Optical positioning tool and positioning assembly

Abstract

The utility model discloses an optical positioning tool and a positioning assembly, and belongs to the technical field of optical positioning. The optical positioning tool comprises a tool mounting part, a supporting part and a marking piece, wherein the tool mounting part is used for being connected with a to-be-positioned target object; the supporting part is connected with the tool mounting part, the supporting part is provided with a mounting surface, and the at least three marking pieces are arranged on the upper side of the mounting surface and connected with the supporting part; and the distances between the at least two marking pieces and the mounting surface are different. The positioning assembly comprises the optical positioning tool and a connecting seat detachably connected with the tool mounting part. The optical positioning tool provided by the utility model can improve the condition that the marking pieces are mutually shielded in an optical positioning scene so as to improve the positioning accuracy; an optical positioning tool in the positioning assembly is high in universality.

Description

Technical Field

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

[0002] Optical positioning technology is a technology that measures the three-dimensional coordinates of markers. It is widely used in industrial manufacturing, medical treatment, virtual reality and other fields. When performing optical positioning, optical positioning tools are set on targets such as industrial equipment, medical equipment, and head-mounted display devices. Multiple markers in the optical positioning tools reflect optical signals, allowing the optical positioning instrument to capture and process these optical signals to obtain the position and posture information of the target.

[0003] In the related art, optical positioning tools usually set multiple markers on the same plane. However, in some application scenarios, the optical positioning tool needs to have a certain posture change. In this way, in the perspective of the optical positioning instrument, it is easy for some markers to block each other, resulting in the failure of the optical positioning instrument to track, locate and identify the optical positioning tool. Utility Model Content

[0004] One of the purposes of the embodiments of the utility model is to provide an optical positioning tool, which can improve the situation of mutual occlusion between marking parts in an optical positioning scene to improve positioning accuracy.

[0005] A second purpose of the embodiment of the utility model is to provide a positioning component with strong versatility.

[0006] In order to achieve one of the above purposes, the utility model adopts the following technical solutions:

[0007] An optical positioning tool comprises a tool body and a marking member;

[0008] The tool body comprises a tool mounting portion and a support portion, wherein the tool mounting portion is used to be connected to a target object to be positioned; the support portion is connected to the tool mounting portion, the support portion has a mounting surface, at least three marking members are arranged on the upper side of the mounting surface, and the marking members are connected to the support portion;

[0009] The distances between at least two of the marking elements and the mounting surface in the z direction are different.

[0010] By installing the marker at different distances from the mounting surface, the mounting height H of the marker is made different. In the optical positioning scenario, the mutual occlusion between the markers is reduced, thereby improving the positioning accuracy.

[0011] Optionally, the distance between one end of the marking member close to the support portion and the mounting surface is the mounting height H of the marking member, and the mounting heights of at least two marking members are different, or the mounting heights of all marking members are different.

[0012] Optionally, the tool body further includes at least three support columns; the support columns are connected to the support portion, and each of the support columns is installed with at least one of the marking members.

[0013] The provision of the support column facilitates the installation of the marking component at different installation heights.

[0014] Optionally, the support column is detachably connected to the support portion, and the marking member is provided at one end of the support column away from the support portion.

[0015] The support column is detachable, which makes it convenient to replace support columns of different lengths according to actual needs to adjust the installation height of the marker.

[0016] Optionally, at least two of the plurality of support columns have different lengths, and the distances h between the ends of the support columns facing away from the mounting surface and the mounting surface are different.

[0017] Optionally, the marking member is a reflective marking ball;

[0018] And / or, the support portion is provided with a first mounting portion; a second mounting portion is provided at one end of the support column, and a third mounting portion is provided at the other end; the second mounting portion is threadedly connected to the first mounting portion, and the marking member is connected to the third mounting portion.

[0019] Optionally, the support portion includes a first support plate and a second support plate, the first support plate is connected to the tool mounting portion, and the second support plate is connected to the tool mounting portion;

[0020] The mounting surface includes a first top surface located on the first support plate and a second top surface located on the second support plate, the first top surface and the second top surface are located in the same plane; the marking component is arranged on the upper side of the first top surface, and the marking component is arranged on the upper side of the second top surface.

[0021] Optionally, at least two of the marking members are disposed on the first support plate; and at least two of the marking members are disposed on the second support plate.

