Registration method, registration component, electronic equipment and readable storage medium

Abstract

The invention discloses a registration method, a registration component, electronic equipment and a readable storage medium, and belongs to the technical field of computer processing. The registration method comprises the following steps: setting a first mark point and a first identification pattern on a registration tool, and determining spatial data of the first mark point; a second mark point and a positioning device are arranged on the positioning target, spatial data of the second mark point are determined, and the positioning device comprises a second recognition pattern; acquiring image data through a camera, and determining spatial data of a first recognition pattern and a second recognition pattern based on the image data, and determining first conversion data between the spatial data of the positioning target and the spatial data of the positioning device based on the spatial data of the first identification pattern and the second identification pattern, the spatial data of the first mark point and the spatial data of the second mark point.

Description

Technical Field

[0001] The present invention relates to the field of computer processing technology, and in particular to a registration method, a registration component, an electronic device and a readable storage medium. Background Art

[0002] The registration process is to obtain the conversion relationship between one coordinate system and another coordinate system through a certain algorithm.

[0003] When using a camera to locate a target, the position and posture of the positioning device on the target is always obtained through the camera's image data, and then the target and the positioning device are processed by tooling, and the conversion relationship between the coordinate system of the target and the coordinate system of the positioning device is obtained through tooling parameters.

[0004] However, in some cases, both the positioning device and the positioning target can only be made of plastic or resin. Based on this, the processing technology of the positioning device and the multiple processing processes of the integrated processing of the positioning target and the positioning device often lead to the processing accuracy not being consistent with the structural design accuracy due to the limitation of the manufacturing materials, thus bringing about the problem of large errors in the use of processing parameters (for example, the error reaches 1-2mm). In this way, the conversion relationship between the positioning target and the positioning device obtained by the tooling parameters will not be accurate enough, which will introduce large errors in the later positioning and navigation process. Summary of the invention

[0005] In order to solve at least one aspect of the above-mentioned problems and defects existing in the prior art, an embodiment of the present invention provides a registration method, a registration component, an electronic device and a readable storage medium to solve the problem of poor accuracy in determining conversion relationships through tooling parameters.

[0006] An object of the present invention is to provide a registration method.

[0007] Another object of the present invention is to provide a registration component.

[0008] Another object of the present invention is to provide an electronic device.

[0009] Another object of the present invention is to provide a readable storage medium.

[0010] According to one aspect of the present invention, there is provided a registration method, comprising:

[0011] Setting a first marking point and a first identification pattern on the registration tooling, and determining spatial data of the first marking point;

[0012] Setting a second marking point and a positioning device on the positioning target, and determining spatial data of the second marking point, wherein the positioning device includes a second recognition pattern;

[0013] Image data is acquired through a camera, and spatial data of a first recognition pattern and spatial data of a second recognition pattern are determined based on the image data; first conversion data between spatial data of a positioning target and spatial data of a positioning device are determined based on the spatial data of the first recognition pattern, the spatial data of the second recognition pattern, the spatial data of a first marking point, and the spatial data of a second marking point.

[0014] In some embodiments, acquiring image data through a camera, and determining the spatial data of the first recognition pattern and the spatial data of the second recognition pattern based on the image data includes:

[0015] Aligning a first marking point of the registration tool with a second marking point of the positioning target, acquiring image data when the first marking point and the second marking point are aligned through a camera, and acquiring spatial data of a first recognition pattern and spatial data of a second recognition pattern when the first marking point and the second marking point are aligned through the image data;

[0016] Determining first conversion data between spatial data of the positioning target and spatial data of the positioning device based on spatial data of the first recognition pattern, spatial data of the second recognition pattern, spatial data of the first marking point, and spatial data of the second marking point includes:

[0017] Based on the spatial data of the first recognition pattern and the spatial data of the second recognition pattern, converting the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device;

[0018] The first conversion data between the spatial data of the positioning target and the spatial data of the positioning device is determined based on the spatial data in the second recognition pattern coordinate system and the spatial data of the second marking point.

[0019] In some embodiments, the spatial data of the first marking point includes the position coordinates of the first marking point in the first recognition pattern coordinate system;

[0020] The spatial data of the second marking point includes the position coordinates of the second marking point in the positioning target coordinate system;

[0021] The spatial data of the first recognition pattern includes a posture matrix of the first recognition pattern;

[0022] The spatial data of the second recognition pattern includes a posture matrix of the second recognition pattern.

[0023] In some embodiments, the registration tooling includes a registration plate,

[0024] The first marking point includes at least one first marking point, and the second marking point includes at least one second marking point.

[0025] The number of at least one first marking point on the registration plate is the same as the number of at least one second marking point on the positioning target, the at least one first marking point is set corresponding to the at least one second marking point, and the second conversion data between the position coordinates of the at least one first marking point in the first recognition pattern coordinate system and the position coordinates of the at least one second marking point in the positioning target coordinate system is determined.

[0026] In some embodiments, converting the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device includes:

[0027] Determine the position coordinates of at least one first marking point in the camera coordinate system using the position coordinates of the at least one first marking point in the first recognition pattern coordinate system and the posture matrix of the first recognition pattern;

[0028] The position coordinates of at least one first marking point in the camera coordinate system, the posture matrix of the second recognition pattern and the second conversion data are used to determine the position coordinates of at least one second marking point in the second recognition pattern coordinate system.

[0029] In some embodiments, determining first conversion data between the spatial data of the positioning target and the spatial data of the positioning device includes:

[0030] The first conversion data is determined using the position coordinates of at least one second marking point in the second recognition pattern coordinate system and the position coordinates of at least one second marking point in the positioning target coordinate system.

[0031] In some embodiments, aligning the first marking point of the registration tool with the second marking point of the positioning target includes: placing the registration tool on the positioning target and aligning each first marking point with each corresponding second marking point,

[0032] The first marking point and the second marking point are respectively set as a concave point and a convex point that can match each other.

[0033] In some embodiments, the registration tool includes a registration pen, the registration pen is provided with a pen tip, and the spatial data of the first marking point includes the position coordinates of the pen tip in the first recognition pattern coordinate system.

[0034] The second marking point includes at least one second marking point,

[0035] Aligning the first marking point of the registration tool with the second marking point of the positioning target includes placing the tip of the registration pen at all the second marking points in at least one second marking point.

