Verification device and method for optical positioning instrument

Abstract

The invention provides a verification device and method for an optical locator, the verification device comprises a base, a first rotating mechanism and a second rotating mechanism, the first rotating mechanism and the second rotating mechanism are arranged on the base, the first rotating mechanism is connected with the optical locator, and the second rotating mechanism is connected with a verification tool; the verification tool is provided with an optical indication point, and the first rotating mechanism and the second rotating mechanism can move relatively. According to the optical positioning instrument verification device and method provided by the invention, multiple groups of images when the optical positioning instrument and the verification tool are located at different relative positions can be quickly obtained, the position information of the feature points or the feature areas on the verification tool is obtained, and finally the error between the position information and the actual value is obtained. Therefore, the calibration accuracy and precision of the optical positioning instrument are judged. The method is simple in operation, high in efficiency, high in accuracy and high in reliability, and avoids the over-fitting phenomenon.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a verification device and method for an optical locator. Background Art

[0002] In current navigation surgery or treatment, an optical binocular stereo vision locator is generally used to locate and track the robotic arm and the patient's diseased part. In order to ensure the accurate positioning of the navigation system, the optical binocular stereo vision locator must be calibrated before surgery or treatment. That is, the internal and external parameters of the left and right cameras need to be calibrated respectively. These internal and external parameters are crucial for subsequent stereo matching and three-dimensional reconstruction. The accuracy of the calibration directly affects the accuracy and safety of the surgery. Therefore, after the optical locator is calibrated, it is necessary to verify the correctness and accuracy of the calibration. However, if the same method as the calibration is used for verification, overfitting may occur, that is, although the error obtained by verification is very small, the disparity image calculated using this calibration parameter is inaccurate. Summary of the invention

[0003] In view of the defects in the prior art, the object of the present invention is to provide a verification device and method for an optical locator, which has high verification accuracy, simple verification process and easy operation.

[0004] One aspect of the present invention provides a verification device for an optical locator, comprising a base, a first rotating mechanism, and a second rotating mechanism, wherein the first rotating mechanism and the second rotating mechanism are arranged on the base, the first rotating mechanism is connected to the optical locator, and the second rotating mechanism is connected to a verification tool; an optical indication point is provided on the verification tool, and the first rotating mechanism and the second rotating mechanism can move relative to each other.

[0005] In one embodiment, a slide rail is provided on the base, and the first rotating mechanism and / or the second rotating mechanism is connected to the slide rail.

[0006] In one embodiment, the verification device of the optical locator further includes a drive motor, and the drive motor is used to drive the first rotating mechanism and / or the second rotating mechanism to move.

[0007] In one embodiment, the second rotating mechanism is arranged on a straight line where the slide rail is located.

[0008] In one embodiment, the verification device of the optical locator further includes a processing unit, and the processing unit is used to control the driving mechanism to drive the first rotating mechanism to move and / or the second rotating mechanism to move.

[0009] In one embodiment, the first rotation mechanism includes a first horizontal rotation mechanism and a first tilt rotation mechanism.

[0010] In one embodiment, the second rotation mechanism includes a second horizontal rotation mechanism and a second tilt rotation mechanism.

[0011] In one embodiment, the base includes a base horizontal rod and a base vertical rod that are fixedly connected, a limit piece is provided on the base vertical rod, and the second rotating mechanism is connected to a long tube, which passes through the limit piece and moves in a direction parallel to the base horizontal rod.

[0012] In one embodiment, the second rotating mechanism further comprises a second rotating fixed seat and a supporting frame which are fixedly connected, the second rotating fixed seat is connected to the second horizontal rotating mechanism, and the long tube is connected to the supporting frame.

[0013] In one embodiment, the optical indication point may be a reflector or a luminous body for being identified by an optical locator.

[0014] In one embodiment, the optical indication point is a reflective dot.

[0015] In one embodiment, the optical indication point is a luminous light source.

[0016] In one embodiment, the optical indication point includes at least two characteristic points or characteristic areas.

