Photomagnetic integrated marker, positioning method and system and computer equipment

Abstract

The invention relates to a photomagnetic integrated marker, a photomagnetic integrated marker device and a marker positioning method. According to the method, an optical marker, an electromagnetic marker and a limiting space are included. Wherein the optical marker is provided with a limiting space; at least part of the electromagnetic marker is arranged in the limiting space, and the relative positions of the electromagnetic marker and the optical marker are fixed. By adopting the method, respective defects can be made up more effectively, the overall performance is improved deeper, and the accuracy of obtaining the absolute physical coordinates and the attitude information of the marker is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of medical navigation technology, and in particular to an optical-magnetic integrated marker, a positioning method, a system, a computer device, and a computer-readable storage medium. Background Art

[0002] With the development of medical imaging technology, surgical navigation system technology has emerged. Currently, common surgical navigation systems mainly include optical navigation systems (OTS) based on binocular vision and electromagnetic navigation systems (EMTS) based on time-varying magnetic field detection.

[0003] In traditional technology, the use of binocular vision-based optical navigation systems (OTS) has occlusion problems during surgery. Whether it is active or passive optical positioning, the camera needs to be able to look directly at the small ball marker. If there is optical occlusion, it cannot continue to track; or the use of electromagnetic navigation systems (EMTS) based on time-varying magnetic field detection is easily affected by metal and magnetic materials during surgery and may cause serious deviations. The use of traditional surgical navigation system technology results in low accuracy in obtaining the absolute physical coordinates and posture information of the marker. Summary of the invention

[0004] Based on this, it is necessary to provide an optical-magnetic integrated marker, positioning method, system, computer device and computer-readable storage medium that can improve the accuracy of obtaining the absolute physical coordinates and posture information of the marker in order to address the above-mentioned technical problems.

[0005] In a first aspect, the present application provides an optical-magnetic integrated marker. The marker comprises:

[0006] An optical marker, wherein the optical marker defines a limited space;

[0007] An electromagnetic marker, at least a portion of which is disposed within the confined space, and a relative position between the electromagnetic marker and the optical marker is fixed.

[0008] In one embodiment, the electromagnetic marker comprises:

[0009] An electromagnetic sensor, wherein the electromagnetic sensor is fixed in position relative to the optical marker in the confined space, and the electromagnetic sensor is used to obtain magnetic field information in a magnetic field environment;

[0010] A data transmission component, wherein the data transmission component is fixedly connected to the electromagnetic sensor, and the data transmission component is used to transmit the magnetic field information to an external device.

[0011] In one embodiment, the optical marker is spherical, the limiting space passes through the center of the optical marker, and the electromagnetic sensor is limited at the center of the sphere.

[0012] In one embodiment, the optical marker comprises a first component and a second component which are detachably connected to each other, and the first component and the second component form the limiting space in a matching connection state.

[0013] In a second aspect, the present application provides a positioning method. The method comprises:

[0014] Acquire optical information and magnetic field information when providing a light source and a magnetic field to a plurality of markers; wherein each of the markers is an optical-magnetic integrated marker, and each of the markers is used to be set on the target object;

[0015] The position information of the target object is determined according to the optical information and the magnetic field information.

[0016] In one embodiment, the optical information includes a plurality of optical coordinates, and the magnetic field information includes a plurality of magnetic field coordinates; and determining the position information of the target object according to the optical information and the magnetic field information includes:

[0017] Matching the optical information with the magnetic field information to obtain a matching result;

[0018] Determining target information from the optical information and the magnetic field information according to the matching result;

[0019] The location information of the target object is determined according to the target information.

[0020] In one embodiment, matching the optical information with the magnetic field information to obtain a matching result includes:

[0021] The number and position of each optical coordinate are matched with each magnetic field coordinate to determine the number matching information and multiple groups of coordinate pairs; each coordinate pair includes one optical coordinate and one magnetic field coordinate, and the distance between the optical coordinate and the magnetic field coordinate in the world coordinate system is less than a preset threshold.

[0022] In one embodiment, determining target information from the optical information and the magnetic field information according to the matching result includes:

[0023] If the quantity matching information indicates that the number of the optical coordinates is greater than the number of the magnetic field coordinates, each of the magnetic field coordinates is used as the target information;

[0024] or,

[0025] The optical coordinates in each of the coordinate pairs are used as the target information.

[0026] In one embodiment, determining target information from the optical information and the magnetic field information according to the matching result includes:

[0027] If the quantity matching information indicates that the number of the optical coordinates is less than the number of the magnetic field coordinates, each of the magnetic field coordinates is used as the target information;

[0028] or,

[0029] The residual magnetic field coordinates and the optical coordinates in each coordinate pair are used as the target information; wherein the residual magnetic field coordinates are the magnetic field coordinates remaining after the magnetic field coordinates in each coordinate pair are removed from the magnetic field coordinates.

[0030] In a third aspect, the present application further provides a positioning system, the system comprising:

[0031] A plurality of optical-magnetic integrated markers, each of which is used to be set on a target object;

[0032] A magnetic field generating device, used for providing a magnetic field to each of the optical-magnetic integrated markers;

[0033] An optical tracking device, used to provide a light source to each of the optical-magnetic integrated markers and obtain optical information;

[0034] A controller is respectively connected to the electromagnetic markers in each of the optical-magnetic integrated markers and the optical tracking device, and the controller is used to execute the steps of the positioning method as described.

