined based on the distance between the actual center coordinates (i.e., the second coordinate) and the theoretical center coordinates. This can effectively detect the center coordinate accuracy of the marker. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of a surgical navigation system provided in an embodiment of this application;

[0035] Figure 2 This is a schematic diagram of a marker and a fixing post provided in an embodiment of this application;

[0036] Figure 3 This is a flowchart illustrating a method for detecting the center coordinate accuracy of a marker according to an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of a testing fixture provided in an embodiment of this application;

[0038] Figure 5(a) is a schematic diagram of a reference coordinate system provided in an embodiment of this application;

[0039] Figure 5(b) is a schematic diagram of another reference coordinate system provided in an embodiment of this application;

[0040] Figure 6 This is a schematic diagram showing the theoretical and actual center coordinates of a marker provided in an embodiment of this application;

[0041] Figure 7 This is a schematic diagram showing the top center coordinates of a fixed column before and after detection, provided in an embodiment of this application.

[0042] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0043] Figure 9 This is a schematic diagram of the structure of another electronic device provided in an embodiment of this application. Detailed Implementation

[0044] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items. The terms “first” and “second,” etc., in the specification, claims, and drawings of this application are used to distinguish different objects and not to describe a particular order.

[0045] It should be noted that the terms "first," "second," "third," and "fourth," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. It should also be understood that the numbering before the steps in the embodiments of this application is for ease of understanding and description of the scheme, and should not be construed as a limitation on the order in which the steps are performed.

[0046] In optical-based surgical navigation systems, markers play a crucial role. For example, markers can be placed on the surface of the target object to monitor its respiratory status. As another example, markers can be placed on a guide connected to a robotic arm, using the spatial coordinates of the markers and the physical structure of the guide to determine the spatial coordinates of other locations within the surgical space.

[0047] For easier understanding, please refer to Figure 1 , Figure 1 This is a schematic diagram of a surgical navigation system provided in an embodiment of this application. Figure 1 As shown, the surgical navigation system includes an electronic device 101, an optical tracking device 102, and a robotic arm 103.

[0048] In this embodiment, the optical tracking device 102 can be understood as a device for measuring the spatial position information (such as spatial coordinates) of a marker. Exemplarily, the optical tracking device 102 may include a first sensor 1021 and a second sensor 1022. The first sensor 1021 may include a first infrared light-emitting diode and a first infrared receiver, and the second sensor 1022 may include a second infrared light-emitting diode and a second infrared receiver. When locating a marker within the tracking range, the first and second infrared light-emitting diodes generate infrared light, which is then irradiated onto the marker. The reflective coating on the marker's surface reflects the infrared light back to the first and second infrared receivers, allowing the optical tracking device 102 to locate the marker using the infrared light.

[0049] In this embodiment, the robotic arm 103 may include a base 1031, a joint component 1032, and a flange 1033. The robotic arm 103 is fixedly connected to the guide 104 via the flange 1033. The guide 104 is provided with N markers. In this embodiment, N is an integer greater than or equal to 3. Figure 1 The guide 104 shown includes four markers. It can be understood that in three-dimensional space, three points can define a plane, and based on the N coordinates corresponding to the above N markers, at least one plane can be determined. Combining the design drawing of the guide 104, the spatial position information of each position on the guide 104 under the optical tracking device 102 can be determined.

[0050] For example, the guide 104 is fixedly connected to the puncture guide rail 105. For example, the guide 104 can be fixedly connected to the puncture guide rail 105 through a guide groove. The puncture guide rail 105 can be used to hold the puncture needle, which can be understood as a physical needle used by the operator to perform puncture in real space.

[0051] The electronic device 101 can communicate with the robotic arm 103 and send control commands to the robotic arm through the communication connection. The control commands are used to control the joint components of the robotic arm to move so that the robotic arm moves from the initial position to the target position.

[0052] In this embodiment, the guide can be connected to the marker via a fixed post, wherein the connection between the fixed post and the marker can be understood as a detachable connection. For ease of understanding, please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram of a marker and a fixing post provided in an embodiment of this application.