[0017] In one embodiment, the verification tool is provided with a light source and a light shielding plate, the light shielding plate is provided with a light-transmitting hole, and the light shielding plate faces one side of the optical locator.

[0018] In one embodiment, the verification tool is provided with at least two characteristic areas, and each characteristic area includes at least three optical indication points.

[0019] In one embodiment, the verification tool has at least two feature points, and each feature point includes at least one optical indication point.

[0020] In one embodiment, the processing unit issues instructions to the first driving mechanism and / or the second driving mechanism, and controls the movement of the first driving mechanism and / or the second driving mechanism.

[0021] In one embodiment, the first rotating mechanism can rotate in two directions: up, down, left, and right; and the second rotating mechanism can rotate in four directions: up, down, left, and right.

[0022] In one embodiment, the first rotating mechanism and / or the second rotating mechanism can move along the slide rail.

[0023] Another aspect of the present invention provides a method for verifying an optical locator, comprising the following steps:

[0024] S1. When the optical locator and the verification tool are in at least two different relative positions, obtain multiple sets of images taken by the optical locator that include optical indication points on the verification tool; calculate the position information of feature points or feature areas on each set of images using the binocular vision principle;

[0025] S2. Compare the position information of the feature points or feature areas on each set of images with the actual position information of the feature points or feature areas on the verification tooling, and calculate the difference.

[0026] In one embodiment, step S1 further includes the following steps:

[0027] S1-1: When the optical aligner and the verification tool are in a first relative position, the optical aligner is rotated to obtain a maximum edge angle range at the first relative position, and within the maximum edge angle range of the first relative position, the optical aligner and / or the verification tool are rotated to obtain multiple sets of images of the optical aligner at the first relative position;

[0028] S1-2: Change the relative position of the optical aligner and the verification tool until the optical aligner and the verification tool are in a second relative position, rotate the optical aligner to obtain the maximum edge angle at the second relative position, and within the maximum edge angle range of the second relative position, rotate the optical aligner and / or the verification tool to obtain multiple sets of images of the optical aligner and the verification tool at the second relative position.

[0029] In one embodiment, in step S1-1 and / or step S1-2, the maximum edge angle is the maximum angle range within which the left camera and the right camera of the optical locator can simultaneously observe the verification tooling when the optical locator rotates in different directions.

[0030] In one embodiment, in step S1-1 and / or step S1-2, the maximum edge angle range is a range within the maximum edge angle when the optical aligner is facing at least four different directions.

[0031] In one embodiment, step S1-1 and / or step S1-2 also includes planning the rotation path of the optical locator so that the feature points or feature areas on the verification tooling are roughly covered in the multiple sets of images.

[0032] In one embodiment, the multiple groups of images acquired in step S1-1 and step S1-2, each group of images includes two images taken by the left and right cameras of the optical locator.

[0033] In one embodiment, the position information of the feature points or feature regions on each group of images in step S1 is the coordinates thereof in the spatial coordinate system.

[0034] In one embodiment, the position information of the feature points or feature regions on each group of images in step S1 is the distance between different feature points or feature regions on each group of images.

[0035] In one embodiment, step S1 further includes the following steps:

[0036] S1-3: extract the two-dimensional coordinates of each feature point or feature area on each set of images, and obtain the three-dimensional coordinates of each feature point or feature area in the spatial coordinate system by using the binocular vision principle;

[0037] S1-4: Calculate the distances between different feature points or feature areas.

[0038] In one embodiment, the difference may be represented by one or a combination of mean difference, standard deviation, and variance.

[0039] In one embodiment, when the difference is greater than or equal to a threshold, it is determined that the calibration error of the optical locator is too large.

[0040] In one embodiment, when the difference is less than a threshold value, it is determined that the optical locator calibration is qualified.

[0041] In one embodiment, the verification method of the optical locator further includes step S3: presenting a visual image according to the difference.

[0042] In one embodiment, in the visualization image, the position of each point is the center position of a feature point or feature area on the verification tool, and its color in the visualization image is different when the difference is greater than or equal to a threshold and when the difference is less than the threshold.