[0035] In a fourth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0036] Acquire optical information and magnetic field information when providing a light source and a magnetic field to a plurality of markers; wherein each of the markers is an optical-magnetic integrated marker, and each of the markers is used to be set on the target object;

[0037] The position information of the target object is determined according to the optical information and the magnetic field information.

[0038] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0039] Acquire optical information and magnetic field information when providing a light source and a magnetic field to a plurality of markers; wherein each of the markers is an optical-magnetic integrated marker, and each of the markers is used to be set on the target object;

[0040] The position information of the target object is determined according to the optical information and the magnetic field information.

[0041] The above-mentioned optical-magnetic integrated marker, positioning method, system, computer device and computer-readable storage medium, by setting an electromagnetic marker in the optical marker, can be tracked simultaneously by an optical navigation system of binocular vision and an electromagnetic navigation system of time-varying magnetic field detection, or both can be tracked independently; and when the two are tracked synchronously, they can more effectively make up for their respective deficiencies and enhance the overall performance in a deeper level, thereby effectively improving the accuracy of obtaining the absolute physical coordinates and posture information of the marker. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A schematic diagram of the structure and composition of an optical-magnetic integrated marker in one embodiment;

[0045] Figure 2 This is a schematic diagram of the structure of an optical-magnetic integrated marker interface device in one embodiment;

[0046] Figure 3 This is a schematic diagram of the structure of an optical-magnetic integrated marker device in one embodiment;

[0047] Figure 4 is a schematic flow chart of a positioning method in an embodiment;

[0048] Figure 5 is a flow chart of a method for obtaining each position information in an embodiment;

[0049] Figure 6 It is a flowchart of a method for obtaining target information corresponding to a case where the number of optical coordinates is greater than the number of magnetic field coordinates in one embodiment;

[0050] Figure 7A schematic diagram of a flow chart of a method for obtaining target information corresponding to a number less than the number of magnetic field coordinates in an embodiment;

[0051] Figure 8 A schematic diagram of an embodiment of EMTS assisting OTS in identifying a single reflective marker;

[0052] Fig. 9 A schematic diagram of the relationship between coordinates of various components in a navigation system in one embodiment;

[0053] Fig.10 is a structural block diagram of a positioning device in one embodiment;

[0054] Fig.11 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0056] Since the traditional surgical navigation positioning method uses an optical navigation system (OTS) based on binocular vision, there is an occlusion problem during surgery. Whether it is active or passive optical positioning, the camera needs to be able to look directly at the small ball marker. If there is optical occlusion, it cannot continue to track; or, the electromagnetic navigation system (EMTS) based on time-varying magnetic field detection is easily affected by metal and magnetic materials during surgery and has serious deviations. The surgical navigation system technology using traditional technology results in low accuracy in obtaining the absolute physical coordinates and posture information of the marker. The optical-magnetic integrated marker 100 of the present application sets an electromagnetic marker 102 in the optical marker 101, which can be tracked simultaneously by the optical navigation system of binocular vision and the electromagnetic navigation system of time-varying magnetic field detection, or the two can be tracked independently; and when the two are tracked synchronously, they can more effectively make up for their respective shortcomings and improve the overall performance more deeply, so as to effectively improve the accuracy of obtaining the absolute physical coordinates and posture information of the marker.

[0057] Based on this, Figure 1 Part (a) shows the overall schematic diagram of the optical-magnetic integrated marker structure in the first embodiment of the present application. Figure 1 Part (b) and Figure 1Part (c) shows a schematic diagram of the disassembly of the optical-magnetic integrated marker in the first embodiment of the present application; wherein, the optical-magnetic integrated marker 100 includes: an optical marker 101, the optical marker 101 opens a limited space; an electromagnetic marker 102, at least a portion of the electromagnetic marker 102 is set in the limited space, and the position of the electromagnetic marker 102 is relatively fixed to the position of the optical marker 101.

[0058] Specifically, the optical-magnetic integrated marker 100 is mainly composed of two parts, including: an optical marker 101 and an electromagnetic marker 102. The optical marker 101 can be a spherical marker with a reflective coating on the surface. The optical marker 101 is made of non-metallic material and has a diameter range of 5 to 10 mm. The electromagnetic marker 102 can be composed of a magnetic sensor and necessary circuit connections. The magnetic sensor can be a coil sensor, or a 3-axis analog or digital sensor such as Hall, AMR, or TMR. For wireless application scenarios, 3-axis AMR and TMR sensors are more suitable, and the size can be less than 1mm×1mm×1mm. Further, if Figure 1 As shown in part (a), the optical marker 101 opens a limited space, and the electromagnetic marker 102 is fixed in the limited space inside the optical marker 101. For example, the limited space can be set at the center of a sphere; at least a portion of the electromagnetic marker 102 is set in the limited space, and the position of the electromagnetic marker 102 is relatively fixed to the position of the optical marker 101.