[0053] like Figure 2 As shown, marker 201 includes mounting holes (or mounting slots). It is understood that although the grooves inside the marker prevent it from being a standard, complete sphere, the groove notch only occupies a small portion of the entire sphere. In actual use, the marker functions as a sphere within a spatial structure. For example, when the optical tracking device positions the marker, it is treated as a sphere, and the center coordinates of the marker are calculated based on the reflected infrared light and its roundness. Therefore, the center coordinates of the marker can be understood as the coordinates of the marker's sphere center. For example, the marker can also be called a marker sphere, or simply a sphere, or even a near-infrared optical positioning marker sphere.

[0054] like Figure 2 The 201 section shown can be understood as a two-dimensional cross-sectional view of the marker, hereinafter referred to as marker 201; as Figure 2 The portion 202 shown can be understood as a two-dimensional cross-sectional view of the fixed post, hereinafter referred to as fixed post 202. The marker 201 can be installed on the fixed post 202. Exemplarily, the fixed post 202 can be on a testing fixture or on a guide. During installation, the mounting hole of the marker 201 can be aligned with the fixed post 202, and then pressed along the axial direction of the fixed post 202. A distinct clicking sound indicates that it is properly installed. Figure 2 The aforementioned fixed column structure and dimensional relationships can effectively control the tightness of the marker installation and are easy to install.

[0055] In this embodiment of the application, the fixed column 202 includes an end, which includes a frustum 2021 and a cylinder 2022. The frustum 2021 includes a first end face and a second end face. In the axial direction of the fixed column 202, the first end face and the second end face are arranged opposite to each other, and the area of ​​the second end face is larger than the area of ​​the first end face. The cylinder 2022 is fixedly connected to the second end face.

[0056] Understandably, when installing the marker onto the post, the top of the post should rest against the top of the mounting hole, and the center of the top of the mounting hole, the center of the marker, and the center of the top of the post should coincide. For example Figure 2 As shown, the center coordinates of the top of the mounting hole, the center coordinates of the marker, and the center coordinates of the top of the fixing post should coincide at point A. In this embodiment, the top of the fixing post can be understood as the end used for insertion into the marker, the center of the top of the fixing post can be understood as the center of the aforementioned first end face, and the center coordinates of the top of the fixing post can be understood as the center coordinates of the aforementioned first end face.

[0057] Since the center coordinates of the top of the fixed column are the same as the center coordinates of the marker, the spatial position information of each position on the guide under the optical tracking device 102 can be determined based on the center coordinates of the marker (which can be obtained through the optical tracking device) and the design drawing of the guide.

[0058] However, in reality, there may be a certain error between the center coordinates of the marker and the top center coordinates of the fixed post. For example, the center coordinates of the marker may be higher than the top center coordinates of the fixed post. It's easy to understand that if the error between the center coordinates of the marker and the top center coordinates of the fixed post is large, then using the center coordinates of the marker as the top center coordinates of the fixed post, and then calculating the spatial coordinates based on the structure of the guide, will naturally have a large error.

[0059] To control the error between the center coordinates of the marker and the top center coordinates of the fixed column, a method for detecting the accuracy of the marker's center coordinates is needed. Since the mounting hole is inside the marker, other measuring devices (such as coordinate measuring machines) cannot directly measure the actual coordinate values ​​of the marker's center coordinates, thus failing to detect the accuracy of the marker's center coordinates.

[0060] To address the aforementioned problems, this application provides a method and related apparatus for detecting the center coordinate accuracy of markers. This application can effectively detect the center coordinate accuracy of markers. The aforementioned electronic device can be any electronic device capable of executing the technical solutions disclosed in the embodiments of this application. The electronic device can be a tablet computer, a PDA, a laptop computer, etc., or it can be a terminal device, a server, or a server cluster composed of multiple servers, etc., and is not limited thereto. Optionally, the embodiments of this application can also be implemented by a processor executing computer program code.