[0036] In some embodiments, converting the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device includes:

[0037] When the pen tip is placed at one of the at least one second marking points,

[0038] Determine the position coordinates of the pen tip in the camera coordinate system by using the position coordinates of the pen tip in the first recognition pattern coordinate system and the posture matrix of the first recognition pattern acquired by the camera when the pen tip is placed at the one second marking point;

[0039] Determine the position coordinates of the pen tip in the second recognition pattern coordinate system by using the position coordinates of the pen tip in the camera coordinate system and the posture matrix of the second recognition pattern acquired by the camera when the pen tip is placed at the second marking point,

[0040] When the pen tip is placed at another second marking point among the at least one second marking point, the above process is repeated until the position coordinates of the pen tip in the second recognition pattern coordinate system are determined when the pen tip is located at all the second marking points.

[0041] In some embodiments, determining first conversion data between the spatial data of the positioning target and the spatial data of the positioning device includes:

[0042] The first conversion data is determined using the position coordinates of the pen tip in the positioning target coordinate system when the pen tip is located at all the second marking points and the position coordinates of the pen tip in the second recognition pattern coordinate system when the pen tip is located at all the second marking points.

[0043] In some embodiments, the second marking point is located on the active surface of the positioning target.

[0044] The registration tooling is machined from metal materials.

[0045] In some embodiments, the registration method further includes:

[0046] Determine a first reference area surrounding the first recognition pattern of the registration tool and the second recognition pattern of the positioning device, and determine the size relationship between the first recognition pattern, the second recognition pattern and the first reference area;

[0047] Recognize an identification pattern in image data obtained by a camera when the first marking point and the second marking point are aligned, wherein the identification pattern is a second identification pattern of a positioning device or a first identification pattern of a registered tool;

[0048] determining a pixel size and a pixel position of a recognized recognition pattern in the image data;

[0049] determining a second reference area corresponding to the first reference area in the image data based on the pixel size, the pixel position and the size relationship;

[0050] Acquire, in the second reference area, spatial data of the first recognition pattern and spatial data of the second recognition pattern when the first marking point is aligned with the second marking point;

[0051] The portion corresponding to the first reference area is removed from the image data, or the portion corresponding to the first reference area and the portion corresponding to the second reference area are removed, and the above operation is repeated until all recognition patterns in the image data are recognized.

[0052] In some embodiments, when a second recognition pattern of a positioning device is recognized in image data obtained by a camera when a first marking point and a second marking point are aligned, a first recognition pattern of a registered tool corresponding to the one positioning device is recognized in the second reference area after determining the second reference area, and spatial data of the first recognition pattern and the second recognition pattern when the first marking point and the second marking point are aligned are acquired based on the recognized first recognition pattern and the second recognition pattern; or

[0053] When a first recognition pattern of a registered tool is recognized in image data obtained by a camera when a first marking point and a second marking point are aligned, a second recognition pattern of a positioning device corresponding to the registered tool is recognized in the second reference area after determining the second reference area, and spatial data of the first recognition pattern and the second recognition pattern when the first marking point and the second marking point are aligned are acquired based on the recognized first recognition pattern and the second recognition pattern.

[0054] The first recognition pattern is different from the second recognition pattern.

[0055] In some embodiments, in the registration method, the distance between the camera and the positioning target is determined based on the smaller pattern of the first recognition pattern and the second recognition pattern, and the focal length of the camera.

[0056] According to another aspect of the present invention, there is provided a registration component, comprising:

[0057] A registration tool provided with a first marking point and a first identification pattern;

[0058] a camera configured to acquire image data; and

[0059] a recognition module in communication with the camera, configured to acquire spatial data of a first recognition pattern and spatial data of a second recognition pattern of a positioning target through the image data; and

[0060] The control module is communicatively connected to the recognition module and is configured to determine first conversion data between spatial data of the positioning target and spatial data of the positioning device through spatial data of the first recognition pattern and spatial data of the second recognition pattern from the recognition module, and spatial data of the first marking point and spatial data of the second marking point.

[0061] In some embodiments, the camera is configured to acquire image data when a first marking point of the registration tool is aligned with a second marking point of the positioning target;

[0062] The recognition module is configured to obtain spatial data of a first recognition pattern when the first marking point is aligned with the second marking point and spatial data of a second recognition pattern of the positioning target through the image data;

[0063] The control module is configured to convert the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device through the spatial data of the first recognition pattern and the spatial data of the second recognition pattern from the recognition module, and determine the first conversion data between the spatial data of the positioning target and the spatial data of the positioning device based on the spatial data in the second recognition pattern coordinate system and the spatial data of the second marking point.

[0064] In some embodiments, the identification module is further configured to:

[0065] Recognize an identification pattern in image data obtained by a camera when the first marking point and the second marking point are aligned, wherein the identification pattern is a second identification pattern of a positioning device or a first identification pattern of a registered tool;

[0066] determining a pixel size and a pixel position of a recognized recognition pattern in the image data;

[0067] Determining a second reference area corresponding to the first reference area in the image data based on the pixel size, pixel position, and the size relationship between the first recognition pattern, the second recognition pattern, and the first reference area, the first reference area being an area surrounding the first recognition pattern of the registration tool and the second recognition pattern of the positioning device;

[0068] Acquire, in the second reference area, spatial data of the first recognition pattern and spatial data of the second recognition pattern when the first marking point is aligned with the second marking point;

[0069] The portion corresponding to the first reference area is removed from the image data, or the portion corresponding to the first reference area and the portion corresponding to the second reference area are removed, and the above operation is repeated until all recognition patterns in the image data are recognized.

[0070] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0071] A memory and a processor, wherein the memory stores a program, wherein the processor implements the registration method according to any of the aforementioned embodiments when executing the program on the memory.

[0072] According to another aspect of the present invention, a readable storage medium is provided, in which a computer-readable program or instruction is stored. When the computer-readable program or instruction is executed by a processor, the registration method according to any of the aforementioned embodiments is implemented.