[0059] The above-mentioned optical-magnetic integrated marker, by setting the electromagnetic marker 102 in the optical marker 101, can be tracked simultaneously by the optical navigation system of binocular vision and the electromagnetic navigation system of time-varying magnetic field detection, or both can be tracked independently; and when the two are tracked synchronously, they can more effectively make up for their respective shortcomings and enhance the overall performance in a deeper level, thereby effectively improving the accuracy of obtaining the absolute physical coordinates and posture information of the marker.

[0060] In one embodiment, Figure 1 Part (b) of Figure 1 As shown in part (c) of FIG. 1 , the electromagnetic marker 102 includes an electromagnetic sensor 1021 and a data transmission component 1022. The position of the electromagnetic sensor 1021 in the confined space is relatively fixed to the position of the optical marker 101, and the electromagnetic sensor 1021 is used to obtain magnetic field information in a magnetic field environment; the data transmission component 1022 is fixedly connected to the electromagnetic sensor 1021, and the data transmission component 1022 is used to transmit the magnetic field information to an external device. Figure 1 Part (b) of Figure 1As shown in part (c), the upper part of the optical marker 101 includes a first component 1011 and a limiting space 1012 in the upper part, and the lower part of the optical marker 101 includes a second component 1013, a limiting space 1014 in the lower part, and a key 1015, wherein the limiting space 1012 in the upper part and the limiting space 1014 in the lower part jointly fix the electromagnetic sensor 1021, and the key 1015 matches with the limiting space 1012 in the upper part, and plays the role of fixing the data transmission component 1022.

[0061] In one embodiment, Figure 1 Part (b) of Figure 1 As shown in part (c) of FIG. 1 , the optical marker 101 is spherical, and the limiting space passes through the center of the optical marker 101, and the electromagnetic sensor 1021 is limited at the center of the sphere. The center of the optical marker 101 overlaps with one end of the limiting space, and the center of the limiting space of the optical marker 101 may overlap or may not overlap with the center of the optical marker 101.

[0062] In one embodiment, Figure 2 Part (a) of Figure 2 As shown in part (b) of the figure, the electromagnetic marker 102 further includes an interface device 200, wherein the interface device 200 is electrically connected to the data transmission element 1022, and the interface device 200 is used to transmit the magnetic field information to an external device.

[0063] In one embodiment, Figure 2 As shown in part (a) of FIG. 1 , a portion of the interface device 200 extends into the limited space and is electrically connected to the data transmission element 1022 in the limited space, and another portion of the interface device extends out of the limited space for electrical connection with an external device. Figure 2 As shown in part (a) of the drawing, the optical marker 101 is provided with a protruding interface device 200 (plug).

[0064] In one embodiment, the interface device 200 (socket) is disposed in the limited space, and one end of the interface device 200 (socket) is connected 1022 to the data transmission element in the limited space, and the other end of the interface device 200 (socket) is used to be electrically connected to an external device. Figure 2 As shown in part (b) of the figure, the optical marker 101 has a small interface device 200 (socket), and external transmission can be electrically connected to the interface device 200 (socket) of the small ball through a pin or a plug.

[0065] In one embodiment, the optical marker 101 includes a first component 1011 and a second component 1012 that are detachably connected to each other, and the first component 1011 and the second component 1012 are connected to form a limited space. Figure 1 Part (b) of Figure 1 As shown in part (c) of the drawing, the upper half of the optical marker 101 includes a first component 1011 and a limiting space 1012 in the upper half, and the lower half of the optical marker 101 includes a second component 1013, a limiting space 1014 in the lower half, and a key 1015.

[0066] In combination with an optical-magnetic integrated marker of the above-mentioned embodiments, an electromagnetic marker is set in the optical marker, so that the optical navigation system of binocular vision and the electromagnetic navigation system of time-varying magnetic field detection can be tracked simultaneously, or the two can be tracked independently; and when the two are tracked synchronously, they can more effectively make up for their respective shortcomings and enhance the overall performance in a deeper level, thereby effectively improving the accuracy of obtaining the absolute physical coordinates and posture information of the marker.

[0067] In one embodiment, Figure 3 As shown, an optical-magnetic integrated marker device 300 is provided, wherein the optical-magnetic integrated marker device 300 includes a mounting body 301 and a plurality of optical-magnetic integrated markers 100, and each optical-magnetic integrated marker 100 is respectively mounted on different extension ends of the mounting body 301. The plurality of optical-magnetic integrated markers 100 form a marker array through the mounting body 301. Since the electromagnetic navigation system of time-varying magnetic field detection can assist the optical navigation system of binocular vision in single marker identification, the optical-magnetic integrated marker device 300 can be in any convenient form, and the plurality of optical-magnetic integrated marker devices 300 can also have the same form, without considering whether the optical navigation system of binocular vision can distinguish them.

[0068] In one embodiment, the optical-magnetic integrated marker device 300 further includes a bracket data interface 302, which is disposed on the mounting body 301, and the bracket data interface 302 is electrically connected to the electromagnetic marker 102, and the bracket data interface 302 is used to electrically connect to an external device. Figure 3 As shown in part (a), the optical-magnetic integrated marker device 300 is in a wired form, and the data and power supply lines of the electromagnetic markers 102 in the multiple optical-magnetic integrated markers 100 are exported through the installation body 301 and electrically connected to the external device through the bracket data interface 302.