[0043] Compared with the prior art, the verification device and method of the optical locator provided by the present invention can quickly obtain multiple sets of images when the optical locator and the verification tool are in different relative positions through the relative movement of the optical locator and the verification tool on the base, obtain the position information of the characteristic points or characteristic areas on the verification tool, and finally obtain the difference of the position information, so as to judge whether the calibration of the optical locator is accurate. The operation of the present invention is simple, efficient, accurate and reliable, and the occurrence of overfitting is avoided. When the difference is presented in a visual image, it is convenient for more intuitive observation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0045] Figure 1A schematic diagram of the structure of a verification device for an optical locator according to an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the structure of a verification device for an optical locator according to an embodiment of the present invention;

[0047] Figure 3 A schematic structural diagram of an optical locator and a first rotating mechanism shown in one embodiment of the present invention;

[0048] Figure 4 A schematic structural diagram of a verification tool and a second rotating mechanism shown in one embodiment of the present invention;

[0049] Figures 5A to 5I A partial image is captured by a camera in step S104 in one embodiment of the present invention;

[0050] Figure 6 A visual view of the verification results obtained for one embodiment of the present invention;

[0051] Figure 7 A visualization view of the verification result obtained according to another embodiment of the present invention.

[0052] Reference numerals:

[0053] 1. Base; 10. Base horizontal rod; 11. Slide rail; 12. Slider; 13. Base vertical rod; 14. Limiting piece; 15. Long tube; 2. First rotating mechanism; 21. First horizontal rotating mechanism; 22. First pitch rotating mechanism; 25. Driving mechanism; 3. Second rotating mechanism; 31. Second horizontal rotating mechanism; 32. Second pitch rotating mechanism; 33. Second rotating mechanism fixing seat; 34. Support frame; 4. Optical locator; 41. Right camera; 42. Left camera; 5. Verification tooling; 51. Optical indication point; 52. Shading plate. DETAILED DESCRIPTION

[0054] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0055] As used in the present invention, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", and "third" may explicitly or implicitly include one or at least two of the features. The term "proximal end" is usually the end close to the operator, and the term "distal end" is usually the end close to the patient. "One end" and "the other end" as well as "proximal end" and "distal end" usually refer to two corresponding parts, which include not only the endpoints. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. In addition, as used in the present invention, an element is arranged on another element, which usually only means that there is a connection, coupling, matching or transmission relationship between the two elements, and the connection, coupling, matching or transmission between the two elements can be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element can be in any position such as inside, outside, above, below or on one side of another element, unless the content clearly indicates otherwise. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] Example 1

[0057] This embodiment provides a verification device for an optical locator, which can realize accurate verification of the calibration of the optical locator, thereby determining whether the calibration of the optical locator is accurate. The device is simple to operate, has high efficiency, high accuracy and reliability, can realize automatic verification, and is easy to operate.

[0058] refer to Figure 1 to Figure 4 The optical locator automatic calibration device comprises a base 1, a first rotating mechanism 2, and a second rotating mechanism 3, wherein the first rotating mechanism 2 and the second rotating mechanism 3 are both connected to the base 1, the first rotating mechanism 2 is connected to the optical locator 4, and the second rotating mechanism 2 is connected to the verification tool 5. The optical locator 4 generally adopts binocular vision positioning, such as Figure 2 and Figure 3As shown, the optical locator 4 has two cameras: a right camera 41 and a left camera 42, and the first rotating mechanism 2 can drive the optical locator 4 to rotate horizontally and in pitch. The base 1 is provided with a horizontal base rod 10 and a vertical base rod 13, and the first rotating mechanism 2 and the second rotating mechanism 3 are respectively arranged on both sides of the base 1. A slide rail 11 is provided on the base 1 in a direction parallel to the base horizontal rod 10, and the first rotating mechanism 2 can move toward or away from the verification tool 5 along the slide rail 11. The second rotating mechanism 3 is arranged on the straight line where the slide rail 11 is located, so that the verification tool 5 arranged on the second rotating mechanism 3 and the optical locator 4 arranged on the first rotating mechanism 2 can be in positions that basically correspond to each other.