[0073] The registration method, registration component, electronic device and readable storage medium according to the present invention have at least one of the following advantages:

[0074] (1) The registration method, registration component, electronic device and readable storage medium of the present invention can realize the registration process through the registration tool, which reduces the problem of poor accuracy caused by relying on tool parameters to realize the registration process to a certain extent;

[0075] (2) The registration method, registration assembly, electronic device and readable storage medium of the present invention are processed by high-precision machines, which allow the use of metal materials for manufacturing, eliminating the problem of poor precision caused by plastics or resins during the processing, for example, the precision can be less than one thread;

[0076] (3) The registration method, registration component, electronic device and readable storage medium of the present invention can provide different registration tools for different positioning targets, thereby increasing the flexibility of the registration method. For example, when the positioning target is not a plane or a regular curved surface (such as a sphere), it is not convenient to install the registration plate, so a registration pen is used for registration; when the positioning target has a plane or a regular curved surface, a registration plate is used for registration, which can avoid the operation of using a registration pen to click on different second marking points;

[0077] (4) The registration method, registration component, electronic device and readable storage medium of the present invention can realize batch registration, that is, the registration of multiple positioning targets and positioning devices can be completed in the same image, thereby improving the registration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] These and / or other aspects and advantages of the present invention will become apparent and readily understood from the following description of the preferred embodiments in conjunction with the accompanying drawings, in which:

[0079] Figure 1 A flow chart of a registration method according to an embodiment of the present invention is shown;

[0080] Figure 2 A flowchart of S3 in a registration method according to an embodiment of the present invention is shown;

[0081] Figure 3 A flowchart of S32 in a registration method according to an embodiment of the present invention is shown;

[0082] Figure 4A flowchart of S31 in a registration method according to an embodiment of the present invention is shown;

[0083] Figure 5 A schematic diagram of a registration component according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0084] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation of the present invention.

[0085] In an embodiment of the present invention, a registration method is provided, which can realize the registration process between the positioning target and the positioning device through the registration tool.

[0086] The positioning target is the object to be positioned. Usually, the positioning device is used to identify the position of the positioning target through a camera (such as an RGB camera). Therefore, it is necessary to understand the conversion relationship between the two during the positioning process (i.e., to complete the registration process). For example, the positioning target may include a magnetic stimulation device, an electrical stimulation device, a light stimulation device, a mechanical wave stimulation device, etc.

[0087] The action surface of the positioning target is a surface on which the positioning target acts on its treatment object. For example, for a magnetic stimulation device, the action surface is the surface of the magnetic field formed. Specifically, the action surface of the figure-8 magnetic stimulation coil is the side close to the treatment object, which is a plane, and the center point of the action surface is the center point of the area surrounded by the figure-8; the action surface of the butterfly-shaped magnetic stimulation coil is the side close to the treatment object, which is a curved surface formed by two planes at an angle, and the center point of the action surface is the midpoint of the intersection of the two planes.

[0088] The positioning device plays a role in positioning the positioning target. For example, the positioning device can be captured by a camera to determine its spatial data (such as posture information). The positioning device can be a positioning plate. The positioning device can be made of plastic or resin.

[0089] The positioning target can be provided with one, two, three or more positioning devices. Setting more positioning devices can expand the field of view that the camera can capture and improve the efficiency of the operation process.

[0090] The registration tool is used to register the coordinate system of the positioning device and the positioning target.

[0091] The camera in this article is a camera that can provide grayscale images, including grayscale cameras, color (RGB) cameras, depth cameras and any combination thereof.

[0092] like Figure 1 As shown, the registration method includes:

[0093] S1 sets a first marking point and a first recognition pattern on the registration tooling, and determines the spatial data of the first marking point;

[0094] S2 sets a second marking point and a positioning device on the positioning target, and determines spatial data of the second marking point, wherein the positioning device includes a second recognition pattern;

[0095] S3 acquires image data through a camera, and determines spatial data of a first recognition pattern and spatial data of a second recognition pattern based on the image data, and determines first conversion data between spatial data of the positioning target and spatial data of the positioning device based on the spatial data of the first recognition pattern, the spatial data of the second recognition pattern, the spatial data of the first marking point, and the spatial data of the second marking point.

[0096] The embodiment of the present invention implements the registration process by registering the tooling, determines the conversion relationship between the spatial data of the positioning target and the spatial data of the positioning device (such as the first conversion data), and reduces the problem of poor accuracy caused by relying on tooling parameters to implement the registration process to a certain extent.

[0097] The first conversion data may be a first conversion matrix Z1.

[0098] The first recognition pattern is used for the camera to capture the image data of the registration tooling. The shape of the first recognition pattern includes at least one of a regular pattern and an irregular pattern. The regular pattern includes at least one of a circle, an ellipse, a rectangle, a square, a polygon and a triangle arranged in a regular manner and ChArUco. The irregular pattern includes a logo arranged in a regular manner. The embodiments of the present invention do not limit the specific shape of the pattern, and those skilled in the art can select it as needed. The spatial data of the first recognition pattern includes a posture matrix of the first recognition pattern.

[0099] The second recognition pattern is used for the camera to capture the image data of the positioning device. The shape of the second recognition pattern includes at least one of a regular pattern and an irregular pattern. The regular pattern includes at least one of a circle, an ellipse, a rectangle, a square, a polygon and a triangle arranged in a regular manner and ChArUco. The irregular pattern includes a logo arranged in a regular manner. The embodiments of the present invention do not limit the specific shape of the pattern, and those skilled in the art can select it as needed. The spatial data of the second recognition pattern includes a posture matrix of the second recognition pattern.

[0100] In one example, in S3, such as Figure 2 As shown, acquiring image data through a camera, and determining the spatial data of the first recognition pattern and the spatial data of the second recognition pattern based on the image data includes:

[0101] S31 aligns the first marking point of the registered tooling with the second marking point of the positioning target, obtains image data when the first marking point and the second marking point are aligned through a camera, and obtains spatial data of a first recognition pattern and spatial data of a second recognition pattern when the first marking point and the second marking point are aligned through the image data.

[0102] Accordingly, in S3, if Figure 2 As shown, determining first conversion data between spatial data of the positioning target and spatial data of the positioning device based on spatial data of the first recognition pattern, spatial data of the second recognition pattern, spatial data of the first marking point, and spatial data of the second marking point includes:

[0103] S32 converts the spatial data of the first marking point into spatial data in a second recognition pattern coordinate system of the positioning device based on the spatial data of the first recognition pattern and the spatial data of the second recognition pattern;

[0104] S33 determines first conversion data between the spatial data of the positioning target and the spatial data of the positioning device based on the spatial data in the second recognition pattern coordinate system and the spatial data of the second marking point.

[0105] In the embodiment of the present invention, the spatial data of the first marking point is first converted to the second recognition pattern coordinate system of the positioning device, and then the spatial data of the first marking point and the second marking point are used to determine the conversion relationship between the positioning target and the spatial data of the positioning device.

[0106] The first marking point includes at least one first marking point. For example, the number of the first marking points is 1, 2, 3, 4 or more. The position of the first marking point can be set as needed.

[0107] The spatial data of the first marking point includes the position coordinates of the first marking point in the first recognition pattern coordinate system.

[0108] The second marking point is located on the action surface of the positioning target. The second marking point includes at least one second marking point. For example, the number of the second marking points is 1, 2, 3, 4 or more. The number of the first marking points and the number of the second marking points can be the same or different. The position of the second marking point can be set as needed.