[0069] In one embodiment, the optical-magnetic integrated marker device 300 further includes a device control unit 303, wherein the device control unit 303 is disposed on the mounting body 301, and the device control unit 303 is electrically connected to the electromagnetic marker 102, and the device control unit 303 is used to transmit magnetic field information to an external device. Figure 3As shown in part (b) of the figure, the optical-magnetic integrated marker device 300 is in wireless form, and the data and power supply lines of the electromagnetic markers 102 in the multiple optical-magnetic integrated markers 100 are electrically connected to the device control unit 303 on the mounting body 301 through the mounting body 301.

[0070] In one embodiment, the device control unit 303 includes a shell 3031, a micro control unit 3032, a wireless transmission unit 3033 and a power supply unit 3034. The shell 3031 can form a containing space; the micro control unit 3032 can be arranged in the containing space of the shell 3031, and the micro control unit 3032 is electrically connected to the electromagnetic marker 102; the wireless transmission unit 3033 can be arranged in the containing space of the shell 3031, and the wireless transmission unit 3033 is electrically connected to the micro control unit 3032; the wireless transmission unit 3033 is used to transmit the magnetic field information transmitted by the micro control unit 3032 to an external device; the power supply unit 3034 can be arranged in the containing space of the shell 3031, and the power supply unit 3034 is electrically connected to the electromagnetic marker 102, the micro control unit 3032 and the wireless transmission unit 3033 respectively. Further, as Figure 3 As shown in part (b) of the figure, the housing 3031 of the device control unit 303 contains a power supply unit 3034, a micro control unit 3032 and a wireless transmission unit 3033. The electromagnetic marker 102, the micro control unit 3032 and the wireless transmission unit 3033 in the optical-magnetic integrated marker 100 are all powered by the internal power supply unit 3034. After the data is acquired, it is transmitted to an external device through the wireless transmission unit 3033. According to the current device performance, the size of the device control unit 303 can be controlled within 30 mm, so that the electromagnetic marker 102 can work continuously for several hours. The power supply unit 3034 can be replaced when the power is low, or it can be made into a wireless charging form for easier sterilization, and the device control unit 303 has better sealing. The wireless form reduces the number of connecting wires, thereby reducing the impact on the actions of medical staff.

[0071] In combination with the above-mentioned embodiments, the electromagnetic navigation system for time-varying magnetic field detection not only enhances the performance of the optical navigation system for binocular vision, but also serves as the main navigation system when the optical navigation system for binocular vision cannot be used or is blocked. When the optical navigation system for binocular vision and the electromagnetic navigation system for time-varying magnetic field detection are working at the same time, the optical navigation system for binocular vision can also be used as a standard to perform real-time correction on the electromagnetic navigation system for time-varying magnetic field detection, thereby reducing interference from metal and magnetic materials in the environment. This makes the performance of the entire navigation system stronger and has a wider range of applications.

[0072] In one embodiment, Figure 4As shown, a positioning method is provided, the execution subject of the method may be a controller, and the method includes:

[0073] Step 402, obtaining optical information and magnetic field information when a light source and a magnetic field are provided to a plurality of markers.

[0074] The marker may be an optical-magnetic integrated marker. A plurality of markers are used to be set on a target object, and the target object may be a certain part of a target user.

[0075] In the case where a light source is provided to a plurality of markers, the reflection data of the optical markers in the markers can be obtained, and the optical information can be determined based on the reflection data. The optical information may include optical coordinates and the like.

[0076] In which, when a time-varying magnetic field is provided to multiple markers, the magnetic field data of the electromagnetic markers in the markers can be obtained, and the magnetic field information can be determined based on the magnetic field data. The magnetic field information may include the magnetic field coordinates, the ID number of the electromagnetic marker, etc.

[0077] Specifically, a light source and a time-varying magnetic field are provided to multiple markers, and a controller sends a detection instruction to the optical navigation system to control the optical navigation system to obtain the optical information of each optical-magnetic integrated marker in the optical coordinate system; similarly, the controller sends a detection instruction to the electromagnetic navigation system to control the magnetic field generator of the electromagnetic navigation system to generate a time-varying magnetic field in a space with multiple optical-magnetic integrated markers, and further controls the electromagnetic navigation system to obtain the magnetic field information of each optical-magnetic integrated marker in the time-varying magnetic field. Among them, the optical-magnetic integrated marker is used to be set on the target object to assist in determining the position information of the target object.

[0078] Step 404: Determine the position information of the target object according to the optical information and the magnetic field information.

[0079] The position information may be the coordinate information of the target object in the world coordinate system.

[0080] Specifically, in the first case, if the optical navigation system cannot be used or there is an obstruction, only the magnetic field information can be used to determine the position information of the target object. In the second case, if the electromagnetic navigation system cannot be used or there is ferromagnetic interference, only the optical information can be used to determine the position information of the target object. In the third case, if both the optical navigation system and the electromagnetic navigation system can be used normally, the position information of the target object can be determined by both optical information and magnetic field information. For example, in the case where there are multiple marker arrays (each marker array includes multiple markers), the ID number of the electromagnetic marker in the magnetic field information can be used to determine which markers belong to the same array, and then the position information of the array can be determined according to the optical information of the optical marker in the same array. In this way, when a target object is provided with multiple marker arrays, different parts of the target object can be located; when there are multiple target objects, and each target object is provided with a marker array, different target objects can be located.

