Three-dimensional marking device

Abstract

The utility model discloses a three-dimensional marking device, and belongs to the technical field of optical positioning. The three-dimensional marking device comprises a device main body and a plurality of marking bodies, the device body comprises a first supporting part and a second supporting part which are connected, the first supporting part is provided with a first supporting face, the second supporting part is provided with a second supporting face, and the second supporting face inclines relative to the first supporting face. The at least two marking bodies are installed on the first supporting face, and the at least two marking bodies are installed on the second supporting face. According to the three-dimensional marking device, at least two non-coplanar supporting surfaces are provided, and the marking bodies are arranged on the two supporting surfaces, so that the marking bodies mounted on different supporting surfaces are not easy to shield each other. When the three-dimensional marking device is applied to optical positioning, the positioning effect is better.

Description

Technical Field

[0001] The utility model relates to the technical field of optical positioning, in particular to a three-dimensional marking device. Background Art

[0002] Optical positioning technology is widely used in many fields such as medical field and industrial field. Optical positioning technology uses optical positioning instruments to capture light signals at multiple marking points on the marking device to locate the marking device and then locate the target object fixed relative to the marking device.

[0003] The marking device in the related art usually only sets multiple marking points on one plane. When the marking device flips to a certain extent, some marking points may be blocked, causing the optical positioning instrument to be unable to capture enough information about the marking points, affecting the positioning effect. Utility Model Content

[0004] The purpose of the embodiment of the utility model is to provide a three-dimensional marking device, which can improve the problem that the positioning accuracy of the marking device by the optical positioning instrument is invalid or reduced when the marking point is blocked during the rotation of the marking device, and the marking device can be applicable to more positioning scenarios.

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

[0006] A three-dimensional marking device comprises a device body and a plurality of marking bodies;

[0007] The device body comprises a first supporting part and a second supporting part connected to each other, the first supporting part has a first supporting surface, the second supporting part has a second supporting surface, and the second supporting surface is inclined relative to the first supporting surface;

[0008] At least two of the marking bodies are installed on the first supporting surface, and at least two of the marking bodies are installed on the second supporting surface.

[0009] Optionally, at least three marking bodies are installed on the first supporting surface, and the marking bodies installed on the first supporting surface are not collinear; at least three marking bodies are installed on the second supporting surface, and the marking bodies installed on the second supporting surface are not collinear.

[0010] Optionally, the three-dimensional marking device further comprises a mounting seat, which is connected to the device body and is used to be connected to a target object; the mounting seat and the marking body are located on opposite sides of the device body.

[0011] Optionally, a recess is provided on a side of the device body facing away from the marking body, the recess is located between the first supporting portion and the second supporting portion, and the mounting seat is at least partially located in the recess.

[0012] Optionally, the first supporting surface and the second supporting surface are both upper surfaces of the device body;

[0013] The first supporting portion and the second supporting portion are arranged around a first vertical line; the first supporting surface is inclined downward from a side close to the first vertical line to a side away from the first vertical line, and the second supporting surface is inclined downward from a side close to the first vertical line to a side away from the first vertical line.

[0014] Optionally, the device body includes a base, the first supporting portion is connected to the base, and the second supporting portion is connected to the base.

[0015] Optionally, the first supporting portion and the second supporting portion are arranged on opposite sides of the base.

[0016] Optionally, three marking bodies distributed in a triangular shape are arranged on the first supporting surface, and three marking bodies distributed in a triangular shape are arranged on the second supporting surface;

[0017] The first supporting portion is a triangular plate portion, and one side of the first supporting portion is connected to the base; the second supporting portion is a triangular plate portion, and one side of the second supporting portion is connected to the base.

[0018] Optionally, the first support portion is provided with a first hollow through hole, the second support portion is provided with a second hollow through hole, and the base portion is provided with a third hollow through hole;

[0019] The three-dimensional marking device also includes a mounting seat connected to the base, the mounting seat is provided with a mounting hole, the base is provided with a position avoidance hole, and the position avoidance hole is connected to the mounting hole.

[0020] Optionally, the plurality of marking bodies are all reflective balls; support columns are provided on the first support surface and the second support surface, and the reflective balls are connected to the support columns.

[0021] The beneficial effect of the utility model is that the three-dimensional marking device provides at least two non-coplanar support surfaces, and the marking bodies are arranged on the two support surfaces, so that the marking bodies installed on different support surfaces are not easy to block each other. The three-dimensional marking device has a better positioning effect when used in optical positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The utility model is further described in detail below based on the drawings and embodiments.