[0022] Optionally, in the y direction of the optical positioning tool, the first support plate and the second support plate are arranged on the same side of the tool mounting portion;

[0023] The two ends of the first support plate are respectively a first plate head end and a first plate end, the first plate head end is connected to the tool mounting portion, and in the x-direction of the optical positioning tool, the first plate end is relatively far away from the second support plate relative to the first plate head end; and / or, the two ends of the second support plate are respectively a second plate head end and a second plate end, the second plate head end is connected to the tool mounting portion, and in the x-direction of the optical positioning tool, the second plate end is relatively far away from the first support plate relative to the second plate head end.

[0024] Optionally, a side surface of the tool mounting portion on one side in the z direction is an assembly surface, and the assembly surface is used to mount a target object to be positioned; the mounting surface and the assembly surface are located on opposite sides of the tool body.

[0025] In order to achieve the second of the above objectives, the utility model adopts the following technical solutions:

[0026] A positioning component, comprising:

[0027] The optical positioning tool according to any of the above embodiments;

[0028] A connecting seat is detachably connected to the tool mounting portion; the connecting seat is used to connect to the target object to be positioned

[0029] The beneficial effects of the utility model are as follows: in the tool body of the optical positioning tool, the configuration of the tool installation part is conducive to assembling the tool body and the target object together; a plurality of marking parts are indirectly or directly connected to the support part to achieve the installation and fixation of the marking parts.

[0030] In the optical positioning tool, the distances between two or more marking parts and the mounting surface of the support part are different. The marking parts are set at different mounting heights H. In the optical positioning scenario, the overlap between the marking parts and the obstruction of the marking parts in the field of view of the optical positioning instrument can be reduced or avoided, allowing the optical positioning tool to have more posture changes.

[0031] In the positioning component, different connecting sockets can be replaced to accommodate targets of different sizes and shapes, and different targets can be connected to the tool mounting portion of the same optical positioning tool through different connecting sockets, thereby improving the versatility of the optical positioning tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The utility model is further described in detail below based on the drawings and embodiments.

[0033] Figure 1 It is a three-dimensional structural schematic diagram of an optical positioning tool according to one embodiment of the utility model;

[0034] Figures 2 to 4They are schematic diagrams of the optical positioning tool according to one embodiment of the utility model at different angles;

[0035] Figure 5 A schematic diagram of the installation height of the marking member of the optical positioning tool and the length of the supporting column according to one embodiment of the utility model;

[0036] Figure 6 This is one of the structural decomposition diagrams of the marking member, the supporting column and the supporting part in the optical positioning tool according to the embodiment of the utility model;

[0037] Figure 7 This is one of the assembly schematic diagrams of the marking member, the supporting column and the supporting part in the optical positioning tool according to the embodiment of the utility model;

[0038] Figure 8 This is the second structural decomposition diagram of the marking member, the supporting column and the supporting part in the optical positioning tool according to the embodiment of the utility model;

[0039] Fig. 9 This is the second assembly diagram of the marking member, the supporting column and the supporting part in the optical positioning tool according to the embodiment of the utility model;

[0040] Fig.10 A schematic diagram of the three-dimensional structure of a tool body of an optical positioning tool according to another embodiment of the utility model;

[0041] Figures 11 to 13 It is a schematic diagram of a tool body of an optical positioning tool according to another embodiment of the utility model at different viewing angles;

[0042] Fig.14 A schematic diagram of assembling the positioning assembly and the target object according to an embodiment of the utility model;

[0043] Fig.15 It is a schematic diagram of the assembly of the tool body and the connecting seat in the positioning assembly according to the embodiment of the utility model;

[0044] Fig.16 This is a cross-sectional view of the tool body of the optical positioning tool described in an embodiment of the utility model.

[0045] In the figure: 10, tool body; 11, tool mounting part; 1101, assembly surface; 111, mounting hole; 1111, small hole part; 1112, large hole part; 12, support part; 1201, mounting surface; 1202, first mounting part; 121, first support plate; 1211, first top surface; 1212, first plate head end; 1213, first plate end; 122, second support plate; 1221, second top surface; 1222, second plate head end; 1223, second plate end; 13, support column; 131, second mounting part; 132, third mounting part; 20, marking member; 30, connecting seat; 40, target object. DETAILED DESCRIPTION

[0046] In order to make the technical problems solved by the utility model, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the utility model will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0047] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0049] In the related technologies, optical positioning technology is applied in many fields such as industry and medicine. When performing optical positioning, the optical positioning tool is connected to the target object, such as the patient's body, surgical instruments, industrial manufacturing equipment, etc. The optical positioning tool is provided with multiple optical markers, which are objects that can be recognized by optical cameras or optical sensors. By tracking the position changes of multiple markers, the position (spatial coordinates) and posture (such as rotation, tilt, etc.) of the target object can be determined in real time.