[0081] In this embodiment, multiple optical-magnetic integrated markers are used to locate the target object, which can be applied to a variety of different scenarios. The optical navigation system and the electromagnetic navigation system can be used either or both, which improves the applicability and flexibility of positioning. In particular, for scenarios where both are used simultaneously, the optical navigation system can use the information of the electromagnetic navigation system detected by the time-varying magnetic field to identify a single marker. This helps to identify and track the target object in the absence of a marker array, lack of array prior information, lack of recognition between multiple arrays, and incomplete array detection, thereby improving the navigation accuracy of the target object.

[0082] In some embodiments, since the optical coordinates are the coordinates of the optical marker in the optical coordinate system, similarly, the magnetic field coordinates are the coordinates of the electromagnetic marker in the electromagnetic coordinate system. In general, the coordinate origins of the optical coordinate system and the electromagnetic coordinate system do not coincide, so one of the coordinate systems needs to be selected as the world coordinate system, and the unselected coordinate system can be converted to the world coordinate system for expression through the conversion relationship between the optical coordinate system and the electromagnetic coordinate system. Finally, on the basis of the world coordinate system, when the errors between the optical coordinates and the magnetic field coordinates are less than the preset threshold, it can be considered that the optical marker corresponding to the optical coordinates and the magnetic field marker corresponding to the magnetic field coordinates belong to the same optical-magnetic integrated marker, and the position information of the target object can be obtained based on the optical coordinates and the corresponding magnetic field coordinates.

[0083] Among them, because the distance between the sphere centers of multiple different optical-magnetic integrated markers is not less than the marker scale (when the optical marker is a sphere, the marker size refers to the diameter of the sphere), this magnitude is significantly greater than the positioning error of each system. Therefore, for any calibrated optical-magnetic integrated marker, the deviation of the positioning results of EMTS and OTS in the world coordinate system is almost certainly within the marker scale. Therefore, the preset threshold, that is, the marker scale screening, can be simply used to find the correspondence between the positioning result and the entity; in addition, if Figure 8 As shown in the lower right corner of the right figure. When there are pseudo points in the OTS results, they can also be automatically screened out by the EMTS results. Therefore, the distance between the coordinate pairs formed by the automatically screened optical coordinates and magnetic field coordinates in the world coordinate system is less than the preset threshold.

[0084] In one embodiment, Figure 5 As shown, the position information of the target object is determined according to the optical information and the magnetic field information, including:

[0085] Step 502, matching the optical information with the magnetic field information to obtain a matching result.

[0086] The optical information includes a plurality of optical coordinates, and the magnetic field information includes a plurality of magnetic field coordinates. The matching includes matching the number of optical coordinates with the number of magnetic field coordinates, and matching the position of the optical coordinates with the position of the magnetic field coordinates, and the matching result includes the number matching information and the position matching information between the optical coordinates and the magnetic field coordinates.

[0087] Among them, the quantity matching information includes that the number of optical coordinates is equal to the number of magnetic field coordinates, the number of optical coordinates is greater than the number of magnetic field coordinates, and the number of optical coordinates is less than the number of magnetic field coordinates; the position matching information may include whether there are magnetic field coordinates with a distance less than or equal to a preset threshold for each optical coordinate in the world coordinate system, and whether there are optical coordinates with a distance less than or equal to a preset threshold for each magnetic field coordinate in the world coordinate system. Furthermore, the position matching information may also include multiple sets of coordinate pairs, each coordinate pair including an optical coordinate and a magnetic field coordinate, and the distance between the optical coordinate and the magnetic field coordinate in the world coordinate system is less than or equal to the preset threshold.

[0088] Step 504: Determine target information from the optical information and the magnetic field information according to the matching result.

[0089] Specifically, in different situations, the way of determining the target information is different.

[0090] When the matching result is that the number of optical coordinates is equal to the number of magnetic field coordinates, and both the optical coordinates have magnetic field coordinates to form a coordinate pair, and both the magnetic field coordinates have optical coordinates to form a coordinate pair, then only the optical coordinates can be selected as the target information, or the optical coordinates and the corresponding magnetic field coordinates can be selected as the target information.

[0091] In some embodiments, when there are multiple marker arrays in the environment and they cannot be distinguished by optical coordinates, the magnetic field coordinates can be used to determine which optical coordinates belong to the first array and which optical coordinates belong to the second array, and so on. The optical coordinates of the first array can be used to calculate the position information of the first array, and the optical coordinates of the second array can be used to calculate the position information of the second array, and so on.

[0092] In some embodiments, since the optical navigation system can only obtain the coordinate information of the optical marker, in order to achieve high-precision navigation, at least three optical markers are required to know the 6DoF information. However, after using the optical-magnetic integrated marker, the coordinate information obtained by the optical navigation system and the attitude information obtained by the electromagnetic navigation system can be used to form the 6DoF information. The coordinate information obtained by the optical navigation system can also be brought into the solver of the electromagnetic navigation system to re-solve the attitude information to obtain the 6DoF information. In this way, only 1 or 2 optical-magnetic integrated markers are needed to obtain the 6DoF information of the array. Therefore, when the number of optical coordinates used as target information is not enough to solve the attitude information, the magnetic field coordinates can be introduced as target information to complete the array attitude information.

