Optical positioning tool

Abstract

The utility model discloses an optical positioning tool, and belongs to the technical field of optical positioning. The optical positioning tool comprises a base and a plurality of claw parts, wherein the claw parts are connected with the base; the multiple claw parts are arranged on the same side of the base and arranged around the center line of the base at intervals. Each claw part is provided with at least one optical positioning element, and the optical positioning tool comprises at least three non-collinear optical positioning elements. The tool main body of the optical positioning tool forms a three-dimensional structure through the cooperation of the plurality of claw parts and the base, the tool main body can provide surfaces with different orientations to mount the optical positioning element, and the tool main body can be compatible with the movement postures and positions of more optical positioning tools, so that the optical positioning tool can be more accurately positioned under the condition that the angle of the optical positioning tool changes along with a target object. The optical positioning instrument can also determine the pose of the optical positioning tool based on the optical positioning element, and the application range of the optical positioning tool is expanded.

Description

Technical Field

[0001] The utility model relates to the technical field of optical positioning, in particular to an optical positioning tool. Background Art

[0002] Optical positioning technology is a technology that measures the three-dimensional coordinates of markers and is widely used in industrial manufacturing, medical treatment, virtual reality and other fields. During optical positioning, optical positioning tools are placed on target objects such as industrial equipment, surgical instruments, and head-mounted displays. The optical positioning tools reflect optical signals, allowing the optical positioning system to capture and process these optical signals to obtain the position information of the target object. The application of optical positioning technology in multiple fields is conducive to the realization of automation and intelligence. For example, when optical positioning technology is applied in the field of industrial manufacturing, it can monitor and adjust the position of industrial equipment in real time, improving production accuracy and efficiency; when optical positioning technology is applied in the medical field, it can help doctors accurately locate lesions or surgical target areas.

[0003] Optical positioning tools in related technologies typically employ a marker mounted on a planar structure to form a planar rigid body. However, because the marker is only mounted on one side of the planar rigid body, if the optical positioning tool needs to rotate during the optical positioning process, the optical positioning system may be unable to accurately locate and track the optical positioning tool. Utility Model Content

[0004] The purpose of the embodiments of the present utility model is to provide an optical positioning tool that can meet the positioning marking requirements in more postures and positions.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An optical positioning tool comprises a tool body and a plurality of optical positioning elements disposed on the tool body; the plurality of optical positioning elements disposed on the tool body include at least three non-collinear optical positioning elements;

[0007] The tool body includes a base and a plurality of claws connected to the base; the plurality of claws are arranged on the same side of the base and are spaced apart around the center line of the base; each claw is provided with at least one optical positioning element.

[0008] The tool body includes a base and multiple claws, which form a three-dimensional structure. That is, the tool body is a polyhedron structure. When the optical positioning tool is in multiple motion postures and positions, the optical positioning instrument can know the position and posture of the optical positioning tool.

[0009] Optionally, the optical positioning element is a light-emitting component; the optical positioning tool is provided with a circuit board, and the light-emitting component is electrically connected to the circuit board.

[0010] The use of optical positioning elements that can actively emit light can reduce the interference of ambient light pollution.

[0011] Optionally, one end of the claw is connected to the base, and the other end of the claw is a free end; the free ends of the plurality of claws are spaced apart from each other.

[0012] The free ends of the multiple claws facing away from the base are not connected, and optical positioning elements can be set on the end faces of the free ends of the multiple claws when necessary, and / or, it is convenient to observe the optical positioning elements located on the inner side of the claws in the air-avoiding space between the free ends of the multiple claws.

[0013] Optionally, the base includes a connecting portion, which is located between adjacent claws; an optical positioning element is provided on a side of the claw away from the center line, and an optical positioning element is provided on a side of the connecting portion away from the center line.

[0014] In this way, certain optical positioning elements are arranged at certain angles on the surface of the outer periphery of the tool body of the optical positioning tool. During the rotation of the optical positioning tool around its center line, the optical positioning instrument can continuously collect the light signals of the optical positioning elements in the outer circle, avoiding position loss caused by failure to capture the light signal at a certain angle.

[0015] Optionally, the claw portion has an inner claw surface on a side close to the center line, an outer claw surface on a side away from the center line, and a top claw surface on a side away from the base; the inner claw surface, the top claw surface, and the outer claw surface are connected;

[0016] The optical positioning element is provided on the inner surface of the claw, and / or the optical positioning element is provided on the outer surface of the claw, and / or the optical positioning element is provided on the top surface of the claw.

[0017] Optionally, the claw portion further comprises two claw side surfaces located on opposite sides, one side of the claw side surfaces being connected to the claw inner surface, one side being connected to the claw top surface, and one side being connected to the claw outer surface;

[0018] At least one of the claw side surfaces of the claw portion is provided with an optical positioning element.

[0019] Optionally, the base includes a plurality of the connecting portions and a plurality of transition portions, the plurality of claws are respectively connected to the plurality of transition portions, the transition portions and the connecting portions are staggered around the center line, and the transition portions are connected to the connecting portions;

[0020] An optical positioning element is provided on a side of the transition portion facing away from the center line.