[0061] For example, please refer to Figure 3 , Figure 3 This is a flowchart illustrating a method for detecting the center coordinate accuracy of a marker according to an embodiment of this application. Figure 3 As shown, the above method includes:

[0062] 301: Obtain the first coordinate, which is the actual top center coordinate of the first fixed column on the detection fixture.

[0063] For ease of understanding, please refer to the example provided. Figure 4 , Figure 4 This is a schematic diagram of a testing fixture provided in an embodiment of this application.

[0064] In this embodiment of the application, at least one fixed post is installed on the detection fixture. For example, as shown... Figure 4 As shown, the inspection fixture 40 is equipped with four fixing posts, namely fixing post 401, fixing post 402, fixing post 403, and fixing post 404. Exemplarily, the inspection fixture 40 includes fixing holes 405, which allow the inspection fixture 40 to be placed within the effective working range of the coordinate measuring machine and then fixed using screws in the fixing holes 405. This reduces the impact of the inspection fixture 40's movement on the top center coordinates of the fixing posts, such as during the installation and removal of markers.

[0065] Optionally, the inspection fixture can be placed within the effective working range of a coordinate measuring machine (CMM), and the top center coordinates of the fixed column on the inspection fixture can be acquired by the CMM. An electronic device can establish a communication connection with the CMM and then obtain the top center coordinates through this communication connection. The electronic device can use any of the acquired top center coordinates as the aforementioned first coordinate. It should be understood that the relationship between the top center coordinates and the fixed column can be interpreted as a correspondence; after the electronic device determines a certain top center coordinate as the first coordinate, the fixed column corresponding to that top center coordinate is the first fixed column.

[0066] Alternatively, you can first identify a fixed post on the testing fixture as the first fixed post, such as fixed post 401, and then use the top center coordinates of fixed post 401 as the first coordinate.

[0067] In some embodiments, step 301, obtaining the first coordinates, includes:

[0068] 3011: Obtain the third coordinate, which is the coordinate of the center of any cross-section of the cylinder;

[0069] 3012: A second reference surface is determined based on at least three reference points, all of which are located on the first end face;

[0070] 3013: Project the third coordinate onto the second reference plane to obtain the first coordinate.

[0071] In this embodiment, the description of the cylinder and the first end face can be found in the preceding text. Figure 2 The description of the fixed column 202 in the text will not be repeated here.

[0072] Reuse Figure 2 The coordinate measuring machine (CMM) can take at least three points on the side of cylinder 2022, ideally on the same plane. Then, combining this with the radius of cylinder 2022, the coordinates of the centers of the corresponding cross-sectional circles at these three points can be obtained. Since the centers of frustum 2021 and cylinder 2022 are on the same axis, the CMM can take at least three reference points on the first end face to determine the second reference surface. This second reference surface characterizes the position of the first end face. Finally, the third coordinate is projected onto the second reference surface to obtain the first coordinate.

[0073] It should be understood that the first coordinate is obtained by measuring the coordinates of the top of the fixed column in the actual space. Therefore, the first coordinate can be understood as the actual coordinate value.

[0074] 302: When the marker to be detected is installed on the first fixed post, obtain the second coordinate, which is the actual center coordinate of the marker to be detected.

[0075] It is understandable that when measuring the center coordinates of the top of the fixed column, the top of the fixed column must not be obstructed, so no marker is installed on the fixed column. Therefore, after measuring the first coordinates, the marker to be tested is then installed on the first fixed column. In this embodiment, the marker to be tested can be understood as any marker whose center coordinate accuracy needs to be tested. For example, it can be one of multiple markers selected from a batch of manufactured markers.

[0076] With the marker to be inspected mounted on the first fixed post, the electronic device acquires the second coordinates. For example, at least four different points can be randomly collected from the surface of the marker to be inspected using a coordinate measuring machine (CMM), and then the center coordinates of the marker can be calculated. For instance, the center coordinates of the marker can be obtained by taking five points on the upper hemisphere and four points on the lower hemisphere of the marker using a CMM.

[0077] It can be understood that the second coordinate is obtained by measuring the coordinates of the marker to be detected, which is installed on a fixed column in the actual space. Therefore, the second coordinate can be understood as the actual coordinate value.