[0059] There are multiple optical indication points 51 on the verification tool 5, which can be identified and located by the optical locator. The optical indication points can be reflective devices such as reflective stickers, reflective balls, etc., or luminous light sources. In this embodiment, a luminous light source is used. On one side of the verification tool, there is a shading plate 52 with light-transmitting holes, and on the other side there is a luminous light source, so that each light-transmitting hole can be used as a light-transmitting hole. When in use, the shading plate and the light-transmitting hole of the verification tool are facing the optical locator. Reference Figure 1 and Figure 4 In this embodiment, two feature areas are used for calculation, and each feature area contains four optical indication points, that is, two groups of light-transmitting holes are provided on the shading plate, and each group of light-transmitting holes is provided with four light-transmitting holes. The four light-transmitting holes on the left constitute a feature area, and the four light-transmitting holes on the right constitute a feature area. Of course, one or more feature areas can also be used, and each feature area needs to have more than three light-transmitting holes, which means that the three light-transmitting holes are not on the same straight line. Any three light-transmitting holes in each group in this embodiment are no longer on the same straight line. We can use the position of the center or center point of the light-transmitting hole to represent the position of the light-transmitting hole, or use the center or center point of the four light-transmitting holes to form a quadrilateral, and the position of the center of the inscribed circle or circumscribed circle of the quadrilateral represents the position of the feature area, or use the position of the intersection of the diagonals of the quadrilateral to represent the position of the feature area. That is, the four light-transmitting holes can be identified as four light-transmitting holes by the optical locator. In the image taken by the optical locator, the area formed by the four light-transmitting holes is the characteristic area. The coordinates of the center of the circle or the center of the four light-transmitting holes are the coordinates of the characteristic area, or the center of the inscribed circle or the circumscribed circle and the intersection of the diagonal lines are used as characteristic points to express the position of the characteristic area. In addition, the relative positions of the two groups of light-transmitting holes on the verification tool are known, that is, the relative position of each characteristic area is known.

[0060] Specifically, the first rotating mechanism 2 includes a first horizontal rotating mechanism 21, a first pitch rotating mechanism 22, and a driving mechanism 25. The first pitch rotating mechanism 22 is fixedly connected to the optical locator, and the first pitch rotating mechanism 22 is connected to the first horizontal rotating mechanism 21 through a rotating shaft, and the first horizontal rotating mechanism 21 is connected to the slider 12, and the slider 12 can move along the slide rail 11. The first pitch rotating mechanism can drive the optical locator to rotate up and down, and the first horizontal rotating mechanism can drive the optical locator to rotate in the horizontal direction. When the first pitch rotating mechanism and the first horizontal rotating mechanism move at the same time, the optical locator can rotate in any direction. The second rotating mechanism 3 includes a second horizontal rotating mechanism 31 and a second pitch rotating mechanism 32 and a second rotating mechanism fixing seat 33. The second pitch rotating mechanism 32 is fixedly connected to the verification tooling 5, and the second pitch rotating mechanism 32 is connected to the second horizontal rotating mechanism 31 through a rotating shaft, and the second horizontal rotating mechanism 31 is connected to the support frame 13. The second pitch rotation mechanism 32 can drive the verification tooling to rotate up and down, and the second horizontal rotation mechanism 31 can drive the verification tooling to rotate in the horizontal direction. When the second pitch rotation mechanism and the second horizontal rotation mechanism move at the same time, the verification tooling can rotate in any direction. In actual application, the optical locator and the verification tooling are in a relative position relationship. The left and right cameras of the optical locator should face the optical indication point of the verification tooling, that is, the rotation range of the optical locator and the verification tooling is on the side facing each other.

[0061] In addition, the second rotating mechanism fixing seat 33 is detachably connected to the support frame 34, and the support frame 34 can move horizontally relative to the base 1. Specifically, a limiter 14 is provided on the base upright 13, and the limiter can be annular. The support frame 34 is connected to the long tube 15, and the long tube 15 passes through the limiter 14. The long tube 15 can move in a direction parallel to the horizontal rod of the base, so that the support frame 34 is close to or away from the optical locator.