[0021] Optionally, the side of the claw portion close to the center line is an arcuate surface, the side of the claw portion away from the center line is an arcuate surface, the side of the connecting portion away from the center line is an arcuate surface, and the side of the transition portion away from the center line is an arcuate surface.

[0022] Optionally, a handle is further included, wherein the base has a top surface and a bottom surface facing each other, the claw portion protrudes relative to the top surface, and the handle is connected to the bottom surface of the base. A worker can grasp the handle to hold the entire optical positioning tool and complete the collection of positioning information of the optical positioning tool and the target object.

[0023] Optionally, a circuit board is provided inside the handle;

[0024] The optical positioning tool also includes a remote control button arranged on the handle, and the remote control button is electrically connected to the circuit board; and / or, the optical positioning tool also includes a switch button arranged on the handle, and the switch button is electrically connected to the circuit board; and / or, the optical positioning tool also includes a charging port arranged on the handle, and the charging port is electrically connected to the circuit board; and / or, the optical positioning tool is also provided with an indicator light, and the indicator light is electrically connected to the circuit board; and / or, a mounting connector is provided at the end of the handle facing away from the base, and the mounting connector is used for detachable connection to the target object.

[0025] The remote control button is used to control the host computer for data acquisition. The installation connector is convenient for detachable connection with the target object, and the target at the end of the handle can be replaced.

[0026] The beneficial effects of the present invention are as follows: the tool body of the optical positioning tool includes a base and multiple claws, the tool body is a three-dimensional structure, and the tool body can provide surfaces in different orientations to install optical positioning elements, so that when the angle of the optical positioning tool changes with the target object, and when the optical positioning tool is in multiple motion postures and positions, the optical positioning instrument can determine the position and posture of the optical positioning tool based on multiple optical positioning elements. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0028] Figure 1 This is one of the three-dimensional structural diagrams of the optical positioning tool according to an embodiment of the present utility model (a target object is installed at the bottom of the optical positioning tool);

[0029] Figure 2This is the second schematic diagram of the three-dimensional structure of the optical positioning tool according to an embodiment of the present utility model (a target object is installed at the bottom of the optical positioning tool);

[0030] Figure 3 This is the third schematic diagram of the three-dimensional structure of the optical positioning tool according to an embodiment of the present utility model (no target object is installed at the bottom of the optical positioning tool);

[0031] Figure 4 This is a schematic structural diagram of a tool body of the optical positioning tool according to an embodiment of the present utility model;

[0032] Figures 5 to 8 It is a side view of the optical positioning tool according to an embodiment of the present utility model when it is rotated around the center line to different angles;

[0033] Figure 9 A top view of the optical positioning tool according to an embodiment of the present utility model;

[0034] Figure 10 This is a bottom view of the optical positioning tool described in an embodiment of the present utility model.

[0035] In the figure: 10, tool body; 101, center line; 11, base; 111, connecting part; 112, transition part; 12, claw part; 1201, first claw; 1202, second claw; 1203, third claw; 121, inner surface of claw; 122, outer surface of claw; 123, top surface of claw; 124, side surface of claw; 20, optical positioning element; 30, handle; 301, operation panel; 31, remote control button; 32, mounting connector; 90, target object. DETAILED DESCRIPTION

[0036] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0037] In the description of this utility model, unless otherwise expressly specified or limited, the terms "connected" and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0038] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0039] Among related technologies, optical positioning technology is used in many fields such as industry and medicine. When performing optical positioning, an optical positioning tool is connected to a target object, such as a patient's body, surgical instruments, industrial manufacturing equipment, etc. An optical positioning element is provided on the optical positioning tool. Based on the optical positioning element, the position and posture of the optical positioning tool and the target object are indicated. Among them, the optical positioning element on the optical positioning tool is generally a reflective object. The light source in the optical positioning instrument emits light of a specific wavelength and pattern. These lights illuminate the reflective object. The camera in the optical positioning instrument captures the light reflected by the reflective object and processes these optical signals to calculate the position, posture, and possible motion trajectory of the target object.

[0040] However, optical positioning tools in related technologies typically employ multiple reflective objects placed on a flat surface of a rigid structure. When the optical positioning tool is in translation, the optical positioning instrument can effectively determine the position and trajectory of the optical positioning tool. However, this type of planar rigid positioning tool cannot consistently and accurately track and locate the target and tool at multiple angles and with frequent switching. This is because if the target is flipped at a certain angle with the optical positioning tool, the reflective objects may be partially or completely obscured.

[0041] The present application provides an optical positioning tool. The optical positioning tool, also known as a target, is used to connect to a target object and mark its own position and posture to an optical positioning instrument to calibrate the position and posture of the target object in space.

[0042] In this optical positioning tool, the tool body includes multiple claws arranged in a circular and spaced relationship. These claws cooperate with the base to form a three-dimensional structure, making the tool body resemble a polyhedron. Based on this tool body structure, multiple optical positioning elements with different normal directions can be installed on the tool body as needed. In this way, during the angular transformation of the optical positioning tool, the optical positioning elements with different normal directions can be used to monitor the position and posture of the target object in the optical positioning instrument, thereby improving the accuracy of target positioning and tracking continuity.

[0043] Please refer to Figures 1 to 10 , the optical positioning tool of the present application is described below.