[0050] In the related art, in some optical positioning tools, multiple marking parts are installed on the same plane. During the positioning process, the optical positioning tool is fixed at a certain position, or the optical positioning tool only performs translational movement, and there will be no mutual obstruction between the multiple marking parts.

[0051] However, if the optical positioning tool has certain posture changes during its movement, it is easy for the markers to overlap and be blocked. The optical positioning instrument cannot identify a sufficient number of markers within its field of view, resulting in failure in tracking, positioning and identifying the optical positioning tool. For example, the optical positioning tool is fixed at the end of a robotic arm. The robotic arm generally moves and rotates in space during operation. The optical positioning tool rotates with the robotic arm. When the optical positioning tool is at certain angles, some markers in the optical positioning tool are blocked in the field of view of the optical positioning instrument.

[0052] In order to solve the problems in the related art, the present application provides an optical positioning tool, in which marking parts are set at different heights, that is, the distances between multiple marking parts and the mounting surface of the support part are different; in this way, at least when the optical positioning tool rotates around an axis perpendicular to the mounting surface, the mutual occlusion between the marking parts is reduced, thereby improving the accuracy of optical positioning.

[0053] The present application also provides a positioning assembly, which includes the aforementioned optical positioning tool and a connecting seat, wherein a target object such as a medical probe is connected to the connecting seat, and then connected to a tool mounting portion through the connecting seat to achieve assembly of the target object and the optical positioning tool. In this way, only different connecting seats need to be replaced to flexibly adapt targets of different sizes and shapes to be assembled on the same optical positioning tool, thereby improving the adaptability and versatility of the optical positioning tool and reducing costs.

[0054] The target object may be, but is not limited to, a surgical instrument, a medical examination instrument, an industrial manufacturing instrument, etc. For example, the target object is a probe that can be used in a medical examination or surgery.

[0055] Please refer to Figures 1 to 15 , the structure of the optical positioning tool and positioning component of the present application is described below.

[0056] Please refer to Figures 1 to 5, Figures 10 to 15 The optical positioning tool includes a tool body 10 and a plurality of marking members 20 , and each optical positioning tool has more than three marking members 20 .

[0057] The tool body 10 includes a tool mounting portion 11 and a support portion 12. Fig.14 The tool mounting portion 11 is used to provide an installation position for the target object 40 to be positioned. When the optical positioning tool is used to position the target object 40, the target object 40 is connected to the tool mounting portion 11 to realize the assembly of the target object 40 and the optical positioning tool. When the target object 40 moves, the optical positioning tool moves accordingly.

[0058] Reference Figure 1 , Figures 3 to 13 The support portion 12 is used to provide a mounting position for the marking member 20, and one side of the support portion 12 has a mounting surface 1201. Figures 1 to 5 At least three marking members 20 are arranged on the upper side of the mounting surface 1201 , and each marking member 20 is connected to the supporting portion 12 .

[0059] Furthermore, the distance between one end of the marking member 20 close to the mounting portion and the mounting surface 1201 is the mounting height H of the marking member 20. Figure 5 Schematically shows the installation height H of one of the marking members 20. The distances between at least two marking members 20 and the installation surface 1201 are different. In other words, at least two marking members 20 are configured to have different installation heights H. In this way, the situation where marking members 20 at the same height block each other can be reduced.

[0060] In a specific embodiment, Figure 4 As shown in figure, the optical positioning tool includes four marking members 20, and the installation heights of the four marking members 20 are H1, H2, H3, and H4 respectively, wherein H1, H2, H3, and H4 are all different.

[0061] By configuring multiple markers 20 to have different installation heights H, for example, after the optical positioning tool is rotated by a certain angle, in the field of view of the optical positioning instrument, the coordinates of the first marker 20 and the second marker 20 in the x-axis direction of the optical positioning instrument may be close to each other. However, the installation heights H of the first marker 20 and the second marker 20 are different. For the optical positioning instrument, it is possible to identify the high and low distribution of the first marker 20 and the second marker 20, and the first marker 20 will not completely cover the second marker 20. In the case where the first marker 20 and the second marker 20 are distributed one after the other, the optical positioning instrument can also simultaneously identify the first marker 20 and the second marker 20, avoiding the optical positioning instrument from failing to track the second marker 20, thereby ensuring that the optical positioning instrument can continuously track sufficient position and posture information of the marker 20, thereby improving the accuracy of optical positioning.