[0062] The structural design of the slide rail 11 and slider 12, as well as the stopper 14 and the long tube 15 used in this embodiment, is intended to adjust the distance between the optical locator and the verification tool. The structure of the slide rail and slider or the structure of the stopper and the long tube can also be used, or other structures can be used to adjust the distance between the optical locator and the verification tool. By using two different or non-overlapping structural designs, the adjustable distance between the optical locator and the verification tool can be larger, reducing the length and volume of the base.

[0063] In addition, the verification device of the optical locator provided in this embodiment also includes a processing unit, which is used to control the drive motor to drive the first rotating mechanism to rotate or move linearly, and obtain the images obtained by the left and right cameras of the optical locator, and perform corresponding calculations. Of course, a corresponding drive motor can also be set for the second rotating mechanism, and the processing unit can drive the second rotating mechanism to rotate or move linearly through the drive motor. The processing unit will determine the movement direction and position of the first rotating mechanism or the second rotating mechanism based on the images obtained by the left and right cameras and the calculation results, and place an order instruction to the corresponding drive motor, and the drive motor drives the first rotating mechanism or the second rotating mechanism to move according to the instruction. The drive motor automatically drives the first rotating mechanism and the second rotating mechanism to move according to the instruction of the processing unit, so as to realize automatic verification of the optical locator.

[0064] Example 2

[0065] The present embodiment provides a verification method for an optical locator, which controls the movement and rotation of a driving motor to enable the optical locator to capture images of optical indication points on a verification tool at different positions and angles. These images are used to calculate the distance between two groups of optical indication points or feature areas on the verification tool identified by the optical locator, and the distance is compared with the actual distance to obtain the difference between the calculated values, which is used to verify the accuracy of the optical locator.

[0066] Specifically, the verification method of the optical locator provided in this embodiment includes the following steps:

[0067] S101: Control the drive motor to move the optical locator to a first distance between the optical locator and the verification tooling, and the first distance is within the observable range of the optical locator when it is actually working. Turn the optical locator to face the side of the verification tooling with the light-transmitting hole, and observe whether the light-transmitting hole can be normally identified through the left and right images. If it cannot be normally identified, the position or posture of the optical locator or the verification tooling can be fine-tuned. When the light-transmitting hole can be normally identified, the optical locator and the verification tooling are at a first relative position, and the position information of the optical locator and the verification tooling is recorded.

[0068] There are two groups of light-transmitting holes on the verification tooling, each group has four light-transmitting holes, and each group of light-transmitting holes forms a characteristic area. We can use the intersection of the diagonal lines of the quadrilateral formed by the center points of the four light-transmitting holes as a characteristic point to represent this characteristic area. That is, there are two characteristic areas on the verification tooling, and we can use one characteristic point to express the position of this characteristic area. The actual distance between the two characteristic points on the verification tooling is known.

[0069] S102: Control the driving motor to rotate the optical locator in a certain direction, such as upward, and observe whether the light-transmitting hole on the verification tooling is recognized normally. When the optical locator is rotated to an unrecognizable position, rotate the optical locator in the opposite direction until the light-transmitting hole can be recognized, and obtain the maximum edge angle of the position, that is, when the optical locator and the verification tooling are in the first relative position, the left camera and the right camera of the optical locator can simultaneously observe the maximum edge angle of the light-transmitting hole on the verification tooling. Record the maximum edge angle, and then rotate the optical locator back to the initial position, that is, the position after executing step S1.

[0070] S103: Control the drive motor to rotate the optical locator in other directions. Other directions can be selected from the bottom, left, and right, and then perform the same operation as S102 to obtain the maximum edge angles corresponding to the three directions of bottom, left, and right. Of course, other directions can also be selected from the upper right, upper left, lower right, and lower left, etc., and try to make the optical locator in the normal working state in the observable space close to uniform distribution.