[0044] The optical positioning tool includes a tool body 10 and an optical positioning element 20. The optical positioning element 20 is mounted on the tool body 10 and is used to provide an optical signal to the optical positioning instrument. The optical positioning element 20 is illustratively a lamp bead, and there are at least three optical positioning elements 20.

[0045] The tool body 10 includes a base 11 and a plurality of claws 12. The term "plurality" refers to at least two, and the number of claws 12 can be two, three, four, or the like. The plurality of claws 12 are arranged on the same side of the base 11, and each claw 12 is connected to the base 11. The optical positioning tool has a center line 101, and the plurality of claws 12 are arranged at intervals around the center line 101. Exemplarily, the center line 101 of the optical positioning tool extends along the z direction, and the two sides of the base 11 in the z direction are the top side of the base 11 and the bottom side of the base 11, respectively, and the plurality of claws 12 are all arranged on the top side of the base 11. Exemplarily, the first virtual plane is tangent to the top end of the base 11, and the second virtual plane is tangent to the bottom end of the base 11. The first virtual plane and the second virtual plane are both perpendicular to the center line 101 of the optical positioning tool, and the top side of the base 11 refers to the side of the first virtual plane facing away from the second virtual plane.

[0046] Each of the plurality of jaws 12 is provided with an optical positioning element 20 , and the optical positioning element 20 is mounted on the optical positioning element 20 . Exemplarily, the optical positioning tool includes three jaws 12 , and each jaw 12 is provided with at least one optical positioning element 20 .

[0047] Optionally, the base 11 is also provided with an optical positioning element 20. In other embodiments, the base 11 may not be provided with the optical positioning element 20.

[0048] At least three optical positioning elements 20 in the optical positioning tool are not collinear. For example, Figure 1 、 Figure 2 Any three of the multiple optical positioning elements 20 marked in the figure are not collinear. In three-dimensional space, any three non-collinear points can define a unique plane. When positioning an optical positioning tool, the optical positioning instrument captures the light signals at any three non-collinear optical positioning elements 20 in the optical positioning tool. The lines connecting each optical positioning element 20 and the positioning instrument's optical sensor or camera will intersect with the three planes, thereby calculating and determining the position and posture of the optical positioning tool in three-dimensional space.

[0049] The number and position of the optical positioning elements 20 arranged on the surface of the tool body 10 can be configured based on the specific requirements of the application scenario of the optical positioning tool and the angular range of rotation that may occur during use of the optical positioning tool, as long as at least three complete optical positioning elements 20 of the optical positioning tool can be continuously visible during use of the tool. In some embodiments, during the optical positioning process, the minimum distance between the visible optical positioning elements 20 is required to be no less than 25 mm, and the distance difference between adjacent optical positioning elements 20 is required to be no less than 3 mm. In other embodiments, the position of adjacent optical positioning elements 20 can also be adjusted according to the positioning requirements of the specific instrument.

[0050] The optical positioning tool of this application has the following advantages:

[0051] First, in the tool body 10, multiple claws 12 are arranged on the same side of the base 11, forming a three-dimensional structure. The entire tool body 10 is a polyhedron structure, which is conducive to arranging multiple optical elements in three-dimensional space to avoid all optical elements being arranged in the same plane, so that the optical positioning tool can be suitable for multi-angle and multi-posture adjustment and can accurately indicate the position of the target object 90 to the optical positioning instrument.

[0052] The optical positioning tool provides more mounting surfaces with different normal directions through the configuration of the base 11 and multiple claws 12. Optical elements can be installed on mounting surfaces with different orientations, so that the optical elements face different angles, ensuring that the tool can still reliably mark the 90-degree position of the target object after being rotated to a certain angle.

[0053] Second, multiple claws 12 are arranged around the center line 101. If necessary, an optical positioning element 20 can be provided on the side of each claw 12 away from the center line 101. In this way, multiple optical positioning elements 20 can be arranged around the circumference of the optical positioning tool.

[0054] In related art, the tool body 10 is a flat plate structure with multiple optical positioning elements 20 disposed on its upper surface. If the target object 90 flips over, the tool body 10 will also flip over, potentially rendering some or all of the optical positioning elements 20 on the flat plate invisible to the optical positioning instrument. Invisibility refers to the inability of the instrument to capture the optical signals from the optical positioning elements 20.

[0055] When using the optical positioning tool of the present application, multiple optical positioning elements 20 can be arranged around the circumference of the optical positioning tool. When the target object 90 drives the optical positioning tool to rotate around its center line 101 by a certain angle, the optical positioning system can capture the light signal at the optical positioning element 20 at multiple angles. Compared with a planar rigid tool, it can meet the positioning requirements during angular rotation.

[0056] Third, in the tool body 10, each claw 12 has a certain distance from the center line 101, referring to Figure 1 The middle of the tool body 10 is hollow, and the hollow area is the internal space of the tool. Figures 1 to 9 Adjacent claws 12 are spaced apart from each other, and adjacent claws 12 form an inter-claw gap, which is communicated with the internal space.