[0078] 303: Determine the first coordinate as the theoretical center coordinate of the marker to be detected.

[0079] It is understandable that, assuming both the first fixed post and the marker to be tested have no error (or very small error), the actual center coordinates of the top of the fixed post should be the same as the center coordinates of the marker to be tested. Therefore, during the precision testing process, assuming the first fixed post is qualified (error negligible), the theoretical center coordinates of the marker to be tested should be understood as the actual center coordinates of the top of the first fixed post. In other words, the first coordinate should be the theoretical center coordinates of the marker to be tested.

[0080] 304: The accuracy of determining the center coordinates of the marker to be detected based on the distance between the theoretical center coordinates and the second coordinates.

[0081] It is understood that all coordinates in the embodiments of this application are three-dimensional spatial coordinates. It is easy to understand that if the distance between the actual center coordinates and the theoretical center coordinates of the marker to be detected is too large, then the marker to be detected is considered to have insufficient accuracy and is unqualified; if the distance between the actual center coordinates and the theoretical center coordinates of the marker to be detected is small, then the marker to be detected is considered to have acceptable accuracy. Generally, a threshold can be set according to the actual situation to determine whether the marker to be detected is qualified. For example, if the distance between the theoretical center coordinates and the second coordinate is less than or equal to 0.01 mm, it is considered qualified; if it is greater than 0.01 mm, it is unqualified.

[0082] In this embodiment of the application, the distance between coordinates can be decomposed into the distance in the x direction, the distance in the y direction, and the distance in the z direction. The distance between the theoretical center coordinate and the second coordinate being less than 0.01 mm can be understood as the distance between the theoretical center coordinate and the second coordinate in the x, y, and z directions being less than 0.01 mm.

[0083] It is understandable that, provided the marker's accuracy is acceptable (center coordinate error is within a controllable range), after the marker is installed on a qualified guide, the actual center coordinates of the marker can be considered to coincide with the top center coordinates of the corresponding fixed post on the guide.

[0084] In this embodiment of the application, when the theoretical center coordinates of the marker cannot be obtained using existing measuring equipment, the relative relationship between the fixed column and the marker is cleverly utilized. The actual top center coordinates of the fixed column (i.e., the first coordinates mentioned above) are used as the theoretical center coordinates of the marker to be detected. Then, the center coordinate accuracy of the marker to be detected is determined based on the distance between the actual center coordinates of the marker to be detected (i.e., the second coordinates mentioned above) and the theoretical center coordinates. This can effectively detect the center coordinate accuracy of the marker.

[0085] In some embodiments, step 304, determining the accuracy of the center coordinates of the marker to be detected based on the distance between the theoretical center coordinates and the second coordinates, includes:

[0086] 3041: Obtain the fourth coordinate, which is the center coordinate of the top of the first fixed post after the marker to be detected installed on the first fixed post is removed.

[0087] 3042: When the distance between the fourth coordinate and the first coordinate is less than or equal to the first threshold, the accuracy of determining the center coordinate of the marker to be detected based on the distance between the theoretical center coordinate and the second coordinate.

[0088] It is understandable that during the installation and removal of the marker to be tested on the first fixed post, the top center coordinates of the first fixed post will inevitably shift. In this embodiment, after obtaining the first and second coordinates, the marker to be tested can be removed from the first fixed post, and then the top center coordinates of the first fixed post can be measured to obtain the aforementioned fourth coordinate. It should be understood that the aforementioned fourth coordinate should be interpreted as the actual top center coordinates of the first fixed post.

[0089] If the distance between the fourth coordinate and the first coordinate is less than or equal to the first threshold, it can be considered that the positional deviation of the first fixed post during the accuracy detection of the marker to be detected is within a controllable range. Therefore, the electronic device can determine the accuracy of the center coordinate of the marker to be detected based on the previously obtained theoretical center coordinate and second coordinate.