[0093] When the matching result is that the number of optical coordinates is greater than the number of magnetic field coordinates, this may be due to pseudo-optical coordinates. In order to avoid errors caused by this situation, the magnetic field coordinates or the optical coordinates in the coordinate pair are selected as the target information; when the matching result is that the number of optical coordinates is less than the number of magnetic field coordinates, this may be due to occlusion in the optical navigation and the inability to obtain the optical coordinates. In order to avoid the inability to locate the target object due to the inability to obtain the optical coordinates, the magnetic field coordinates are used as the target information, or the optical coordinates in the coordinate pair and the magnetic field coordinates outside the coordinate pair are used as the target information.

[0094] Step 506: Determine the location information of the target object according to the target information.

[0095] Specifically, when the number of optical coordinates is greater than the number of magnetic field coordinates, one is to determine the position information of the target object based on the magnetic field coordinates; the second is to select the optical coordinates in the coordinate pair to determine the position information of the target object. Furthermore, the magnetic field coordinates can also be used as auxiliary information of the optical coordinates in the coordinate pair to help determine the array information to which the optical coordinates belong, or when the number of optical coordinates is small, provide for the acquisition of 6DoF information. The specific process can refer to the relevant description in the above embodiment, and will not be repeated in this embodiment.

[0096] When the number of optical coordinates is less than the number of magnetic field coordinates, one is to determine the position information of the target object based on the magnetic field coordinates; the second is to select the optical coordinates in the coordinate pair and the magnetic field coordinates outside the coordinates to determine the position information of the target object. Furthermore, the magnetic field coordinates in the coordinate pair can be used as auxiliary information of the optical coordinates to help determine the array information to which the optical coordinates belong, or when the optical coordinates are less, provide for the acquisition of 6DoF information. The specific process can refer to the relevant description in the above embodiment, which will not be repeated in this embodiment.

[0097] In this embodiment, target information used to determine the position information of the target object is selected through the matching results of optical information and magnetic field information, which can exclude abnormal data and avoid introducing abnormal data that may cause large deviations in positioning and navigation results.

[0098] In one embodiment, the optical information includes a plurality of optical coordinates, and the magnetic field information includes a plurality of magnetic field coordinates; the optical information is matched with the magnetic field information to obtain a matching result, including:

[0099] The quantity and position of each optical coordinate are matched with each magnetic field coordinate to determine quantity matching information and multiple groups of coordinate pairs.

[0100] The optical coordinates may be information used to represent coordinates in the optical information.

[0101] The magnetic field coordinates may be information used to represent coordinates in the magnetic field information.

[0102] Specifically, the number of optical coordinates in the optical information is matched with the number of magnetic field coordinates to obtain number matching information; and each optical coordinate in the optical information is matched with each magnetic field coordinate to obtain a coordinate pair.

[0103] The quantity matching information indicates whether the number of optical coordinates is equal to the number of magnetic field coordinates, including whether the number of optical coordinates is equal to the number of magnetic field coordinates, the number of optical coordinates is greater than the number of magnetic field coordinates, and the number of optical coordinates is less than the number of magnetic field coordinates. If the number of optical coordinates is equal to the number of magnetic field coordinates, the coordinate pair is obtained based on the number of optical coordinates or the number of magnetic field coordinates as a reference; if the number of optical coordinates is less than the number of magnetic field coordinates, the coordinate pair is obtained based on the number of optical coordinates as a reference; if the number of optical coordinates is greater than the number of magnetic field coordinates, the coordinate pair is obtained based on the number of magnetic field coordinates as a reference.

[0104] In this embodiment, by determining the relationship between the number of optical coordinates and the number of magnetic field coordinates, and forming coordinate pairs of optical coordinates and magnetic field coordinates, the method of determining target information using the optical coordinates and magnetic field coordinates in the coordinate pair can be adjusted in time according to the quantity matching information, thereby improving the flexibility of positioning while ensuring the accuracy of target information acquisition.

[0105] In one embodiment, Figure 6 As shown, according to the matching results, the target information is determined from the optical information and the magnetic field information, including:

[0106] Step 602: If the quantity matching information indicates that the quantity of the optical coordinates is greater than the quantity of the magnetic field coordinates, each magnetic field coordinate is used as target information.

[0107] Specifically, when the number matching information indicates that the number of optical coordinates is greater than the number of magnetic field coordinates, the same number of coordinate pairs are generated correspondingly based on the number of magnetic field coordinates as a reference. Further, each magnetic field coordinate is extracted as target information for locating the position information of the target object.

[0108] or,

[0109] Step 604: Use the optical coordinates in each coordinate pair as target information.

[0110] Specifically, the optical coordinates in each coordinate pair are extracted as target information for locating the position information of the target object.

[0111] In this embodiment, when the number of optical coordinates is greater than the number of magnetic field coordinates, each magnetic field coordinate or the optical coordinates in each coordinate pair can be selected for positioning according to the specific situation. This is beneficial for accurately locating the target object when interference occurs in obtaining one of the coordinates, thereby improving the efficiency of locating the target object.

[0112] In one embodiment, Figure 7 As shown, according to the matching results, the target information is determined from the optical information and the magnetic field information, including:

[0113] Step 702: If the quantity matching information indicates that the quantity of the optical coordinates is less than the quantity of the magnetic field coordinates, each magnetic field coordinate is used as target information.