[0057] Thus, if necessary, optical positioning elements 20 may be provided at one or more of the following locations: a first location on the claws 12 near the gap between the claws, a second location on the base 11 near the gap between the claws, a third location on the claws 12 near the interior space, and a fourth location on the base 11 near the interior space. Because the interior of the tool body 10 is hollow, forming an interior space, and gaps between the claws 12 are formed laterally between the claws 12, from the outside of the tool body 10, not only can the side walls of adjacent claws 12 be seen, but also the inner walls of the claws 12 can be seen through the gaps between the claws 12 and the interior space. Thus, at different angles, the optical elements at the first to fourth locations are exposed, visible to optical positioning instruments, and can provide positioning marking points at multiple angles.

[0058] Fourthly, the optical positioning tool of the present application can be made smaller in size, thereby improving the flexibility of using the optical positioning tool.

[0059] In one embodiment, the optical positioning tool has at least three optical positioning elements 20 with different normal directions. This provides optical positioning elements 20 with different orientations. When the optical positioning tool is in different postures in the workspace, the optical positioning elements 20 with different normal directions can provide optical signals for positioning to the optical positioning instrument.

[0060] Optionally, a plurality of optical positioning elements 20 with different normal directions are provided on the same claw portion 12 , and / or optical positioning elements 20 with different normal directions are provided on different claw portions 12 .

[0061] In one embodiment, the optical positioning tool is an active positioning tool, the optical positioning element 20 is a light-emitting element, and the optical positioning tool is provided with a circuit board, and the light-emitting element is electrically connected to the circuit board. The light-emitting element can be, but is not limited to, a lamp bead. Exemplarily, the light-emitting element is a near-infrared lamp bead.

[0062] In related technologies, in optical positioning scenarios in industrial and other fields, varying degrees of light pollution may occur in the environment. If the optical positioning element 20 configured in the optical positioning tool used to mark the position of the target object 90 is a reflective marker ball, the light pollution in the environment will affect the optical positioning instrument's ability to identify and track the marker ball. In this embodiment, an active optical positioning tool is used rather than a passive one. The optical positioning element 20 acts as a light source to actively emit light signals. The optical positioning element 20 does not need to rely on illumination from other light sources to reflect light signals. This allows the optical positioning instrument to more accurately identify the optical positioning element 20, thereby improving the stability and reliability of optical positioning and increasing the recognition distance.

[0063] Active light-emitting optical positioning tools can help reduce the overall size of the tool. For example, if the light-emitting element is a lamp bead, its volume is smaller than that of a reflective marker ball, thus reducing the overall size of the optical positioning tool. Furthermore, if the light-emitting element is a lamp bead, the lamp bead can be directly mounted in a mounting hole provided in the tool body 10, eliminating the need for a substantial mounting base on the surface of the tool body 10 to support the reflective marker ball. This also helps reduce the overall size of the optical positioning tool.

[0064] In addition, when the tool body 10 includes a base 11 and a plurality of claws 12 arranged around the base 11, and the optical positioning element 20 is a light-emitting component, since the claws 12 have a certain volume, when the optical positioning tool is viewed from the optical positioning instrument, in the process of the optical positioning tool revolving around the center line 101, while ensuring that the optical positioning instrument can see at least three light-emitting components, some of the light-emitting components can be rotated to the side away from the optical positioning instrument. In this way, the optical positioning instrument can recognize and determine the position and posture of the optical positioning tool, and the optical positioning instrument can reduce the processing work of the optical signals of redundant light-emitting components.

[0065] In other embodiments, the optical positioning tool may also be a passive positioning tool, and the optical positioning element 20 may be a reflective marker ball. It is understood that based on the structural design of the tool body 10 of the present application, the use of a reflective marker ball as the optical positioning element 20 can also reliably mark the position of the target object 90 after the optical positioning tool is rotated to a certain angle.

[0066] In one embodiment, please refer to Figures 1 to 8One end of the claw 12 is connected to the base 11, and the other end is a free end. The free ends of the multiple claws 12 are spaced apart from each other. When the optical positioning element 20 is disposed on the inner side of the claw 12 (on the side close to the centerline 101), the spacing between the free ends of the multiple claws 12 can form a certain amount of space, reducing obstruction of the optical positioning element 20 at certain angles and allowing the optical positioning element 20 to be visible at more angles.

[0067] Exemplarily, the middle of the tool body 10 is hollow, and the hollow area is the internal space of the tool, and the internal space is located inside the plurality of claws 12 and between the top sides of the base 11. In addition, the optical positioning tool forms a top side opening between the free ends of the plurality of claws 12, and the top side opening is connected to the internal space. In this way, if necessary, an optical positioning element 20 can be set at one or more of the fifth position on the side of the claw 12 close to the center line 101 and the sixth position on the side of the base 11 close to the top side opening. When the optical positioning tool is rotated to the position where the top side opening faces the optical positioning instrument, as shown in FIG. Figure 1 、 Figure 9 As shown in FIG. 2 , the optical positioning instrument can capture the optical positioning element 20 at the fifth position and the sixth position in the internal space through the top side opening.

[0068] It should be noted that, when the optical positioning element 20 is disposed inside the claw portion 12 , the interval between adjacent claw portions 12 is also conducive to exposing the optical positioning element 20 inside.

[0069] In other embodiments, the ends of the claws 12 facing away from the base 11 may also be connected to each other.

[0070] In one embodiment, please refer to Figures 1 to 10 The base 11 includes a connecting portion 111 , and the connecting portion 111 is located between adjacent claws 12 .