[0109] The spatial data of the second marking point includes the position coordinates of the second marking point in the positioning target coordinate system.

[0110] The registration tooling can have a variety of forms, including a registration plate and a registration pen. In one example, the registration plate is in the form of a rectangular parallelepiped as a whole, and a first identification pattern is provided on one side of the rectangular parallelepiped (e.g., the side with the largest area). In one example, the registration pen is in the form of a rectangular parallelepiped as a whole, but a pen tip is provided on its side, and a first identification pattern is provided on the side adjacent to the side with the pen tip (e.g., the side with the largest area). The number of pen tips can be 1, 2 or more. Providing a larger number of pen tips is convenient for replacement during later use. Of course, the embodiments of the present invention do not limit the specific forms of the registration pen and the registration plate.

[0111] In an embodiment of the registration plate, the number of first marking points on the registration plate is the same as the number of second marking points on the positioning target, and the first marking points are arranged correspondingly to the second marking points. The number of marking points may be greater than or equal to 4 to facilitate accurate registration.

[0112] In S3, the registration method further includes determining second transformation data between the position coordinates of at least one first marking point in the first recognition pattern coordinate system and the position coordinates of at least one second marking point in the positioning target coordinate system. The position of the first marking point in the first recognition pattern coordinate system and the position of the second marking point in the positioning target coordinate system are known information, so the second transformation data can be determined by these known information. The second transformation data can be a second transformation matrix Z2.

[0113] For example, the positions of the first marking point and the second marking point can be made to correspond one to one, and the first recognition pattern coordinate system is the same as the positioning target coordinate system, then the coordinates of the first marking point under the first recognition pattern coordinates are the coordinates of the corresponding second marking point under the positioning target coordinates, and the second conversion data is a second conversion matrix (for example, a unit matrix).

[0114] In S31, aligning the first marking point of the registration tool with the second marking point of the positioning target includes: setting the registration tool on the positioning target, and aligning each first marking point with each corresponding second marking point.

[0115] In one example, the first marking point and the second marking point are respectively set as a concave point and a convex point that can match each other, so that the registration tooling can be installed on the positioning target. In the example of the registration plate, the first marking point of the registration plate is set on the side of the registration plate, and the side is adjacent to the side with the first recognition pattern. Of course, the embodiment of the present invention does not limit the specific form of the first marking point and the second marking point, and those skilled in the art can set them as needed.

[0116] In S31, when the registration device is set on the positioning target, the image data when the first mark point and the second mark point are aligned (image data of the positioning device and the registration plate) is obtained through the camera, and the posture matrix of the first recognition pattern and the posture matrix of the second recognition pattern are obtained based on the image data.

[0117] In S32, if Figure 3 As shown, converting the spatial data of the first marking point into the spatial data of the second recognition pattern coordinate system of the positioning device includes:

[0118] S321 determines the position coordinates of at least one first marking point in the camera coordinate system using the position coordinates of at least one first marking point in the first recognition pattern coordinate system and the posture matrix of the first recognition pattern;

[0119] S322 determines the position coordinates of at least one second marking point in the second recognition pattern coordinate system by using the position coordinates of at least one first marking point in the camera coordinate system, the posture matrix of the second recognition pattern and the second conversion data.

[0120] The position coordinates of at least one first marking point in the first recognition pattern coordinate system are known. The posture matrix of the first recognition pattern and the posture matrix of the second recognition pattern are obtained by a camera. For example, when the positioning device and / or the positioning target moves, the image data is obtained in real time by the camera, thereby obtaining the posture matrix of the first recognition pattern and the posture matrix of the second recognition pattern.

[0121] In S322, the position coordinates of at least one second marking point corresponding to the at least one first marking point in the second recognition pattern coordinate system may be determined based on the position coordinates of the at least one first marking point in the camera coordinate system, the posture matrix of the second recognition pattern, and the second conversion data. The position coordinates of the at least one second marking point in the camera coordinate system may be determined based on the position coordinates of the at least one first marking point in the camera coordinate system and the second conversion data; then the position coordinates of the at least one second marking point in the second recognition pattern coordinate system may be determined based on the position coordinates of the at least one second marking point in the camera coordinate system and the posture matrix of the second recognition pattern.

[0122] In S33, determining the first conversion data between the spatial data of the positioning target and the spatial data of the positioning device includes: determining the first conversion data using the position coordinates of at least one second marking point in the second recognition pattern coordinate system and the position coordinates of at least one second marking point in the positioning target coordinate system. For example, the position coordinates of the second marking point in the second recognition pattern coordinate system and the position coordinates of the second marking point in the positioning target coordinate system may constitute a data pair, and the first conversion data may be determined using methods such as singular value decomposition (SVD), point cloud registration (ICP), and quaternion.

[0123] For example, the number of first marking points on the registration plate is n, and the position coordinates of the first marking points in the first recognition pattern coordinate system are W1, W2, ..., W n The number of the second marking points is also n, and the position coordinates of the second marking points in the positioning target coordinate system are P1, P2...P n The posture matrix of the first recognition pattern is Z3, and the posture matrix of the second recognition pattern is Z4. Using the position coordinates W1, W2, ... W of the first marking point n and the posture matrix Z3 of the first recognition pattern determine the position coordinates Q1, Q2, ... Q of the first marking point in the camera coordinate system n Using the position coordinates Q1, Q2, ... Q of the first marking point n The position coordinates R1, R2, ... R of the corresponding second marking point in the camera coordinate system are determined by the second conversion data Z2. n . Using the position coordinates of the second marking point R1, R2, ... R n The position coordinates S1, S2, ... S of the second marking point in the second recognition pattern coordinate system are determined by the posture matrix Z4 of the second recognition pattern. n . Using the position coordinates S1, S2, ... S of the second marking point n and the position coordinates of the second marking point P1, P2...P n The data pairs (S1, P1), (S2, P2)...(S n , P n ), and determine the first transformation matrix Z1 through a known algorithm.

[0124] In the embodiment using the registration plate, the registration process requires mounting the registration plate on the positioning target, collecting the posture matrix of the recognition pattern, and completing the registration process based on the known information. This process is relatively simple to operate and has high efficiency.

[0125] In an embodiment of the registration pen, the spatial data of the first marking point includes the position coordinates of the pen tip in the first recognition pattern coordinate system, and the second marking point includes at least one second marking point. The number of the second marking points can be greater than or equal to 4 to facilitate accurate registration.

[0126] In S31, aligning the first marking point of the registration tool with the second marking point of the positioning target includes: placing the tip of the registration pen at all the second marking points of at least one second marking point.