[0071] The maximum edge angles in four different directions obtained through step S102 and step S103 are the maximum edge angle ranges of the optical aligner and the verification tooling when they are in the first relative position.

[0072] S104: Within the maximum edge angle range obtained in the above steps, plan the rotation path of the optical aligner so that the image of the light-transmitting hole observed by the optical aligner can roughly cover the entire image range. A drive motor can be used to drive the first horizontal rotation mechanism and the first pitch rotation mechanism to rotate at a fixed rate at the same time. During the rotation process, a set of image data is collected every fixed time period, such as 0.05 seconds. If the optical aligner cannot identify the position of the verification tooling during the rotation process, it can be ignored, and there is no need to collect or record the image. A total of multiple sets of images when the optical aligner and the verification tooling are in the first relative position can be obtained, refer to Figure 5A to Figure 5I Each set of images contains an image taken by the left and right cameras of the optical locator, and each image contains a feature area on the verification tooling, and the feature area can basically cover the entire image range in multiple sets of images.

[0073] S105: Control the driving motor to change the position of the optical aligner, that is, when the optical aligner and the verification tool are in a second relative position, repeat steps S102 to S104 to obtain multiple sets of images of the optical aligner and the verification tool in the second relative position.

[0074] S106: Control the driving motor to change the position of the optical aligner, that is, when the optical aligner and the verification tool are in a third relative position, repeat steps S102 to S104 to obtain multiple sets of images of the optical aligner and the verification tool in the third relative position.

[0075] S107: To improve the accuracy of verification, we need to obtain multiple sets of images of the optical locator and the verification tooling at different positions. To balance the accuracy and computational complexity, images at 4 to 8 different relative positions can be obtained. The distance between the optical locator and the verification tooling can be used to represent their relative positions. To ensure the effectiveness and accuracy of the verification, the distance between the optical locator and the verification tooling during the verification process can refer to the distance between the optical locator and the patient's diseased part during the actual navigation surgery. This distance is limited by the size of the operating room, the space reserved for the doctor's surgical operation, and the obstruction of various medical equipment in the operating room. During the verification process, the calculated difference will be larger when there is a larger distance or a smaller distance, while the calculated difference will be smaller when the distance is close to the middle. Therefore, multiple different and appropriate distances can be selected according to the actual application scenario. Different positions can be represented by the distance between the optical locator and the verification tooling. The maximum distance between the optical locator and the patient's diseased part during normal operation is L max , the minimum distance is L min , can be in L max With L min Divide into three or five equal parts, L max , L min , and the distance between each equally divided point is the distance between the optical locator and the verification fixture.

[0076] S108: Multiple groups of images are obtained through the above steps, where each group of images includes two images taken by the left and right cameras of the optical locator, and each image has two feature areas composed of four optical indicator points. We can use the position of a feature point to identify the position of this feature area, for example, based on the intersection of the diagonals of the polygon composed of the four optical indicator points as its feature point, or we can use the coordinates of the center of the circumscribed circle of the polygon as its feature point. The two-dimensional coordinates of each feature point on the two images are extracted, and the three-dimensional coordinates of the two feature points in the spatial coordinate system can be calculated using the principle of binocular vision, and then the distance between the two feature points in the spatial coordinate system can be obtained. For each group of images, the distance between the corresponding two feature points can be obtained, and this distance is the calculated distance between the two feature points.

[0077] S201: Compare the distance between the two feature points calculated in S108 with the actual distance between the two feature points on the verification tooling to calculate a difference. The difference can be represented by one or a combination of mean difference, standard deviation, and variance.

[0078] S202: When the difference is less than the threshold, the optical aligner is judged to be calibrated properly. When the difference is greater than or equal to the threshold, the calibration error of the optical aligner is judged to be too large and needs to be recalibrated. The threshold can be pre-set. For example, when the difference is less than or equal to 0.5mm, it can be judged that the error of the optical aligner is small during operation and the calibration is qualified. When the difference is greater than 0.5mm, it is judged that the error of the optical aligner is large.