[0071] Optionally, refer to Figures 1 to 3 、 Figures 5 to 8 The side of the claw portion 12 facing away from the centerline 101 is provided with an optical positioning element 20, and the side of the connecting portion 111 facing away from the centerline 101 is provided with an optical positioning element 20. During the rotation of the optical positioning tool around the centerline 101, it can continuously provide light signals to the optical positioning instrument to mark the position and posture of the target object 90 and the optical positioning tool, thereby preventing the optical positioning instrument from losing the position or posture of the target object 90.

[0072] For example, Figures 1 to 3 Schematically, the optical positioning tool includes three claws 12 and three connecting parts 111. Figures 5 to 8When viewed from the side of the optical positioning tool, the optical positioning elements 20 on the outside of the claw 12 and the outside of the connecting portion 111 of the base 11 can be seen during the rotation of the optical positioning tool. At least three optical positioning elements 20 can be seen when the tool is rotated to any angle.

[0073] In other embodiments, the optical positioning element 20 may be provided only on the side of the claw portion 12 away from the center line 101 , and not on the side of the connecting portion 111 away from the center line 101 .

[0074] In one embodiment, referring to Figures 1 to 4 The claw 12 is a polyhedron. In other words, the claw 12 has multiple faces, with adjacent faces at certain angles. This allows optical positioning elements 20 to be placed on any face of the claw 12, depending on the application scenario of the optical positioning tool. The normal directions and orientations of the optical positioning elements 20 placed on different faces of the claw 12 are different. As the optical positioning tool rotates around different axes, at least three optical positioning elements 20 on multiple faces of the claw 12 can be used to indicate the position and posture information of the optical positioning tool to the optical positioning instrument.

[0075] In one embodiment, if Figure 1 、 Figure 4 、 Figures 5 to 9 As shown, in the tool body 10, the claw 12 has five exposed surfaces, and the claw 12 is a pentahedron structure. At least one of the five exposed surfaces of the claw 12 is installed with an optical positioning element 20. The five surfaces of the claw 12 face different directions, and adjacent surfaces are matched at angles.

[0076] In other embodiments, the claw portion 12 may also be a trihedron, a tetrahedron, a hexahedron, a heptahedron, an octahedron, etc. For an N-hedron claw portion 12, where N is a positive integer greater than or equal to three, the claw portion 12 may provide N faces in different directions for mounting the optical positioning element 20.

[0077] Alternatively, if the claw portion 12 has a pentahedral structure, the claw portion 12 is configured as follows: the multiple faces of the claw portion 12 include a claw inner surface 121, a claw outer surface 122, a claw top surface 123, and two claw side surfaces 124. The face of the claw portion 12 closer to the centerline 101 is the claw inner surface 121, the face of the claw portion 12 facing away from the centerline 101 is the claw outer surface 122, the claw portion 12 has a claw top surface 123 on the side facing away from the base 11, and the claw portion 12 has two claw side surfaces 124 on opposite sides. The claw inner surface 121, the claw top surface 123, and the claw outer surface 122 are connected, while the claw side surfaces 124 are connected to the base 11, the claw inner surface 121, the claw top surface 123, and the claw outer surface 122 on four sides.

[0078] Exemplarily, the claw portion 12 is disposed on the upper side of the base 11, with the lower side of the claw inner surface 121 connected to the base 11, the upper side of the claw inner surface 121 connected to the inner side of the claw top surface 123, the outer side of the claw top surface 123 connected to the upper side of the claw outer surface 122, and the lower side of the claw outer surface 122 connected to the base 11. The inner side of the claw side surface 124 is connected to the claw inner surface 121, the outer side of the claw side surface 124 is connected to the claw outer surface 122, the bottom side of the claw side surface 124 is connected to the base 11, and the top side of the claw side surface 124 is connected to the claw top surface 123.

[0079] Optionally, the plurality of claws 12 or the inner surface 121 of one of the claws 12 is provided with an optical positioning element 20. In the case where the inner surface 121 of the claw 12 is provided with an optical positioning element 20, as shown in FIG. Figures 5 to 8 As shown in FIG. 1 , the optical positioning instrument can capture the optical signal of the optical positioning element 20 on the inner surface of the opposite claw portion 12 through the gap between the adjacent claw portions 12; Figure 9 As shown, the instrument can also capture the light signal of the optical positioning element 20 on the inner surface of the claw 12 through the opening on the top side of the tool body 10 formed between the free ends of adjacent claws 12. By providing the optical positioning element 20 on the inner surface 121 of the claw, the tool can be positioned by the optical positioning instrument in a variety of postures.

[0080] Optionally, the plurality of claws 12 or the outer surface 122 of one of the claws 12 is provided with an optical positioning element 20. In the case where the outer surface 122 of the claw 12 is provided with an optical positioning element 20, as shown in FIG. Figure 1 、 Figure 2 、 Figures 5 to 8 As shown, when the optical positioning tool is positioned at multiple angles, the optical positioning instrument can capture the light signal of the optical positioning element 20 on the outer surface of the claw 12. By arranging the optical positioning element 20 on multiple claw outer surfaces 122, the rotation angle of the tool can be indicated during the rotation of the optical positioning tool about the centerline 101.