[0090] If the distance between the fourth coordinate and the first coordinate is less than or equal to the first threshold, it can be considered that the position of the first fixed post has shifted too much during the accuracy detection of the marker to be detected. Therefore, the theoretical center coordinates and the second coordinate that have been obtained cannot be used to determine the accuracy of the center coordinates of the marker to be detected, and data needs to be acquired again for detection.

[0091] In this embodiment, the accuracy of the marker center coordinate detection is improved by controlling the shaking error of the detection fixture.

[0092] In this embodiment, the first coordinate, second coordinate, third coordinate, and fourth coordinate are determined based on the same coordinate system. Optionally, the above coordinate system can be referred to as a reference coordinate system. In some embodiments, before obtaining the first coordinate in step 301, Figure 3 The method shown also includes:

[0093] 305: Determine the first reference surface, which is the surface on the testing fixture where the first fixed column is installed.

[0094] 306: Determine at least two reference line segments; with the first reference surface as the top surface, the reference line segment is the intersection line between the first reference surface and the side surface of the inspection fixture.

[0095] 307: A reference coordinate system is determined based on a first reference plane and at least two reference line segments, wherein the first coordinate and the second coordinate are obtained based on the reference coordinate system.

[0096] In this embodiment, the first reference surface is the surface on the detection fixture where the first fixing post is mounted. Exemplarily, this is reused. Figure 4 The top surface 408 of the inspection fixture 40 can be understood as the first reference surface mentioned above, such as... Figure 4 Regions 406 and 407 shown can both be understood as the sides of the inspection fixture. In this embodiment, the intersection line between the top surface and the side surface can be understood as a reference line segment, for example... Figure 4 The intersection line between the top surface 408 and the side surface 407 can be understood as a reference line segment.

[0097] In this embodiment, the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate can all be understood as coordinates obtained under a reference coordinate system. Optionally, step 306, determining at least two reference line segments, includes:

[0098] 3061: Determine candidate line segments from the target surface, wherein the target surface is any side of the detection fixture when the first reference surface is the top surface.

[0099] For example, Figure 4 Side surface 406 or side surface 407 can both be understood as the target surface. The line segment obtained by selecting two points at different locations on the target surface can be understood as the candidate line segment.

[0100] 3062: Based on the projection of the candidate line segment onto the first reference plane, a reference line segment is obtained.

[0101] It is understandable that, since the inspection fixture is a cube, when the candidate line segment in the side is projected onto the first reference plane, the projected line segment is on the intersection line between the first reference plane and the side of the inspection fixture.

[0102] 3063: Obtain at least two reference line segments based on at least two target surfaces.

[0103] It is understandable that one target surface can yield one reference line segment, and at least two reference line segments can be obtained based on at least two target surfaces.

[0104] For example, in the case of Figure 4 When two reference line segments are obtained by taking side 407 and side 406 as target surfaces, a reference coordinate system can be established with the intersection of the two reference line segments as the origin.

[0105] In this embodiment, the reference coordinate system satisfies the right-hand rule, and the specific directions of the x-axis, y-axis, and z-axis can be set according to the actual situation. This application does not limit this.

[0106] Optionally, if four reference line segments are determined, step 307, determining a reference coordinate system based on at least two reference line segments, includes:

[0107] 3071: Based on the midpoint determined by two reference line segments with opposite positions, the first midpoint and the second midpoint are obtained.

[0108] 3072: Establish a reference coordinate system with the intersection of the first and second midline as the origin.

[0109] It can be understood that the inspection fixture is a cube, and four reference line segments can be obtained based on the four sides. Two reference line segments in opposite positions can obtain a midline, which can also be understood as the midline of any one of the reference line segments. Thus, two pairs of reference line segments in opposite positions among the four reference line segments can obtain two midlines, namely the first midline and the second midline.

[0110] As shown in Figure 5(a), which is a schematic diagram of a reference coordinate system provided in an embodiment of this application, a reference coordinate system can be established by taking the intersection of the first median line and the second median line as the origin, resulting in the reference coordinate system shown in Figure 5(a).