[0127] In S31, when the tip of the registration pen is placed at one of the at least one second marking points, image data of the positioning device and the registration pen is acquired through a camera, and a posture matrix of the first recognition pattern and a posture matrix of the second recognition pattern are obtained based on the image data.

[0128] In S32, converting the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device includes:

[0129] When the pen tip is placed at one of the at least one second marking points,

[0130] Determine the position coordinates of the pen tip in the camera coordinate system by using the position coordinates of the pen tip in the first recognition pattern coordinate system and the posture matrix of the first recognition pattern acquired by the camera when the pen tip is placed at the one second marking point;

[0131] Determine the position coordinates of the pen tip in the second recognition pattern coordinate system by using the position coordinates of the pen tip in the camera coordinate system and the posture matrix of the second recognition pattern acquired by the camera when the pen tip is placed at the second marking point,

[0132] When the pen tip is placed at another second marking point among the at least one second marking point, the above process is repeated until the position coordinates of the pen tip in the second recognition pattern coordinate system are determined when the pen tip is located at all the second marking points.

[0133] That is, in an embodiment using a registration pen, the registration pen (specifically the pen tip) needs to be placed at all the second marking points in sequence, and when placed at a second marking point, the posture matrix of the first recognition pattern and the second recognition pattern at this time is obtained using a camera, until the posture matrix of the first recognition pattern and the second recognition pattern when located at all second marking points is obtained, and the position coordinates of the pen tip in the second recognition pattern coordinate system when it is located at a second marking point are determined using the posture matrices of the first recognition pattern and the second recognition pattern when located at a second marking point, until the position coordinates of the pen tip in the second recognition pattern coordinate system when it is located at all second marking points are determined.

[0134] In S33, determining the first conversion data between the spatial data of the positioning target and the spatial data of the positioning device includes: determining the first conversion data using the position coordinates of the pen tip in the positioning target coordinate system when the pen tip is located at all the second marking points and the position coordinates of the pen tip in the second recognition pattern coordinate system when the pen tip is located at all the second marking points. The position coordinates of the pen tip in the positioning target coordinate system when the pen tip is located at all the second marking points are the position coordinates of the second marking points in the positioning target coordinate system, and this data is known information. The first conversion data can be determined using methods such as singular value decomposition (SVD), point cloud registration (ICP), and quaternion.

[0135] For example, the position coordinate of the pen tip of the registration pen in the first recognition pattern coordinate system is W'. The number of second marking points is n, and the position coordinates of the second marking points in the positioning target coordinate system are P1, P2...P n , then the position coordinates of the pen tip when it is located at all the second marking points in the positioning target coordinate system are P1, P2...P n The posture matrices of the first recognition pattern obtained when the pen tip is located at the second marking point are Z 31 , Z 32 , ... Z 3n , the corresponding posture matrix of the second recognition pattern is Z 41 , Z 42 , ... Z 4n Using the position coordinates W' of the pen tip and the posture matrix Z of the first recognition pattern when the pen tip is at a second marking point P1 31 , determine the position coordinates Q1' of the pen tip in the camera coordinate system. Use the position coordinates Q1' of the pen tip and the posture matrix Z of the second recognition pattern when the pen tip is at the second marking point P1 41 , determine the position coordinate S1' of the pen tip in the second recognition pattern coordinate system when the pen tip is at the second marking point P1. Repeat the above steps in sequence using the posture matrix of the first recognition pattern of the pen tip at other second marking points P1, etc., until the position coordinates S1', S2'...S of the pen tip in the second recognition pattern coordinate system when the pen tip is at all second marking points are obtained. n '. Using the position coordinates S1', S2'...S of the pen tip in the second recognition pattern coordinate system when the pen tip is at all the second marking points n ' and the position coordinates of the pen tip when the pen tip is at the second marking point P1, P2...P n The data pairs (S1', P1), (S2', P2)...(S n ',P n ), and determine the first transformation matrix Z1' through a known algorithm.

[0136] The embodiments of the present invention can provide different registration tools for different positioning targets, increasing the flexibility of the registration method. For example, when the positioning target is not a plane or a regular curved surface (such as a sphere), it is not convenient to install the registration plate, so a registration pen can be used for registration; when the positioning target has a plane or a regular curved surface, the registration plate is used for registration, which can avoid the operation of using the registration pen to click on different second marking points, simplify the operation process, and improve work efficiency.

[0137] In one example, the registration tool is an auxiliary tool that has no restrictions on the material and can be machined from metal materials. This allows the use of metal materials for manufacturing, eliminating the problem of poor precision caused by plastics during processing, for example, its precision can be less than one thread.

[0138] In the embodiment of the present invention, in order to improve the registration efficiency, batch registration can be implemented, that is, the registration of multiple positioning targets and positioning devices can be completed in the same image.

[0139] Specifically, Figure 4 As shown, in S31, the registration method further includes:

[0140] S311 determines a first reference area surrounding the first recognition pattern of the registration tool and the second recognition pattern of the positioning device, and determines the size relationship between the first recognition pattern, the second recognition pattern and the first reference area;

[0141] S312: recognizing an identification pattern in image data obtained by a camera when the first marking point and the second marking point are aligned, wherein the identification pattern is a second identification pattern of a positioning device or a first identification pattern of a registered tool;

[0142] S313 determines the pixel size and pixel position of the identified recognition pattern in the image data;

[0143] S314 determining a second reference area corresponding to the first reference area in the image data based on the pixel size, the pixel position and the size relationship;

[0144] S315 acquiring, in the second reference area, spatial data of the first recognition pattern and spatial data of the second recognition pattern when the first marking point is aligned with the second marking point;

[0145] S316: removing the portion corresponding to the first reference area from the image data, or removing the portion corresponding to the first reference area and the portion corresponding to the second reference area, and repeating the above operation until all recognition patterns in the image data are recognized.

[0146] In S311, the shape of the first reference area can be a rectangle, a square, a circle, a trapezoid, etc. The embodiment of the present invention does not limit its specific shape, and those skilled in the art can select it as needed. The construction of the first reference area is known in advance, so the size relationship is also known. The size relationship includes the size ratio of each pattern to the size of the first reference area, the position of each pattern in the first reference area, etc.

[0147] In S312, the camera may acquire image data when the first mark point and the second mark point are aligned. The pattern information of the first recognition pattern and the second recognition pattern is known, so a recognition pattern (the first recognition pattern or the second recognition pattern) may be recognized from the image data by a known algorithm.

[0148] In S313, when a recognition pattern is recognized in the image data, the pixel size and pixel position of the recognition pattern in the image data may be determined.