[0062] Compared with the solution in which multiple marking members 20 are arranged on the same plane and the distance between the marking members 20 and the plane is the same, in the optical positioning tool of the present application, multiple marking members 20 are arranged to have different distances from the mounting surface 1201 of the mounting part. In this way, when the optical positioning tool produces a certain rotational movement relative to the optical positioning instrument, the mutual occlusion between the marking members 20 can be reduced, so that the optical positioning tool can adapt to more application scenarios, improve the versatility of the optical positioning tool, and control the processing cost.

[0063] The use of the optical positioning tool in conjunction with the target object 40 can improve the continuous and accurate recognition of the position and posture of the target object 40 by the optical positioning instrument, and reduce or avoid the failure of tracking, positioning and recognition.

[0064] It should be noted that the aforementioned “marking member 20 is located on the upper side of the mounting surface 1201” means that in the internal coordinates of the optical positioning tool, the marking member 20 is located on the upper side of the mounting surface 1201, which is only used to describe the relative positional relationship between the marking member 20 and the tool body 10. In external coordinates, such as the three-dimensional coordinates of the optical positioning instrument, the marking member 20 is not necessarily located on the upper side of the mounting surface 1201.

[0065] In addition, in order to facilitate the understanding of the relative position relationship between the various components in the optical positioning tool, Figures 1 to 5 , Figures 10 to 15 In FIG. 1 , the x-axis coordinate, y-axis coordinate, and z-axis coordinate of the optical positioning tool are marked, and the x-direction, y-direction, and z-direction are perpendicular to each other. For example, Figure 1 As shown, the x direction is the left-right direction of the optical positioning tool, the y direction is the front-back direction of the optical positioning tool, and the z direction is the up-down direction of the optical positioning tool.

[0066] Please continue to refer to Fig.14 , Fig.15 The positioning assembly of the present application includes the optical positioning tool in any of the aforementioned embodiments, and also includes a connecting seat 30, which is detachably connected to the tool mounting portion 11, and the connecting seat 30 is used to connect to the target object 40 to be positioned.

[0067] The positioning assembly of the present application can solve the problem that the same optical positioning tool is difficult to adapt to targets 40 of different sizes and shapes. Compared with the method of directly installing the target 40 on the tool mounting part 11 in the optical positioning scenario, the positioning assembly of the present application adds a connecting seat 30, and the target 40 can be installed on the tool mounting part 11 through the connecting seat 30. The connecting seat 30 is respectively provided with a part for matching the tool mounting part 11 and a part for matching the target 40, which can meet the stable connection between the tool mounting part 11 and the connecting seat 30, and the stable connection between the connecting seat 30 and the target 40.

[0068] In different application scenarios, for targets 40 of different shapes and sizes, there is no need to configure different optical positioning tools to match different targets 40 respectively. Only the appropriate connecting socket 30 needs to be replaced to install different types of targets 40 on the same optical positioning tool through the connecting socket 30, thereby improving the adaptability and versatility of the optical positioning tool and reducing the cost of repeated design and processing.

[0069] The structure of the optical positioning tool is further described below.

[0070] Optionally, the installation heights H of all the marking members 20 in the optical positioning tool are different. Figure 1 , Figures 3 to 5 , Fig.14 As shown, the optical positioning tool includes four marking members 20, and the distances between the four marking members 20 and the mounting surface 1201 are all different, that is, the mounting heights H of the four marking members 20 are all different. Of course, in other embodiments, when the optical positioning member includes multiple marking members 20, only the mounting heights of some marking members 20 may be different. For example, for two marking members 20 with a relatively long plane distance, it is less likely to occur.

[0071] In the entire optical positioning tool, there are at least three markers 20, and at least three markers 20 are not collinear. In three-dimensional space, any three non-collinear points can determine a unique positioning plane. When positioning the optical positioning tool, the optical positioning instrument captures the light signals at any three non-collinear markers 20 in the optical positioning tool. The lines between each marker 20 and the optical sensor or camera of the positioning instrument will intersect with this positioning plane, thereby calculating and determining the position and posture of the optical positioning tool in three-dimensional space. In one embodiment, Figures 1 to 5 , Fig.14 As shown, the optical positioning tool is provided with four marking elements 20, and the four marking elements 20 are not collinear.