[0081] Optionally, the plurality of claws 12 or the claw top surface 123 of one of the claws 12 is provided with an optical positioning element 20. In the case where the claw top surface 123 of the claw 12 is provided with an optical positioning element 20, as shown in FIG. Figure 1 、 Figure 9 In other words, when the optical positioning tool is in a posture with its top end at least partially facing the optical positioning instrument, the optical positioning instrument can capture the light signal of the optical positioning element 20 on the top surface of the claw 12 .

[0082] Optionally, each claw portion 12 has at least one claw side surface 124 provided with an optical positioning element 20. In the case where the claw side surface 124 of the claw portion 12 is provided with an optical positioning element 20, as shown in FIG. Figures 1 to 3 、 Figures 5 to 8 As shown, the optical positioning element 20 on the claw side 124 can cooperate with the optical positioning elements 20 on the claw top surface 123, the outer surface of the base 11, the claw outer surface 122 and other positions to assist the optical positioning instrument in analyzing and confirming the posture of the optical positioning tool.

[0083] It can be understood that by adopting the claw 12 with a pentahedral structure, the optical positioning elements 20 can be flexibly arranged on the inside, outside, top side, and lateral positions adjacent to other claws 12 of the claw 12 according to the positioning requirements of the actual application scenario of the optical positioning tool. This can meet the needs of the tool in different postures, and different optical positioning elements 20 can actively emit or reflect light signals to indicate the posture and position of the tool to the optical positioning instrument.

[0084] In one embodiment, the claw portion 12 is a polyhedron structure, and the claw portion 12 has the claw outer surface 122 and the claw top surface 123 of the above-mentioned solution. Figures 1 to 10 The base 11 further includes a plurality of transition portions 112, which are staggered with the plurality of connecting portions 111 around the centerline 101. The two sides of a transition portion 112 are respectively connected to two adjacent connecting portions 111. The number of transition portions 112 is the same as the number of claw portions 12, and the plurality of claw portions 12 are respectively connected to the plurality of transition portions 112.

[0085] For example, there are three claws 12, and the number of transition portions 112 is the same as the number of claws 12, that is, there are three transition portions 112 and three connecting portions 111, and each transition portion 112 is connected between two adjacent connecting portions 111. The claw 12 is provided on the top side (i.e., the upper side) of the base 11, the upper side of the transition portion 112 is connected to the bottom side of the claw 12, and the left and right sides of the transition portion 112 are respectively connected to the left and right connecting portions 111.

[0086] Reference Figures 1 to 3 、 Figures 4 to 8 、 Figure 10 The transition portion 112 includes a transition surface, which is located on the side of the transition portion 112 away from the center line 101, and the transition surface is provided with an optical positioning element 20. The transition surface is a curved surface or a plane inclined relative to the center line 101, so that no matter from Figures 5 to 8 The schematic diagram of the optical positioning tool is perpendicular to the center line 101 and is also from the side. Figure 10 When looking up at the optical positioning tool in a direction parallel to the centerline 101, the optical positioning element 20 on the outer surface of the transition portion 112 can be seen. In this way, the optical positioning element 20 outside the transition portion 112 can be identified and positioned at more angles, resulting in a better positioning effect.

[0087] For example, the transition surface is tilted such that, along the direction extending from centerline 101, the side of the transition surface closest to claw 12 is the upper side, and the side of the transition surface facing away from claw 12 is the lower side. The distance between the upper side of the transition surface and centerline 101 is d1, and the distance between the lower side of the transition surface and centerline 101 is d2, where d2 is smaller than d1. In other words, the outer surface of transition portion 112 closest to claw 12 is farther from centerline 101 than the outer surface of transition portion 112 facing away from claw 12.

[0088] It is understood that if the top surface 123 of the claw is not visible, the tool's posture cannot be analyzed and confirmed based on the optical positioning element 20 on the top surface 123 of the claw. However, the optical positioning element 20 outside the transition portion 112 can be used to assist in determining the posture of the optical positioning tool. Similarly, if the optical positioning element 20 outside the transition portion 112 is not visible, the optical positioning element 20 on the top surface 123 of the claw can be used to assist in determining the posture of the optical positioning tool.

[0089] A specific embodiment of the layout of the optical positioning elements 20 in an optical positioning tool is provided below.

[0090] Reference Figures 1 to 3 、 Figures 4 to 10 The tool body 10 includes three claws 12, which are arranged on the upper side of the base 11. Each claw 12 has a pentahedral structure, and a transition portion 112 is provided between the lower side of each claw 12 and the outer side of the base 11. For the convenience of description, the three claws 12 are respectively referred to as the first claw 1201, the second claw 1202, and the third claw 1203.

[0091] Each claw portion 12 has an optical positioning element 20 disposed on its inner side, top surface 123, and outer side. One of the claw side surfaces 124 of each claw portion 12 is also provided with an optical positioning element 20, and each optical positioning element 20 is disposed on the rear side of the claw portion 12 in either a clockwise or counterclockwise direction. For example, a clockwise direction around the centerline 101 sequentially passes through the first claw 1201, the second claw 1202, and the third claw 1203. Optical positioning elements 20 are disposed on the claw side 124 of the first claw 1201 on the side closest to the second claw 1202, the claw side 124 of the second claw 1202 on the side closest to the third claw 1203, and the claw side 124 of the third claw 1203 on the side closest to the first claw 1201. Furthermore, the transition surface of each transition portion 112 is also provided with an optical positioning element 20. Furthermore, an optical positioning element 20 is also disposed on the side of each connecting portion 111 facing away from the centerline 101.