[0114] Specifically, when the number matching information indicates that the number of optical coordinates is less than the number of magnetic field coordinates, the same number of coordinate pairs are generated correspondingly based on the number of optical coordinates as a reference. Further, each magnetic field coordinate is extracted as target information for locating the position information of the target object.

[0115] or,

[0116] Step 704: Use the residual magnetic field coordinates and the optical coordinates in each coordinate pair as target information.

[0117] Specifically, the magnetic field coordinates in each magnetic field coordinate that are the same as the magnetic field coordinates in each coordinate pair are eliminated, and the remaining magnetic field coordinates are used as residual magnetic field coordinates; the optical coordinates in each coordinate pair are extracted, and the union of each optical coordinate and each residual magnetic field coordinate is taken as the target information.

[0118] In this embodiment, when the number of optical coordinates is less than the number of magnetic field coordinates, the magnetic field coordinates are used as a reference, and the magnetic field coordinates are selected for positioning alone or in combination with the magnetic field coordinates and the optical coordinates. When the optical coordinates cannot be used for high-precision navigation, the magnetic field coordinates can be used for comprehensive coverage, thereby improving the navigation efficiency while ensuring the accuracy of navigation.

[0119] In one embodiment, for any optical-magnetic integrated marker, before navigating and positioning the target object, the optical-magnetic integrated marker needs to be inspected.

[0120] Specifically, by Fig. 9 As shown, the optical-magnetic integrated navigation system includes three coordinate systems: the optical coordinate system {T} of binocular vision, the electromagnetic coordinate system {E} of time-varying magnetic field detection, and the coordinate system {m} of the electromagnetic marker 102 itself. The other parameters in the figure are explained as follows:

[0121] It represents the homogeneous transformation matrix of {m} relative to {E}, which can be measured by the electromagnetic navigation system positioning of time-varying magnetic field detection;

[0122] represents the homogeneous transformation matrix of {E} relative to {T};

[0123] m P s It represents the homogeneous coordinates of the center of the sphere 101 in {m}, which can be measured by DR, CT, etc.;

[0124] T Ps It represents the homogeneous coordinates of the center of the 101 sphere in {T}, which can be located and measured by the optical navigation system of binocular vision;

[0125] Among them, the above two homogeneous transformation matrices and two homogeneous coordinates must satisfy

[0126] Therefore, if the m P s , it can be calibrated through experiments Thus {T} and {E} are unified. Of course, it is also possible to calibrate in advance Then measure the offset in each optical-magnetic marker m P s Each optical and magnetic marker passes through m P s After calibration, the parameter can be stored in the system and uniquely corresponds to the entity. Another solution is to conduct factory inspection on each optical and magnetic integrated marker to obtain m P s .

[0127] when m P s <τ0, where τ0 is the offset test threshold, such as 0.02-0.10mm. Since τ0 is significantly smaller than the accuracy requirement of the navigation application scenario, the marker can be considered qualified in subsequent use. If the center of the electromagnetic marker coincides with the center of the optical marker, the optical-magnetic integrated marker that meets the accuracy requirement can be regarded as the detected optical-magnetic integrated marker.

[0128] In this embodiment, by performing quality inspection on each opto-magnetic integrated marker of the opto-magnetic integrated marker device before using the opto-magnetic integrated marker device, unqualified opto-magnetic integrated markers can be eliminated before constructing the opto-magnetic integrated marker device, thereby avoiding serious data deviations in the subsequent use of the opto-magnetic integrated marker device, and improving the reliability of the opto-magnetic integrated marker device.

[0129] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0130] Based on the same inventive concept, the embodiment of the present application also provides a marker positioning system for implementing the marker positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the one or more marker positioning system embodiments provided below can refer to the limitations of a marker positioning method above, and will not be repeated here.

[0131] In one embodiment, a marker positioning system is provided, comprising:

[0132] A plurality of optical-magnetic integrated markers, each of which is used to be set on a target object;

[0133] A magnetic field generating device, used to provide a magnetic field to each optical-magnetic integrated marker;

[0134] An optical tracking device, used to provide a light source to each optical-magnetic integrated marker and obtain optical information;

[0135] A controller is respectively connected to the electromagnetic markers and the optical tracking device in each optical-magnetic integrated marker, and the controller is used to execute steps such as a positioning method.

[0136] Each device in the above-mentioned marker positioning system can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0137] In one embodiment, Fig.10 As shown, a positioning device is provided, including: a sample data acquisition module 1002 and an image feature fusion module 1004, wherein:

[0138] The data information acquisition module 1002 is used to acquire optical information and magnetic field information when providing a light source and a magnetic field to a plurality of markers; wherein each marker is an optical-magnetic integrated marker, and each marker is used to be set on a target object;

[0139] The position information determination module 1004 is used to determine the position information of the target object according to the optical information and the magnetic field information.

[0140] In one embodiment, the position information determination module 1004 is further used to match the optical information with the magnetic field information to obtain a matching result; determine the target information from the optical information and the magnetic field information according to the matching result; and determine the position information of the target object according to the target information.