[0111] Optionally, if two reference line segments are determined, step 307, determining a reference coordinate system based on the first reference plane and the intersection of at least two reference line segments, includes:

[0112] 3073: Based on the first reference plane, establish a reference coordinate system with the intersection of the two reference line segments as the origin.

[0113] As shown in Figure 5(b), which is a schematic diagram of another reference coordinate system provided in an embodiment of this application, the process of establishing the reference coordinate system shown in Figure 5(b) is simpler and requires less computation than that shown in Figure 5(a).

[0114] To gain a more intuitive understanding of the testing methods in this solution, the following section will combine... Figure 6 and Figure 7 The data shown illustrates the detection method provided in this application. Figure 6 This is a schematic diagram showing the theoretical and actual center coordinates of a marker provided in an embodiment of this application. Figure 7 This is a schematic diagram showing the top center coordinates of a fixed column before and after detection, provided in an embodiment of this application. Figure 6 and Figure 7 The data in the figure can be understood as being obtained based on the reference coordinate system shown in Figure 5(a).

[0115] For example, the testing fixture includes four fixed posts, namely fixed post A, fixed post B, fixed post C, and fixed post D, which can be used to test four markers, namely marker A, marker B, marker C, and marker D. Marker A is mounted on fixed post A, marker B is mounted on fixed post B, marker C is mounted on fixed post C, and marker D is mounted on fixed post D.

[0116] The detection results of the markers are as follows Figure 6 As shown, Figure 6 The data unit can be millimeters. If 0.1 millimeters is used as the criterion for acceptance, and without considering the wobble error of the inspection fixture, markers A, B, and C are all unacceptable, only marker D is acceptable. Optionally, unacceptable markers can be repaired based on the deviation value. Taking marker A as an example, the actual center coordinate of marker A is lower on the z-axis than the theoretical center coordinate. The depth of the mounting hole of marker A can be shortened to reduce the above deviation.

[0117] Taking into account the wobble error of the testing fixture, a standard of 0.05 mm can be used for judgment. After obtaining... Figure 6 After the data is shown, it needs to be combined with Figure 7 The data shown is used to determine the accuracy of the marker center coordinates. For example... Figure 7 As shown, the deviations of the top center coordinates of each fixed column before and after the test are all within 0.05. Therefore, it can be considered that the above... Figure 6 The conclusion is acceptable, namely, that markers A, B, and C are all unqualified, and only marker D is qualified. For example, if... Figure 7 If the deviation of marker A in the test includes any value greater than 0.05 mm, then marker A needs to be retested.

[0118] The methods provided in the embodiments of this application have been described in detail above. The apparatus provided in the embodiments of this application is described below.

[0119] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 8 The electronic device 80 shown includes an acquisition unit 801 and a determination unit 802, and may also include a projection unit 803, wherein the descriptions of each unit are as follows:

[0120] The acquisition unit 801 is used to acquire the first coordinate, which is the actual top center coordinate of the first fixed column on the detection fixture.

[0121] The acquisition unit 801 is also used to acquire a second coordinate when a marker to be detected is installed on the first fixed post, wherein the second coordinate is the actual center coordinate of the marker to be detected.

[0122] The determining unit 802 is used to determine the first coordinate as the theoretical center coordinate of the marker to be detected;

[0123] The determining unit 802 is also used to determine the accuracy of the center coordinates of the marker to be detected based on the distance between the theoretical center coordinates and the second coordinates.

[0124] In one possible implementation, the determining unit 802 is further configured to determine a first reference surface, wherein the first reference surface is the surface on the detection fixture on which the first fixed column is mounted;

[0125] The determining unit 802 is also used to determine at least two reference line segments; when the first reference surface is the top surface, the reference line segment is the intersection line between the first reference surface and the side surface of the detection fixture.

[0126] The determining unit 802 is also used to determine a reference coordinate system based on the above-mentioned at least two reference line segments, wherein the above-mentioned first coordinate and the above-mentioned second coordinate are obtained based on the above-mentioned reference coordinate system.

[0127] In one possible implementation, the determining unit 802 is further configured to determine candidate line segments from the target surface, wherein, with the first reference surface as the top surface, the target surface is any side surface of the detection fixture.