[0149] In S314, a second reference area corresponding to the first reference area is determined in the image data based on the pixel size and pixel position determined in S313 and the size relationship determined in S311. For example, the second reference area can be determined around the identified recognition pattern according to the size relationship. Of course, the second reference area can also be determined around the identified recognition pattern at a reduced scale or a larger scale based on the size relationship.

[0150] Since the second reference area corresponds to the first reference area, the second reference area includes not only the recognized recognition pattern but also the recognition pattern of the positioning device or the registration tool. Therefore, in S315, the spatial data of the corresponding first recognition pattern and the second recognition pattern can be obtained.

[0151] In S316, the portion corresponding to the first reference area is removed from the image data, or the portion corresponding to the first reference area and the portion corresponding to the second reference area are removed (for example, the portion can be filled with a white area), and the above operation is repeated until all recognition patterns in the image data are identified.

[0152] For example, when the identification pattern identified in S312 is the second identification pattern of a positioning device, after determining the second reference area, the first identification pattern of the registration tooling corresponding to the positioning device is identified in the second reference area (S315), and based on the identified first identification pattern and the second identification pattern, spatial data of the first identification pattern and the second identification pattern when the first mark point is aligned with the second mark point are obtained; or, when the identification pattern identified in S312 is the first identification pattern of a registration tooling, after determining the second reference area, the second identification pattern of the positioning device corresponding to the registration tooling is identified in the second reference area (S315), and based on the identified first identification pattern and the second identification pattern, spatial data of the first identification pattern and the second identification pattern when the first mark point is aligned with the second mark point are obtained.

[0153] In one example, among the positioning targets registered in batches, the second recognition pattern of each positioning target is different from the first recognition pattern of its corresponding registration tooling, so as to accurately form the second reference area.

[0154] In one example, the batch registration process of the present invention is applicable to the case where the second recognition pattern of each positioning target is the same, and may also be applicable to the case where the second recognition pattern of each positioning target is not the same.

[0155] In the registration method of the embodiment of the present invention, the distance between the camera and the positioning target is determined based on the smaller pattern of the first recognition pattern and the second recognition pattern, and the focal length of the camera, so as to improve the registration accuracy.

[0156] In an embodiment of the present invention, a registration component is provided. Figure 5 As shown, the registration component 100 includes a registration tool 10 , a camera 20 , a recognition module 30 and a control module 40 .

[0157] The registration tool 10 is provided with a first marking point and a first recognition pattern. For the detailed description of the registration tool 10, reference may be made to the above-mentioned embodiment, which will not be described in detail here.

[0158] The camera 20 is configured to acquire image data.

[0159] The recognition module 30 is in communication with the camera 20. The recognition module 30 is configured to obtain spatial data of the first recognition pattern and spatial data of the second recognition pattern of the positioning target through the image data. The recognition module 30 can recognize the spatial data of the first recognition pattern and the second recognition pattern using the method described in the above embodiment.

[0160] The control module 40 is in communication connection with the recognition module 30. The control module 40 is configured to determine first conversion data between the spatial data of the positioning target and the spatial data of the positioning device through the spatial data of the first recognition pattern and the spatial data of the second recognition pattern from the recognition module 30, and the spatial data of the first marking point and the spatial data of the second marking point. The control module 40 can determine the first conversion data using the method described in the above embodiment.

[0161] In one example, the camera 20 is configured to obtain image data when a first marking point of the registration tool 10 is aligned with a second marking point of the positioning target. The detailed description of the camera 20 can refer to the above embodiment, and will not be repeated here.

[0162] In one example, the recognition module 30 is configured to obtain spatial data of a first recognition pattern when the first marking point is aligned with the second marking point and spatial data of a second recognition pattern of the positioning target through the image data. The recognition module 30 can use the method described in the above embodiment to recognize the spatial data of the first recognition pattern and the second recognition pattern.

[0163] In one example, the control module 40 is configured to convert the spatial data of the first marking point into the spatial data of the second recognition pattern coordinate system of the positioning device through the spatial data of the first recognition pattern and the spatial data of the second recognition pattern from the recognition module 30, and determine the first conversion data between the spatial data of the positioning target and the spatial data of the positioning device based on the spatial data of the second recognition pattern coordinate system and the spatial data of the second marking point. The control module 40 can determine the first conversion data using the method described in the above embodiment.

[0164] In one example, the recognition module 30 is further configured to: recognize an identification pattern in the image data when the first mark point and the second mark point are aligned through the camera, the identification pattern is a second identification pattern of a positioning device or a first identification pattern of a registered tool; determine the pixel size and pixel position of the identified identification pattern in the image data; determine the second reference area corresponding to the first reference area in the image data based on the pixel size, pixel position and the size relationship between the first identification pattern, the second identification pattern and the first reference area, the first reference area is the area surrounding the first identification pattern of the registered tool and the second identification pattern of the positioning device; obtain the spatial data of the first identification pattern and the spatial data of the second identification pattern when the first mark point is aligned with the second mark point in the second reference area; remove the portion corresponding to the first reference area in the image data, or remove the portion corresponding to the first reference area and the portion corresponding to the second reference area, and repeat the above operations until all the identification patterns in the image data are identified. The recognition module 30 can use the method described in the above embodiment to identify all the identification patterns in the image data.

[0165] In an embodiment of the present invention, a readable storage medium is provided, wherein a program or instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the registration method described in any one of the above embodiments is implemented.

[0166] The "readable storage medium" of an embodiment of the present invention refers to any medium that participates in providing a program or instruction to a processor for execution. The medium can take a variety of forms, including but not limited to non-volatile media, volatile media and transmission media. Non-volatile media include, for example, optical disks or disks, such as storage devices. Volatile media include dynamic memory, such as main memory. Transmission media include coaxial cables, copper wires and optical fibers, including wires containing buses. Transmission media can also take the form of sound waves or light waves, such as sound waves or light waves generated during radio frequency (RF) and infrared (IR) data communications. Common forms of readable storage media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, DVDs, any other optical media, punch cards, paper tapes, any other physical media with hole patterns, RAMs, PROMs and EPROMs, FLASH-EPROMs, any other memory chips or boxes, carriers as described below, or any other media from which a computer can read.

[0167] In an embodiment of the present invention, an electronic device is also provided. The electronic device (not shown) includes a processor (not shown) and a memory (not shown). The memory stores a program, and when the program is executed by the processor, any registration method of the above examples can be implemented.