[0141] In one embodiment, the position information determination module 1004 is also used to match the quantity and position of each optical coordinate with each magnetic field coordinate to determine quantity matching information and multiple sets of coordinate pairs; each coordinate pair includes an optical coordinate and a magnetic field coordinate, and the distance between the optical coordinate and the magnetic field coordinate in the world coordinate system is less than a preset threshold.

[0142] In one embodiment, the position information determination module 1004 is further configured to use the magnetic field coordinates in each coordinate pair as target information if the quantity matching information indicates that the number of optical coordinates is greater than the number of magnetic field coordinates; or use the optical coordinates in each coordinate pair as target information.

[0143] In one embodiment, the position information determination module 1004 is also used to use the magnetic field coordinates in each coordinate pair as target information if the quantity matching information is that the number of optical coordinates is less than the number of magnetic field coordinates; or, use the remaining magnetic field coordinates and the optical coordinates in each coordinate pair as target information; wherein the remaining magnetic field coordinates are the magnetic field coordinates remaining after removing the magnetic field coordinates in each coordinate pair.

[0144] Each module in the above positioning device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0145] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.11As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store controller data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a marker positioning method is implemented.

[0146] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0148] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0149] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned method embodiments.

[0150] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0151] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0152] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0153] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0154] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0155] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0156] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0157] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0158] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0159] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0160] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An optical-magnetic integrated marker, characterized in that: The optical-magnetic integrated marker (100) comprises: An optical marker (101), wherein the optical marker (101) defines a limited position space; An electromagnetic marker (102), at least a portion of which is disposed in the confined space, and a position of the electromagnetic marker (102) is relatively fixed to a position of the optical marker (101).

2. The optical-magnetic integrated marker according to claim 1, characterized in that: The electromagnetic marker (102) comprises: An electromagnetic sensor (1021), wherein the position of the electromagnetic sensor (1021) in the confined space is relatively fixed to the position of the optical marker (101), and the electromagnetic sensor (1021) is used to obtain magnetic field information in a magnetic field environment; A data transmission component (1022), wherein the data transmission component (1022) is fixedly connected to the electromagnetic sensor (1021), and the data transmission component (1022) is used to transmit the magnetic field information to an external device.

3. The optical-magnetic integrated marker according to claim 2, characterized in that: The optical marker (101) is spherical, the limiting space passes through the center of the sphere of the optical marker (101), and the electromagnetic sensor (1021) is limited at the position of the center of the sphere.

4. The optical-magnetic integrated marker according to claim 1, characterized in that: The optical marker (101) comprises a first component (1011) and a second component (1012) which are detachably connected, and the first component (1011) and the second component (1012) form the limiting space when the first component (1011) and the second component (1012) are connected.

5. A positioning method, characterized in that: The method comprises: Acquire optical information and magnetic field information when providing a light source and a magnetic field to a plurality of markers; wherein each of the markers is an optical-magnetic integrated marker according to any one of claims 1 to 4, and each of the markers is used to be set on a target object; The position information of the target object is determined according to the optical information and the magnetic field information.

6. The positioning method according to claim 5, characterized in that: The step of determining the position information of the target object according to the optical information and the magnetic field information comprises: Matching the optical information with the magnetic field information to obtain a matching result; determining target information from the optical information and the magnetic field information according to the matching result; The location information of the target object is determined according to the target information.

7. The positioning method according to claim 6, characterized in that: The optical information includes a plurality of optical coordinates, and the magnetic field information includes a plurality of magnetic field coordinates; and matching the optical information with the magnetic field information to obtain a matching result includes: The number and position of each optical coordinate are matched with each magnetic field coordinate to determine the number matching information and multiple groups of coordinate pairs; each coordinate pair includes one optical coordinate and one magnetic field coordinate, and the distance between the optical coordinate and the magnetic field coordinate in the world coordinate system is less than a preset threshold.

8. The positioning method according to claim 7, characterized in that: Determining target information from the optical information and the magnetic field information according to the matching result includes: If the quantity matching information indicates that the number of the optical coordinates is greater than the number of the magnetic field coordinates, each of the magnetic field coordinates is used as the target information; or, The optical coordinates in each of the coordinate pairs are used as the target information.

9. The positioning method according to claim 7, characterized in that: Determining target information from the optical information and the magnetic field information according to the matching result includes: If the quantity matching information indicates that the number of the optical coordinates is less than the number of the magnetic field coordinates, each of the magnetic field coordinates is used as the target information; or, The residual magnetic field coordinates and the optical coordinates in each coordinate pair are used as the target information; wherein the residual magnetic field coordinates are the magnetic field coordinates remaining after the magnetic field coordinates in each coordinate pair are removed from the magnetic field coordinates.

10. A positioning system, characterized in that: The system comprises: A plurality of optical-magnetic integrated markers according to any one of claims 1 to 4, each of which is used to be set on a target object; A magnetic field generating device, used for providing a magnetic field to each of the optical-magnetic integrated markers; An optical tracking device, used to provide a light source to each of the optical-magnetic integrated markers and obtain optical information; A controller, wherein the controller is respectively connected to the electromagnetic markers in each of the optical-magnetic integrated markers and the optical tracking device, and the controller is used to execute the steps of the positioning method as described in any one of claims 5-9.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the positioning method described in any one of claims 5 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the positioning method described in any one of claims 5 to 9 are implemented.

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