[0128] Projection unit 803 is used to obtain a reference line segment based on the projection of the candidate line segment onto the first reference plane.

[0129] The determining unit 802 is used to obtain the at least two reference line segments based on at least two of the aforementioned target surfaces.

[0130] In one possible implementation, the determining unit 802 is used to establish the reference coordinate system based on the first reference plane, with the intersection of two reference line segments as the origin.

[0131] In one possible implementation, the acquisition unit 801 is also used to acquire a third coordinate, which is the center coordinate of any cross-section of the cylinder.

[0132] The determining unit 802 is used to determine a second reference surface based on at least three reference points, all of which are located on the first end surface.

[0133] The projection unit 803 is used to project the third coordinate onto the second reference surface to obtain the first coordinate.

[0134] In one possible implementation, the acquisition unit 801 is further configured to acquire a fourth coordinate, which is the top center coordinate of the first fixed post measured after the marker to be detected installed on the first fixed post is removed.

[0135] The determining unit 802 is specifically used to determine the accuracy of the center coordinates of the marker to be detected based on the distance between the theoretical center coordinates and the second coordinates when the distance between the fourth coordinate and the first coordinate is less than or equal to the first threshold.

[0136] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of another electronic device provided in an embodiment of this application. For example... Figure 9 The illustrated electronic device 90 includes a memory 901 and a processor 902. Optionally, the electronic device 90 may also include a communication interface 903 and a bus 904. The memory 901, processor 902, and communication interface 903 are interconnected via the bus 904.

[0137] The memory 901 provides storage space, which can store data such as the operating system and computer programs. The memory 901 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0138] Processor 902 is a module that performs arithmetic and logical operations. It can be one or a combination of processing modules such as a central processing unit (CPU), a graphics processing unit (GPU), or a microprocessor unit (MPU). Additionally, memory 901 stores computer programs, and processor 902 can call the computer programs stored in memory 901 to execute corresponding methods.

[0139] In some embodiments, the processor 902 can be used to implement the functions of the acquisition unit 801, the determination unit 802, and the projection unit 803 in the electronic device 80. Optionally, the data acquired by the acquisition unit 801 in the electronic device 80 can also be obtained through the communication interface 903.

[0140] This application also provides a computer-readable storage medium storing computer code that, when executed on a computer, causes the computer to perform the methods described in the above embodiments.

[0141] This application also provides a computer program product, which includes computer code or a computer program that, when run on a computer, causes the methods described in the above embodiments to be executed.

[0142] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the above claims.

Claims

1. A method for detecting precision of center coordinates of a marker, characterized by, The method comprises: acquiring a first coordinate collected by a coordinate measuring machine, the first coordinate being an actual top center coordinate of the first fixed column on a detection tool, the detection tool being placed in an effective working range of the coordinate measuring machine, and the coordinate measuring machine being used to collect the actual top center coordinate of the first fixed column on the detection tool; acquiring a second coordinate collected by the coordinate measuring machine, the second coordinate being an actual center coordinate of the to-be-detected marker, the coordinate measuring machine being used to randomly collect coordinates of at least four different points on a surface of the to-be-detected marker, and the actual center coordinate of the to-be-detected marker being calculated according to the coordinates of the at least four different points; determining that the first coordinate is a theoretical center coordinate of the to-be-detected marker; determining the accuracy of the center coordinate of the to-be-detected marker based on a distance between the theoretical center coordinate and the second coordinate; the determining the accuracy of the center coordinate of the to-be-detected marker based on the distance between the theoretical center coordinate and the second coordinate comprises: acquiring a fourth coordinate, the fourth coordinate being a top center coordinate of the first fixed column after the to-be-detected marker installed on the first fixed column is removed; in a case where a distance between the fourth coordinate and the first coordinate is less than or equal to a first threshold value, determining the accuracy of the center coordinate of the to-be-detected marker based on the distance between the theoretical center coordinate and the second coordinate.