[0168] In one example, the processor may be a microprocessor, such as a general-purpose processor such as a graphics processing unit (GPU), a central processing unit (CPU), a digital signal processor (DSP), etc. In one example, the processor may also be a microprocessor core implemented by a hardware circuit, such as a microprocessor core implemented in a hardware logic component by a reconfigurable logic, and the hardware logic component includes a field programmable gate array (FPGA), a complex programmable logic device (CPLD), an application-specific integrated circuit (ASIC), an application-specific standard product (ASSP), a system on a chip (SOC), etc.

[0169] In one example, the processor may also be a virtual processor, which may be a virtual processor with the characteristics of an Intel x86 processor, or a virtual processor with the characteristics of a PowerPC processor. Preferably, the processor is a graphics processor. In one example, the processor may be a single-core processor or a multi-core processor.

[0170] In one example, the memory includes a volatile memory (i.e., a random access memory) and a non-volatile memory. The volatile memory includes a main memory, a cache, etc., and the non-volatile memory includes an auxiliary memory, etc. In one example, the memory can be set as a remote memory, and the remote memory can be connected to the processor via a network (wired network or wireless network). The network includes, but is not limited to, a wide area network, a local area network, a metropolitan area network, a personal area network, the Internet, a satellite communication network, and any combination thereof.

[0171] In one example, the processor executes a program based on the program obtained from the memory to create a corresponding task thread and execute the thread. In one example, the processor obtains a program from the external memory based on the read instruction in the memory to create a corresponding task thread and execute the thread. The above program is used to implement the registration method.

[0172] Although the subject matter described herein is provided in the general context of being executed in conjunction with the execution of an operating system and an application program on a computer system, it will be appreciated by those skilled in the art that it can also be implemented in conjunction with other types of program modules. Generally speaking, program modules include routines, programs, components, data structures, and other types of structures that perform specific tasks or implement specific abstract data types. It will be appreciated by those skilled in the art that the method steps described in conjunction with any one of the examples herein can all be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether to perform in hardware or software mode depends mainly on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0173] When the method steps are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Therefore, the technical solution of the present invention, or the part that contributes to the original technology, or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each example of the present invention.

[0174] The registration method, registration component, electronic device and readable storage medium according to the present invention have at least one of the following advantages:

[0175] (1) The registration method, registration component, electronic device and readable storage medium of the present invention can realize the registration process through the registration tool, which reduces the problem of poor accuracy caused by relying on tool parameters to realize the registration process to a certain extent;

[0176] (2) The registration method, registration assembly, electronic device and readable storage medium of the present invention are processed by high-precision machines, which allow the use of metal materials for manufacturing, eliminating the problem of poor precision caused by plastics or resins during the processing, for example, the precision can be less than one thread;

[0177] (3) The registration method, registration component, electronic device and readable storage medium of the present invention can provide different registration tools for different positioning targets, thereby increasing the flexibility of the registration method. For example, when the positioning target is not a plane or a regular curved surface (such as a sphere), it is not convenient to install the registration plate, so a registration pen is used for registration; when the positioning target has a plane or a regular curved surface, a registration plate is used for registration, which can avoid the operation of using a registration pen to click on different second marking points;

[0178] (4) The registration method, registration component, electronic device and readable storage medium of the present invention can realize batch registration, that is, the registration of multiple positioning targets and positioning devices can be completed in the same image, thereby improving the registration efficiency.

[0179] Although some embodiments of the present general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the present general inventive concept, the scope of which is defined by the claims and their equivalents.

Claims

1. A registration method, comprising: Setting a first marking point and a first identification pattern on the registration tooling, and determining spatial data of the first marking point; Setting a second marking point and a positioning device on the positioning target, and determining spatial data of the second marking point, wherein the positioning device includes a second recognition pattern; Image data is acquired through a camera, and spatial data of a first recognition pattern and spatial data of a second recognition pattern are determined based on the image data; first conversion data between spatial data of a positioning target and spatial data of a positioning device are determined based on the spatial data of the first recognition pattern, the spatial data of the second recognition pattern, the spatial data of a first marking point, and the spatial data of a second marking point.

2. The registration method according to claim 1, wherein: Acquiring image data through a camera, and determining spatial data of a first recognition pattern and spatial data of a second recognition pattern based on the image data comprises: Aligning a first marking point of the registration tool with a second marking point of the positioning target, acquiring image data when the first marking point and the second marking point are aligned through a camera, and acquiring spatial data of a first recognition pattern and spatial data of a second recognition pattern when the first marking point and the second marking point are aligned through the image data; Determining first conversion data between spatial data of the positioning target and spatial data of the positioning device based on spatial data of the first recognition pattern, spatial data of the second recognition pattern, spatial data of the first marking point, and spatial data of the second marking point includes: Based on the spatial data of the first recognition pattern and the spatial data of the second recognition pattern, the spatial data of the first marking point is converted into spatial data in the second recognition pattern coordinate system of the positioning device; The first conversion data between the spatial data of the positioning target and the spatial data of the positioning device is determined based on the spatial data in the second recognition pattern coordinate system and the spatial data of the second marking point.

3. The registration method according to claim 2, wherein: The spatial data of the first marking point includes the position coordinates of the first marking point in the first recognition pattern coordinate system; The spatial data of the second marking point includes the position coordinates of the second marking point in the positioning target coordinate system; The spatial data of the first recognition pattern includes a posture matrix of the first recognition pattern; The spatial data of the second recognition pattern includes a posture matrix of the second recognition pattern.

4. The registration method according to claim 3, wherein: The registration tooling includes a registration plate, The first marking point includes at least one first marking point, and the second marking point includes at least one second marking point. The number of at least one first marking point on the registration plate is the same as the number of at least one second marking point on the positioning target, the at least one first marking point is set corresponding to the at least one second marking point, and the second conversion data between the position coordinates of the at least one first marking point in the first recognition pattern coordinate system and the position coordinates of the at least one second marking point in the positioning target coordinate system is determined.

5. The registration method according to claim 4, wherein: Converting the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device includes: Determine the position coordinates of at least one first marking point in the camera coordinate system using the position coordinates of the at least one first marking point in the first recognition pattern coordinate system and the posture matrix of the first recognition pattern; The position coordinates of at least one first marking point in the camera coordinate system, the posture matrix of the second recognition pattern and the second conversion data are used to determine the position coordinates of at least one second marking point in the second recognition pattern coordinate system.

6. The registration method according to claim 5, wherein: Determining first conversion data between the spatial data of the positioning target and the spatial data of the positioning device includes: The first conversion data is determined using the position coordinates of at least one second marking point in the second recognition pattern coordinate system and the position coordinates of at least one second marking point in the positioning target coordinate system.