[0072] In one embodiment, the marker 20 is a reflective marker ball, and the surface of the reflective marker ball is a reflective material. Exemplarily, the light source in the optical positioning instrument emits light of a specific wavelength and pattern, which is irradiated to the reflective marker ball, and the reflective marker ball reflects the light outward. The camera in the optical positioning instrument captures the light reflected back by the reflective marker ball, and processes these optical signals to calculate the position, posture and possible movement trajectory of the target 40. Among them, the reflective marker ball is easy to install and has a three-dimensional shape, which is suitable for reflecting light in different directions.

[0073] In other embodiments, the marking element 20 is a reflective object of other shapes, and the marking element 20 can also be an active light-emitting object such as a lamp bead.

[0074] In one embodiment, please continue to refer to Figure 1 , Figures 3 to 14 The tool body 10 further includes at least three support columns 13, each of which is connected to the support portion 12, and each of which is mounted with at least one marking member 20. Figure 1 , Figures 3 to 5 The support column 13 is disposed between the mounting surface 1201 of the support portion 12 and the marking member 20 , one end of the support column 13 is connected to the mounting surface 1201 , and the other end is connected to the marking member 20 .

[0075] In this embodiment, a support column 13 is provided, which can provide an installation position for the marking member 20, so as to facilitate the installation of the marking member 20 at different heights from the installation surface 1201, so that the installation heights H of different marking members 20 are different, thereby reducing the mutual obstruction between the marking members 20.

[0076] In the case where the tool body 10 includes a support column 13 , different distances between different marking members 20 and the mounting surface 1201 can be achieved through at least the following configurations.

[0077] Configuration method 1 of tool body 10:

[0078] The support column 13 and the support portion 12 are configured to be detachably connected, and the marking member 20 is installed at one end of the support column 13 away from the support portion 12. In different application scenarios, the length of the support column 13 at each position can be flexibly adjusted according to needs to adjust the distance H between each marking member 20 and the mounting surface 1201. Figure 5 In the figure, h indicates the length of one of the support columns 13 .

[0079] exist Fig.10 , Figures 12 to 15 The illustrated optical positioning tool includes four support columns 13 of different lengths and four marking members 20 of different mounting heights.

[0080] For example, Figure 6 , Figure 8 FIG. 1 shows the support column 13 being disassembled from the support portion 12 , and the two being separated. At this time, support columns 13 of different sizes can be replaced according to the installation height requirements of the marking member 20 . Figure 7 , Fig. 9 In the embodiment, the support column 13 is connected to the support portion 12. The support column 13 and the support portion 12 can be detachably connected by means of threaded connection, interference fit, snap connection, etc. Figure 7 , Fig. 9 In the embodiment, the support column 13 is threadedly connected to the support portion 12 .

[0081] Tool body 10 configuration method 2:

[0082] In the plurality of support columns 13 of the optical positioning tool, an optical marking member 20 is mounted on the end of each support column 13 away from the support portion 12. Furthermore, at least two support columns 13 have different lengths (e.g. Figure 1 As shown in FIG. 1 , the heights of the plurality of support columns 13 in the z-axis direction are different, so that the installation heights H of at least two marking members 20 are different. The support columns 13 are detachably connected to the support portion 12 or are non-detachably connected.

[0083] Optionally, among the plurality of supporting pillars 13 of the optical positioning tool, the lengths of all supporting pillars 13 are different.

[0084] Tool body 10 configuration method three:

[0085] The support column 13 is detachably or non-detachably connected to the support portion 12. The support column 13 is a retractable structure, and a marking member 20 is installed at the end of the support column 13 away from the support portion 12. By extending or shortening the support column 13, the distance between the marking member 20 and the mounting surface 1201 can be reduced or increased, so that the mounting height H of the marking member 20 can be adjusted.

[0086] Optionally, the support column 13 may also be provided with a positioning piece, and the positioning piece is used to keep the support column 13 at a certain length so as to keep the marking piece 20 at a certain installation height.

[0087] Configuration mode 4 of tool body 10:

[0088] The support column 13 is detachably or non-detachably connected to the support portion 12. A plurality of mounting platforms are arranged on the support column 13, and the distances between different mounting platforms and the mounting surface 1201 are different. The marking element 20 can be mounted on any mounting platform according to the requirements.

[0089] Configuration mode 5 of tool body 10:

[0090] The tool body 10 includes a plurality of support columns 13, the number of the support columns 13 is N, the number of the marking members 20 is M, and M is greater than N. Among the M marking members 20, a portion of the marking members 20 are mounted on the support columns 13, and a portion of the marking members 20 are directly mounted on the mounting surface 1201, and the mounting height H of the marking members 20 mounted on the support columns 13 is greater than the mounting height H of the marking members 20 directly mounted on the mounting surface 1201.