2. The method of claim 1, wherein, The detection tool is a cube, and before the acquiring the first coordinate, the method further comprises: determining a first reference surface, the first reference surface being a surface of the detection tool on which the first fixed column is installed; determining at least two reference line segments, the reference line segment being an intersection line between the first reference surface and a side surface of the detection tool in a case where the first reference surface is a top surface; determining a reference coordinate system based on the first reference surface and the at least two reference line segments, the first coordinate and the second coordinate being obtained based on the reference coordinate system.

3. The method of claim 2, wherein, The determining the at least two reference line segments comprises: determining a candidate line segment from a target surface, the target surface being any side surface of the detection tool in a case where the first reference surface is a top surface; obtaining a reference line segment based on a projection of the candidate line segment on the first reference surface; obtaining the at least two reference line segments based on at least two target surfaces.

4. The method according to claim 2 or 3, characterized in that, In a case where two reference line segments are determined, the determining the reference coordinate system based on an intersection point of the first reference surface and the at least two reference line segments comprises: establishing the reference coordinate system based on the first reference surface and taking the intersection point of the two reference line segments as an origin.

5. The method according to any one of claims 1-3, characterized in that, The first fixed column includes a first end portion, the first end portion includes a circular truncated cone and a circular cylinder, the circular truncated cone includes a first end face and a second end face, the first end face and the second end face are arranged in opposite directions in the axial direction of the first fixed column, the area of the second end face is greater than the area of the first end face, and the circular cylinder is fixedly connected to the second end face; the first coordinate is obtained by: Obtaining a third coordinate, the third coordinate being the center coordinate of any cross-sectional circle of the circular cylinder; Determining a second reference surface based on at least three reference points, the at least three reference points being located on the first end face; Projecting the third coordinate onto the second reference surface to obtain the first coordinate.

6. A device for detecting the accuracy of the center coordinates of a marker, characterized by Comprise: An acquisition unit is configured to, in a case where no marker is installed on a first fixed column, acquire a first coordinate collected by a three-coordinate measuring machine, the first coordinate being an actual top center coordinate of the first fixed column on a detection tool, the detection tool being placed in an effective working range of the three-coordinate measuring machine, and the three-coordinate measuring machine being configured to collect the actual top center coordinate of the first fixed column on the detection tool; The acquisition unit is further configured to, in a case where a to-be-detected marker is installed on the first fixed column, acquire a second coordinate collected by the three-coordinate measuring machine, the second coordinate being an actual center coordinate of the to-be-detected marker, the three-coordinate measuring machine being configured to randomly collect coordinates of at least four different points from a surface of the to-be-detected marker, and the actual center coordinate of the to-be-detected marker being calculated according to the coordinates of the at least four different points; A determination unit is configured to determine that the first coordinate is a theoretical center coordinate of the to-be-detected marker; The determination unit is further configured to determine the precision of the center coordinate of the to-be-detected marker based on a distance between the theoretical center coordinate and the second coordinate; The acquisition unit is further configured to acquire a fourth coordinate, the fourth coordinate being a top center coordinate of the first fixed column measured after the to-be-detected marker installed on the first fixed column is removed; The determination unit is specifically configured to, in a case where a distance between the fourth coordinate and the first coordinate is less than or equal to a first threshold value, determine the precision of the center coordinate of the to-be-detected marker based on a distance between the theoretical center coordinate and the second coordinate.

7. The apparatus of claim 6, wherein, The determination unit is further configured to determine a first reference surface, the first reference surface being a surface on which the first fixed column is installed on the detection tool; The determination unit is further configured to determine at least two reference line segments, the reference line segments being intersection lines between the first reference surface and side surfaces of the detection tool in a case where the first reference surface is a top surface; The determination unit is further configured to determine a reference coordinate system based on the first reference surface and the at least two reference line segments, the first coordinate and the second coordinate being obtained based on the reference coordinate system.

8. An electronic device, comprising: Comprise: A processor and a memory, wherein the memory stores a computer program, and the processor invokes the computer program stored in the memory to execute the method in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium has stored therein a computer program, which, when executed on one or more processors, causes the method of any one of claims 1-5 to be performed.

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