7. The registration method according to claim 6, wherein: Aligning the first marking point of the registration tool with the second marking point of the positioning target includes: placing the registration tool on the positioning target and aligning each first marking point with each corresponding second marking point, The first marking point and the second marking point are respectively set as a concave point and a convex point that can match each other.

8. The registration method according to claim 3, wherein: The registration tool comprises a registration pen, the registration pen is provided with a pen tip, the spatial data of the first marking point comprises the position coordinates of the pen tip in the first recognition pattern coordinate system, The second marking point includes at least one second marking point, Aligning the first marking point of the registration tool with the second marking point of the positioning target includes placing the tip of the registration pen at all the second marking points in at least one second marking point.

9. The registration method according to claim 8, wherein: Converting the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device includes: When the pen tip is placed at one of the at least one second marking points, Determine the position coordinates of the pen tip in the camera coordinate system by using the position coordinates of the pen tip in the first recognition pattern coordinate system and the posture matrix of the first recognition pattern acquired by the camera when the pen tip is placed at the one second marking point; Determine the position coordinates of the pen tip in the second recognition pattern coordinate system by using the position coordinates of the pen tip in the camera coordinate system and the posture matrix of the second recognition pattern acquired by the camera when the pen tip is placed at the second marking point, When the pen tip is placed at another second marking point among the at least one second marking point, the above process is repeated until the position coordinates of the pen tip in the second recognition pattern coordinate system are determined when the pen tip is located at all the second marking points.

10. The registration method according to claim 9, wherein: Determining first conversion data between the spatial data of the positioning target and the spatial data of the positioning device includes: The first conversion data is determined using the position coordinates of the pen tip in the positioning target coordinate system when the pen tip is located at all the second marking points and the position coordinates of the pen tip in the second recognition pattern coordinate system when the pen tip is located at all the second marking points.

11. The registration method according to any one of claims 2 to 10, wherein: The second marking point is located on the action surface of the positioning target. The registration tooling is machined from metal materials.

12. The registration method according to claim 11, wherein: The registration method further comprises: Determine a first reference area surrounding the first recognition pattern of the registration tool and the second recognition pattern of the positioning device, and determine the size relationship between the first recognition pattern, the second recognition pattern and the first reference area; Recognize an identification pattern in image data obtained by a camera when the first marking point and the second marking point are aligned, wherein the identification pattern is a second identification pattern of a positioning device or a first identification pattern of a registered tool; determining a pixel size and a pixel position of a recognized recognition pattern in the image data; determining a second reference area corresponding to the first reference area in the image data based on the pixel size, the pixel position and the size relationship; Acquire, in the second reference area, spatial data of the first recognition pattern and spatial data of the second recognition pattern when the first marking point is aligned with the second marking point; The portion corresponding to the first reference area is removed from the image data, or the portion corresponding to the first reference area and the portion corresponding to the second reference area are removed, and the above operation is repeated until all recognition patterns in the image data are recognized.

13. The registration method according to claim 12, wherein: When a second recognition pattern of a positioning device is recognized in image data obtained by a camera when a first marking point and a second marking point are aligned, a first recognition pattern of a registered tool corresponding to the one positioning device is recognized in the second reference area after determining the second reference area, and spatial data of the first recognition pattern and the second recognition pattern when the first marking point and the second marking point are aligned are acquired based on the recognized first recognition pattern and the second recognition pattern; or When a first recognition pattern of a registered tool is recognized in image data obtained by a camera when a first marking point and a second marking point are aligned, a second recognition pattern of a positioning device corresponding to the registered tool is recognized in the second reference area after determining the second reference area, and spatial data of the first recognition pattern and the second recognition pattern when the first marking point and the second marking point are aligned are acquired based on the recognized first recognition pattern and the second recognition pattern. The first recognition pattern is different from the second recognition pattern.

14. The registration method according to claim 13, wherein: In the registration method, the distance between the camera and the positioning target is determined based on the smaller pattern of the first recognition pattern and the second recognition pattern, and the focal length of the camera.

15. A registration component comprising: A registration tool provided with a first marking point and a first identification pattern; a camera configured to acquire image data; and a recognition module in communication with the camera, configured to acquire spatial data of a first recognition pattern and spatial data of a second recognition pattern of a positioning target through the image data; and The control module is communicatively connected to the recognition module and is configured to determine first conversion data between spatial data of the positioning target and spatial data of the positioning device through spatial data of the first recognition pattern and spatial data of the second recognition pattern from the recognition module, and spatial data of the first marking point and spatial data of the second marking point.

16. The registration component according to claim 15, characterized in that The camera is configured to acquire image data when a first marking point of the registration tool is aligned with a second marking point of the positioning target; The recognition module is configured to obtain spatial data of a first recognition pattern when the first marking point is aligned with the second marking point and spatial data of a second recognition pattern of the positioning target through the image data; The control module is configured to convert the spatial data of the first marking point into spatial data in the second recognition pattern coordinate system of the positioning device through the spatial data of the first recognition pattern and the spatial data of the second recognition pattern from the recognition module, and determine the first conversion data between the spatial data of the positioning target and the spatial data of the positioning device based on the spatial data in the second recognition pattern coordinate system and the spatial data of the second marking point.

17. The registration component according to claim 16, characterized in that The identification module is also configured to: Recognize an identification pattern in image data obtained by a camera when the first marking point and the second marking point are aligned, wherein the identification pattern is a second identification pattern of a positioning device or a first identification pattern of a registered tool; determining a pixel size and a pixel position of a recognized recognition pattern in the image data; Determining a second reference area corresponding to the first reference area in the image data based on the pixel size, pixel position, and the size relationship between the first recognition pattern, the second recognition pattern, and the first reference area, the first reference area being an area surrounding the first recognition pattern of the registration tool and the second recognition pattern of the positioning device; Acquire, in the second reference area, spatial data of the first recognition pattern and spatial data of the second recognition pattern when the first marking point is aligned with the second marking point; The portion corresponding to the first reference area is removed from the image data, or the portion corresponding to the first reference area and the portion corresponding to the second reference area are removed, and the above operation is repeated until all recognition patterns in the image data are recognized.

18. An electronic device, characterized in that: The electronic device comprises: A memory and a processor, wherein the memory stores a program, wherein the processor implements the registration method according to any one of claims 1-14 when executing the program on the memory.

19. A readable storage medium, characterized in that: The readable storage medium stores a computer-readable program or instruction, and when the computer-readable program or instruction is executed by a processor, the registration method according to any one of claims 1 to 14 is implemented.

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