[0091] The present application is not limited to setting the plurality of marking members 20 at different installation heights by configuring the tool body 10 in configuration modes one to five. The plurality of marking members 20 may also be set at different installation heights by other embodiments.

[0092] In one embodiment, the support column 13 is detachably connected to the support portion 12. Figures 6 to 9 The support part 12 is provided with a plurality of first mounting parts 1202 on one side of the mounting surface 1201, a second mounting part 131 is provided at one end of the support column 13, and a third mounting part 132 is provided at the other end of the support column 13. The second mounting part 131 is threadedly connected with the first mounting part 1202, so that the support column 13 can be detachably mounted on the support part 12.

[0093] Among them, for the marking member 20 installed on the support column 13, the marking member 20 is connected to a connecting rod (illustrated in the figure but not marked), and the connecting rod is connected to the third mounting portion 132, so that the marking member 20 is installed on the third mounting portion 132 of the support column 13. Optionally, the first mounting portion 1202 and the third mounting portion 132 are both threaded holes.

[0094] In other embodiments, the support column 13 may also be connected to the support portion 12 in other ways.

[0095] In one embodiment, if Figure 8 , Fig. 9As shown in the figure, for some marking members 20, no support column 13 is provided between the marking member 20 and the support portion 12. In this case, the marking member 20 is connected to the connecting rod, and the connecting rod is connected to the first mounting portion 1202, so that the marking member 20 is installed on the first mounting portion 1202 of the support portion 12. In other embodiments, all marking members 20 may also be configured as follows: a support column 13 is provided between the marking member 20 and the support portion 12.

[0096] In one embodiment, referring to Figures 1 to 3 , reference Figure 10 to Figure 11 The support portion 12 includes a first support plate 121 and a second support plate 122. The first support plate 121 is connected to the tool mounting portion 11, and the second support plate 122 is connected to the tool mounting portion 11. The upper side of the first support plate 121 has a first top surface 1211, and the upper side of the second support plate 122 has a second top surface 1221. The mounting surface 1201 includes the first top surface 1211 and the second top surface 1221. The first top surface 1211 and the second top surface 1221 are located in the same plane. Figure 1 , reference Fig.14 A marking member 20 connected to the first support plate 121 is disposed on the upper side of the first top surface 1211 , and a marking member 20 connected to the second support plate 122 is disposed on the upper side of the second top surface 1221 .

[0097] in, Figures 1 to 5 Schematic diagram of the configuration of the first support plate 121 and the second support plate 122 in the first tool body 10 . Figures 10 to 16 Schematic diagram of the configuration of the first support plate 121 and the second support plate 122 in the second tool body 10 .

[0098] It can be understood that the support portion 12 is configured with two support plates, and the marking members 20 can be installed on both the first support plate 121 and the second support plate 122. The first support plate 121 and the second support plate 122 can be configured into different shapes or extend in different directions so that the multiple marking members 20 can be staggered as much as possible in the x direction and / or y direction, and when the optical positioning tool changes its posture, the mutual occlusion of the marking members 20 can be minimized.

[0099] In one embodiment, when the support portion 12 includes a first support plate 121 and a second support plate 122, the first support plate 121 and the second support plate 122 are spaced apart from each other. Figure 1 , reference Fig.10 , which can not only keep a certain distance between the marking member 20 on the first support plate 121 and the marking member 20 on the second support plate 122 to minimize mutual blocking, but also reduce the weight of the support part 12.

[0100] In other embodiments, the first support plate 121 and the second support plate 122 may also be connected to each other without a gap therebetween.

[0101] In one embodiment, when the support portion 12 includes a first support plate 121 and a second support plate 122, at least two marking members 20 are disposed on the first support plate 121, and at least two marking members 20 are disposed on the second support plate 122. Figure 1 , reference Fig.14 The first support plate 121 and the second support plate 122 are respectively provided with two marking members 20, and the entire optical positioning tool is provided with four marking members 20. The overall structure is simple, and three of the four marking members 20 can meet the basic positioning requirements. The setting of the fourth marking member 20 can provide more marking data points, so that the system positioning algorithm can use more information to calculate the position and direction of the optical positioning tool, thereby improving the positioning accuracy and reliability. When the position information of a certain marking member 20 cannot be accurately collected, the position of the optical positioning tool can also be determined based on the position information of the other three marking members 20.