[0079] S203: In order to observe the difference more intuitively, we make a visualization image based on the result obtained in S201. Figure 6 and Figure 7 This is a visualization of the verification results of two different optical locators. In the visualization, the position of each point is the center position of the line between the two feature points on the verification tool. The black and red colors in the figure represent the average difference, that is, the size of the error. The gradual change from black to red indicates that the error value changes from zero to 0.3mm. That is, the darker the color, the closer the error is to zero. Errors of about 0.3mm are all displayed in red. We can directly see Figure 7 The calibration error is large. Figure 6 The table error is small. Through the visualization image, we can directly observe the error size of the optical locator.

[0080] The above is a description of the specific embodiments of the present invention, which is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be based on the attached claims.

Claims

1. A verification device for an optical locator, characterized in that: It includes a base, a first rotating mechanism, and a second rotating mechanism. The first rotating mechanism and the second rotating mechanism are arranged on the base. The first rotating mechanism is connected to an optical locator, and the second rotating mechanism is connected to a verification tool. An optical indication point is provided on the verification tool. The first rotating mechanism and the second rotating mechanism can move relative to each other.

2. The device according to claim 1, characterized in that The base is provided with a slide rail, and the first rotating mechanism and / or the second rotating mechanism are connected to the slide rail.

3. The device according to claim 1, characterized in that It also includes a driving motor, which is used to drive the first rotating mechanism and / or the second rotating mechanism to move.

4. The device according to claim 1, characterized in that It also includes a processing unit, which is used to control the driving mechanism to drive the first rotating mechanism to move and / or the second rotating mechanism to move.

5. The device according to claim 1, characterized in that The base comprises a base horizontal rod and a base vertical rod which are fixedly connected, a limit piece is arranged on the base vertical rod, and the second rotating mechanism is connected to a long tube, the long tube passes through the limit piece and moves in a direction parallel to the base horizontal rod.

6. A verification method for an optical locator, characterized in that: The following steps are involved: S1. When the optical locator and the verification tool are in at least two different relative positions, obtaining a plurality of groups of images including optical indication points on the verification tool taken by the optical locator; Using binocular vision principle, calculate the position information of feature points or feature areas on each set of images; S2. Compare the position information of the feature points or feature areas on each set of images with the actual position information of the feature points or feature areas on the verification tooling, and calculate the difference.

7. The method according to claim 6, characterized in that Step S1 also includes the following steps: S1-1: When the optical aligner and the verification tool are in a first relative position, the optical aligner is rotated to obtain a maximum edge angle range at the first relative position, and within the maximum edge angle range of the first relative position, the optical aligner and / or the verification tool are rotated to obtain multiple sets of images of the optical aligner at the first relative position; S1-2: Change the relative position of the optical aligner and the verification tool until the optical aligner and the verification tool are in a second relative position, rotate the optical aligner to obtain the maximum edge angle at the second relative position, and within the maximum edge angle range of the second relative position, rotate the optical aligner and / or the verification tool to obtain multiple sets of images of the optical aligner and the verification tool at the second relative position.

8. The method according to claim 7, characterized in that Step S1-1 and / or step S1-2 also includes planning the rotation path of the optical locator so that the feature points or feature areas on the verification tooling are roughly covered in multiple groups of images.

9. The method according to claim 6, characterized in that The position information of the feature points or feature regions on each set of images in step S1 is the distance between different feature points or feature regions on each set of images.

10. The method according to claim 6, characterized in that Step S1 also includes the following steps: S1-3: extract the two-dimensional coordinates of each feature point or feature area on each set of images, and obtain the three-dimensional coordinates of each feature point or feature area in the spatial coordinate system by using the binocular vision principle; S1-4: Calculate the distances between different feature points or feature areas.

11. The method according to claim 6, characterized in that The verification method of the optical locator also includes step S3: presenting a visual image according to the difference.

12. The method according to claim 11, characterized in that In the visualization image, the position of each point is the center position of the feature point or feature area on the verification tooling, and its color in the visualization image is different when the difference is greater than or equal to the threshold and when the difference is less than the threshold.

Images