[0092] The optical positioning element 20 is provided on the claw inner surface 121, the claw outer surface 122, the claw top surface 123, and one claw side surface 124 of the claw portion 12. When the optical positioning element 20 is provided on the outer side of the connecting portion 111 of the base 11 and the outer side of the transition portion 112 of the base 11, as shown in FIG. Figures 5 to 8 As shown in FIG. 1 , when the optical positioning tool is facing the optical positioning instrument sideways, if the optical positioning tool rotates around the center line 101, the posture and rotation angle of the optical positioning tool can be shown based on the cooperation of at least three optical positioning elements 20 among the claw outer surface 122, the claw inner surface 121, the claw side surface 124, the base 11 connecting portion 111, and the base 11 transition portion 112; Figure 1 、 Figure 2 For example, when the top or bottom end of the optical positioning tool is tilted toward the optical positioning instrument, the posture and rotation angle of the optical positioning tool can also be indicated by multiple optical positioning elements 20.

[0093] Optionally, the side of the claw portion 12 closest to the centerline 101 is a curved surface, i.e., the claw inner surface 121 is a curved surface. The side of the claw portion 12 facing away from the centerline 101 is a curved surface, i.e., the claw outer surface 122 is a curved surface. The side of the connecting portion 111 facing away from the centerline 101 is a curved surface. The side of the transition portion 112 facing away from the centerline 101 is a curved surface. Arranging the surface on which the optical positioning element 20 is disposed as a curved surface can help increase the viewing angle of the optical positioning element 20 on that surface. In other embodiments, the surface on which the optical positioning element 20 is disposed can also be a flat surface.

[0094] In one embodiment, referring to Figures 1 to 3 、 Figures 5 to 8 , further comprising a handle 30, the base 11 having a top surface and a bottom surface facing each other, the claw portion 12 protruding relative to the top surface of the seat, and the handle 30 being connected to the bottom surface of the seat of the base 11. A circuit board is provided inside the handle 30. The handle 30 provides a holding position. Exemplarily, when the target object 90 is mounted on the end of the handle 30 facing away from the base 11, the operator can adjust the position and posture of the target object 90 and the optical positioning tool by holding the handle 30, and the optical positioning instrument can simultaneously capture the position and posture of the optical positioning tool to determine the position and posture of the target object 90.

[0095] Optionally, the handle 30 is provided with ergonomic anti-slip grip lines on its surface.

[0096] Optionally, the optical positioning tool also includes a remote control button 31 provided on the handle 30, and the remote control button 31 is electrically connected to the circuit board. The circuit board is provided with a wireless communication module. When the remote control button 31 is pressed, information transmission between the optical positioning tool and the computer terminal of the optical positioning instrument can be realized. The remote control button 31 is used to control the host computer to collect data. In the related art, in the process of optical positioning and registration, it is often necessary to collect the positioning information of the optical positioning tool. There is a certain distance between the position of the optical positioning tool and the control computer. The first person needs to hold the optical positioning tool, and the other person needs to perform control operations on the computer to collect information, which is inconvenient to operate. The optical positioning tool of this embodiment has a wireless communication function and is compatible with wireless remote control. The collection of positioning information can be operated according to the remote control button 31. One person holding the tool can complete the collection of the positioning information of the tool.

[0097] Optionally, the optical positioning tool further includes a switch button provided on the handle 30, the switch button being electrically connected to the circuit board. The switch button is located at the upper portion of the handle 30, and when the optical positioning element 20 is a light-emitting lamp bead, the light-emitting lamp bead can be controlled to light up and extinguish by the switch button.

[0098] Optionally, the optical positioning tool further includes a charging port provided on the handle 30, the charging port being electrically connected to the circuit board. An external power source can be plugged into the charging port to charge the internal battery of the optical positioning tool, and the internal battery can power the lamp beads.

[0099] Optionally, the optical positioning tool is further provided with an indicator light, which is electrically connected to the circuit board. When the indicator light is on, it indicates that the optical positioning tool is in working condition.

[0100] Optionally, a mounting joint 32 is provided at one end of the handle 30 facing away from the base 11. The tool body 10 of the optical positioning tool does not directly contact the target object 90. The mounting joint 32 is provided on the side of the handle 30 facing away from the base 11. The mounting joint 32 is used to mount the target object 90. The mounting joint 32 is provided with a mounting hole having an internal thread, or an external thread is provided on the outside of the mounting joint 32. Through the standard threaded holes and / or standard studs provided on the mounting joint 32, different targets 90 can be removed and installed at any time, making it more convenient to use.

[0101] Optionally, the handle 30 is provided with an operation panel 301 , and the remote control button 31 , the switch button, the charging port, and the indicator light are all provided on the operation panel 301 .