[0102] In other embodiments, one of the first support plate 121 and the second support plate 122 may be provided with two marking elements 20 and the other may be provided with one marking element 20. Alternatively, three or more marking elements 20 may be provided on each support plate.

[0103] In other embodiments, the support portion 12 may further include a third support plate, a fourth support plate, and the like.

[0104] In one embodiment, when the support portion 12 includes a first support plate 121 and a second support plate 122, the first support plate 121 and the second support plate 122 are disposed on the same side of the tool mounting portion 11 in the horizontal direction, and the horizontal direction of the tool mounting portion 11 refers to a direction parallel to the xy plane. Fig.10 The first top surface 1211 of the first support plate 121 and the second top surface 1221 of the second support plate 122 are both parallel to the xy plane of the optical positioning tool.

[0105] The inventors discovered that if the first support plate 121 and the second support plate 122 are respectively arranged on two opposite sides (such as the rear side and the front side) or two adjacent sides (such as the rear side and the left side) of the tool mounting portion 11, when the optical positioning tool is viewed at a certain angle, the marking parts 20 may block each other.

[0106] Optionally, refer to Fig.11 In the y direction of the optical positioning tool, the first support plate 121 and the second support plate 122 are arranged on the same side of the tool mounting portion 11. Figure 1The first support plate 121 and the second support plate 122 are both located at the rear side of the tool mounting portion 11. The upper side or the lower side of the tool mounting portion 11 can be used to connect with the target object 40. In this way, when looking at the optical positioning tool (such as Figure 2 Schematic), looking from the back to the front at the optical positioning tool (such as Figure 3 Schematic), looking from left to right at the optical positioning tool (such as Figure 4 or Figure 5 Schematic diagram), the marking member 20 disposed on the first support plate 121 and the marking member 20 disposed on the second support plate 122 do not block each other. In these drawings, it can be seen that Figure 1 Four marking members 20 are shown in FIG.

[0107] Optionally, refer to Fig.11 The two ends of the first support plate 121 are respectively a first plate head end 1212 and a first plate end 1213, the first plate head end 1212 is connected to the tool mounting portion 11, and in the x direction of the optical positioning tool, the first plate end 1213 is away from the second support plate 122 relative to the first plate head end 1212. And / or, refer to Fig.11 The two ends of the second support plate 122 are respectively a second plate head end 1222 and a second plate end 1223 . The second plate head end 1222 is connected to the tool mounting portion 11 . In the x direction of the optical positioning tool, the second plate end 1223 is away from the first support plate 121 relative to the second plate head end 1222 .

[0108] By configuring the first plate end 1213 to be away from the second support plate 122 and configuring the second plate end 1223 to be away from the first support plate 121, the marking parts 20 set near the head end of the plate and the marking parts 20 set near the end of the plate can be avoided as much as possible in the x-direction and y-direction, thereby reducing mutual occlusion between the marking parts 20.

[0109] In other embodiments, the first support plate 121 and the second support plate 122 may also be arranged on two adjacent sides or opposite sides of the tool mounting portion 11, and the shape settings of the two support plates or the layout of the marking parts 20 can be used to minimize the situation where the marking parts 20 on the two support plates block each other.

[0110] In one embodiment, the side surface of the tool mounting portion 11 on one side in the z direction is the mounting surface 1101, and the mounting surface 1101 is used to mount the target object 40 to be positioned; in the optical positioning tool, the mounting surface 1201 and the mounting surface 1101 are located on opposite sides of the optical positioning tool. Figure 1 The supporting surface of the mounting portion is the upper side of the tool body 10, and the assembly surface 1101 of the tool mounting portion 11 is the lower side of the tool body 10 (not shown in the figure). In this way, in the optical positioning scenario, Fig.14As shown in the figure, a plurality of marking elements 20 are located on the upper side of the tool body 10, and a target object 40 is located on the lower side of the tool body 10. The target object 40 will not block the horizontal side of the marking element 20, so that the optical positioning instrument can accurately capture the light signal at the marking element 20, thereby improving the positioning accuracy.

[0111] In other embodiments, the assembly surface 1101 is located on a side surface of the mounting portion in the x direction.

[0112] In one embodiment, the assembly surface 1101 is a side surface of the tool mounting portion 11z. Figure 1 , Fig.10 , Fig.15 , Fig.16 The mounting hole 111 is a through hole extending along the z direction. In this way, the connection seat 30 can be mounted and fixed to the assembly surface 1101 of the tool mounting portion 11 by fasteners such as bolts and screws.

[0113] Optionally, refer to Fig.16 The mounting hole 111 includes a small hole portion 1111 and a large hole portion 1112. The small hole portion 1111 is closer to the assembly surface 1101 than the large hole portion 1112. The small hole portion 1111 is provided with an internal thread. The fastener is a bolt. When the tool mounting portion 11 is connected to the connecting seat 30 by a bolt, the screw rod of the bolt is passed through the small hole portion 1111 and is threadedly connected to the connecting seat 30. The screw head of the bolt is embedded in the large hole portion 1112 to avoid the bolt protruding relative to the tool mounting portion 11 and reduce the obstruction of the field of vision by the bolt.

[0114] In other embodiments, the connecting seat 30 may also be detachably connected to the tool mounting portion 11 by snap-fitting or the like.

[0115] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right" and other directions or positional relationships are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0116] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0117] In addition, it should be understood that although this specification is described according to 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 may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0118] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. An optical positioning tool, characterized in that: It comprises a tool body (10) and a plurality of marking members (20); The tool body (10) comprises a tool mounting portion (11) and a support portion (12) connected to each other, wherein the tool mounting portion (11) is used to be connected to a target object (40) to be positioned; the support portion (12) has a mounting surface (1201), at least three marking members (20) are arranged on the upper side of the mounting surface (1201), and the marking members (20) are connected to the support portion (12); The distances between at least two of the marking members (20) and the mounting surface (1201) are different.

2. The optical positioning tool according to claim 1, characterized in that: The tool body (10) further comprises at least three support columns (13); the support columns (13) are connected to the support portion (12), and each of the support columns (13) is installed with at least one marking member (20).

3. The optical positioning tool according to claim 2, characterized in that: The support column (13) is detachably connected to the support portion (12), and the marking member (20) is installed at one end of the support column (13) away from the support portion (12).

4. The optical positioning tool according to claim 2, characterized in that: Among the plurality of support columns (13), at least two of the support columns (13) have different lengths.

5. The optical positioning tool according to claim 2, characterized in that: The marking element (20) is a reflective marking ball; And / or, the support portion (12) is provided with a first mounting portion (1202); a second mounting portion (131) is provided at one end of the support column (13), and a third mounting portion (132) is provided at the other end; the second mounting portion (131) is threadedly connected to the first mounting portion (1202), and the marking member (20) is connected to the third mounting portion (132).

6. The optical positioning tool according to any one of claims 1 to 5, characterized in that: The support portion (12) comprises a first support plate (121) and a second support plate (122), the first support plate (121) being connected to the tool mounting portion (11), and the second support plate (122) being connected to the tool mounting portion (11); The mounting surface (1201) comprises a first top surface (1211) located on the first support plate (121) and a second top surface (1221) located on the second support plate (122), wherein the first top surface (1211) and the second top surface (1221) are located on the same plane; the marking component (20) is arranged on the upper side of the first top surface (1211), and the marking component (20) is arranged on the upper side of the second top surface (1221).

7. The optical positioning tool according to claim 6, characterized in that: At least two of the marking members (20) are arranged on the first support plate (121); and at least two of the marking members (20) are arranged on the second support plate (122).

8. The optical positioning tool according to claim 6, characterized in that: In the y direction of the optical positioning tool, the first support plate (121) and the second support plate (122) are arranged on the same side of the tool mounting portion (11); The two ends of the first support plate (121) are respectively a first plate head end (1212) and a first plate end (1213), the first plate head end (1212) is connected to the tool mounting portion (11), and in the x-direction of the optical positioning tool, the first plate end (1213) is away from the second support plate (122) relative to the first plate head end (1212); and / or the two ends of the second support plate (122) are respectively a second plate head end (1222) and a second plate end (1223), the second plate head end (1222) is connected to the tool mounting portion (11), and in the x-direction of the optical positioning tool, the second plate end (1223) is away from the first support plate (121) relative to the second plate head end (1222).

9. The optical positioning tool according to claim 1, characterized in that: The side surface of the tool mounting portion (11) on one side in the z direction is an assembly surface (1101), and the assembly surface (1101) is used to mount a target object (40) to be positioned; the mounting surface (1201) and the assembly surface (1101) are located on opposite sides of the tool body (10).

10. A positioning component, characterized in that: include: The optical positioning tool according to any one of claims 1 to 9; A connecting seat (30) is detachably connected to the tool mounting portion (11); the connecting seat (30) is used to connect to a target object (40) to be positioned.

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