[0102] In the optical positioning tool of the present application, first, the tool body 10 adopts a polyhedron structure, which can be compatible with more functions and more tool motion postures and positions on the basis of ensuring that at least three optical positioning elements 20 can be seen at any angle. Second, the use of actively luminous optical positioning elements 20 can improve the stability and reliability of optical positioning and increase the recognition distance. Third, it has a wireless communication function. During the positioning, registration and calibration process, only one person can hold the optical positioning tool, and the same person can operate the wireless remote control button 31 to allow the optical positioning instrument and the computer to obtain the position information of the optical positioning tool. There is no need for a second person to operate the computer on the computer side to collect information, thereby reducing labor costs. Fourth, it has a handle 30. The handle 30 is convenient for manual holding of the optical positioning tool, and the handheld optical positioning tool is used to mark the position and posture of the target object 90. Fifth, the bottom of the handle 30 is provided with a standard mounting connector 32, which is convenient for installing different target objects 90 (such as installing an ultrasonic probe) at the bottom of the handle 30.

[0103] In the description herein, it should be understood that terms such as "upper," "lower," "left," and "right" are used solely for ease of description and simplified operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0104] Throughout this specification, references to terms such as "one embodiment" and "example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0105] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0106] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and should not be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will be able to devise other specific implementations of the present invention without inventive effort, and such implementations will fall within the scope of protection of the present invention.

Claims

1. An optical positioning tool, characterized in that: It comprises a tool body (10) and an optical positioning element (20); The tool body (10) comprises a base (11) and a plurality of claws (12), wherein the claws (12) are connected to the base (11), the plurality of claws (12) are arranged on the same side of the base (11), and the plurality of claws (12) are arranged at intervals around a center line (101) of the base (11); each of the claws (12) is provided with at least one of the optical positioning elements (20), and the optical positioning tool comprises at least three non-colinear optical positioning elements (20).

2. The optical positioning tool according to claim 1, characterized in that: The optical positioning element (20) is a light-emitting component; the optical positioning tool is provided with a circuit board, and the light-emitting component is electrically connected to the circuit board.

3. The optical positioning tool according to claim 1, characterized in that: One end of the claw portion (12) is connected to the base (11), and the other end is a free end; the free ends of the plurality of claw portions (12) are spaced apart from each other.

4. The optical positioning tool according to any one of claims 1 to 3, characterized in that: The base (11) comprises a connecting portion (111), and the connecting portion (111) is located between adjacent claw portions (12); An optical positioning element (20) is provided on the side of the claw portion (12) facing away from the center line (101), and an optical positioning element (20) is provided on the side of the connecting portion (111) facing away from the center line (101).

5. The optical positioning tool according to any one of claims 1 to 3, characterized in that: The claw portion (12) has a claw inner surface (121) on the side close to the center line (101), has a claw outer surface (122) on the side away from the center line (101), and has a claw top surface (123) on the side away from the base (11); the claw inner surface (121), the claw top surface (123), and the claw outer surface (122) are connected; The optical positioning element (20) is disposed on the inner surface (121) of the claw, and / or the optical positioning element (20) is disposed on the outer surface (122) of the claw, and / or the optical positioning element (20) is disposed on the top surface (123) of the claw.

6. The optical positioning tool according to claim 5, characterized in that: The claw portion (12) further comprises two claw side surfaces (124) located at opposite sides, one side of the claw side surface (124) being connected to the claw inner surface (121), one side of the claw side surface (124) being connected to the claw top surface (123) and one side of the claw outer surface (122); At least one of the claw side surfaces (124) of the claw portion (12) is provided with an optical positioning element (20).

7. The optical positioning tool according to claim 4, characterized in that: The base (11) comprises a plurality of connecting portions (111) and a plurality of transition portions (112), wherein the plurality of transition portions (112) and the plurality of connecting portions (111) are staggeredly distributed around the center line (101); the plurality of claw portions (12) are respectively connected to the plurality of transition portions (112); An optical positioning element (20) is provided on the side of the transition portion (112) facing away from the center line (101).

8. The optical positioning tool according to claim 7, characterized in that: The side of the claw portion (12) close to the center line (101) is an arcuate surface, the side of the claw portion (12) away from the center line (101) is an arcuate surface, the side of the connecting portion (111) away from the center line (101) is an arcuate surface, and the side of the transition portion (112) away from the center line (101) is an arcuate surface.

9. The optical positioning tool according to claim 1 or 2, characterized in that: It also includes a handle (30), the base (11) has a seat top surface and a seat bottom surface facing each other, the claw portion (12) protrudes relative to the seat top surface, and the handle (30) is connected to the seat bottom surface of the base (11).

10. The optical positioning tool according to claim 9, characterized in that: A circuit board is arranged inside the handle (30); The optical positioning tool further comprises a remote control button (31) arranged on the handle (30), and the remote control button (31) is electrically connected to the circuit board; and / or, the optical positioning tool further comprises a switch button arranged on the handle (30), and the switch button is electrically connected to the circuit board; and / or, the optical positioning tool further comprises a charging interface arranged on the handle (30), and the charging interface is electrically connected to the circuit board; and / or, the optical positioning tool is further provided with an indicator light, and the indicator light is electrically connected to the circuit board; and / or, a mounting connector (32) is provided at one end of the handle (30) facing away from the base (11), and the mounting connector (32) is used for detachable connection with the target object (90).

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