[0023] Figures 1 to 4 It is a schematic diagram of the structure of the main components of the three-dimensional marking device according to the embodiment of the utility model at different angles;

[0024] Figures 5 to 9 It is a schematic diagram of the structure of the three-dimensional marking device according to the embodiment of the utility model at different angles;

[0025] Fig.10 , Fig.11 It is a schematic diagram of the structure of another three-dimensional marking device in an embodiment of the utility model at different angles;

[0026] Fig.12 It is a structural schematic diagram of the main components of another type of three-dimensional marking device in an embodiment of the utility model;

[0027] Fig.13 It is a structural schematic diagram of another three-dimensional marking device in an embodiment of the utility model.

[0028] In the figure: 10, device body; 101, first vertical line; 11, first supporting part; 111, first supporting surface; 112, first back side; 1101, first hollow through hole; 12, second supporting part; 121, second supporting surface; 122, second back side; 1102, second hollow through hole; 13, base; 1301, third hollow through hole; 1302, avoidance hole; 20, mounting seat; 201, mounting hole; 21, assembly surface; 30, support column; 90, marking body. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] In the related technologies, optical positioning technology is applied in many fields such as industry and medicine. When performing optical positioning, the marking device is connected to the target object, such as the patient's body, surgical instruments, industrial manufacturing equipment, etc. The marking device is provided with multiple optical marking parts, which are objects that can be recognized by the camera or optical sensor of the optical marking instrument. By tracking the position changes of multiple marking parts, the position (spatial coordinates) and posture (such as rotation, tilt, etc.) of the target object can be determined in real time.

[0033] In the related technology, in some marking devices, multiple marking parts are installed on the same plane. During the positioning process, the marking device is fixed at a certain position, or the marking device only performs translational movement. In this way, in the field of view of the optical marking instrument, multiple marking parts always remain in an unobstructed state, and the marking parts will not be obstructed.

[0034] However, if the marking device has certain posture changes during the movement of the target object, it is easy for the positions of the marking parts to overlap and be blocked. The optical positioning instrument cannot identify a sufficient number of marking parts within the field of view, resulting in failure in tracking, positioning and identifying the marking device. For example, three marking parts are installed on the same plane. If the marking device rotates around a rotation axis perpendicular to the plane, one marking part may completely block the front side of another marking part. At this time, only two marking parts can be identified in the optical positioning instrument. For another example, the marking device is fixed at the end of a robotic arm. During the operation of the robotic arm, it generally moves and rotates in space. The marking device rotates with the robotic arm. When the marking device is at certain angles, some of the marking parts in the marking device are blocked in the field of view of the optical positioning instrument, which affects the positioning effect.

[0035] Based on this, the present application provides a three-dimensional marking device, which provides at least two non-coplanar supporting surfaces, different supporting surfaces have different orientations, and a marking body is installed on each supporting surface. The marking bodies installed on different supporting surfaces are not easy to block each other. In this way, the three-dimensional marking device can be accurately identified and positioned by optical positioning instruments in multiple postures and multiple angles.

[0036] Exemplarily, in some embodiments, the three-dimensional marking device is at least Figures 6 to 8 Under the three postures, the optical positioning instrument has a good recognition and positioning effect on the three-dimensional marking device.

[0037] In the present application, a three-dimensional marking body is used to provide a marking indication, rather than a two-dimensional planar marking pattern as a marking point. The marking body protrudes relative to the first supporting surface or the second supporting surface, and the marking body can be identified at more angles.

[0038] When solving the problem of mutual obstruction between multiple marking parts, the inventors considered configuring the marking device as follows: installing multiple mounting rods extending in different directions on the base, and installing a reflective ball at the end of each mounting rod. Although this marking device can arrange multiple reflective balls in three-dimensional space, and can improve or avoid the problem of mutual obstruction between reflective balls during the rotation of the marking device by adjusting the length and direction of the mounting rods. However, the inventors found that this marking device has two problems: first, the structural strength of the mounting rod is relatively low, which may cause the reflective ball to shake during the movement of the marking device, affecting the positioning accuracy; second, the overall volume is relatively large.

[0039] The three-dimensional marking device of the present application has high structural strength and rigidity, a stable position of the marking body, and a good positioning effect; and there is no need to set a long installation rod extending outward, which can reduce the external volume to a certain extent.

[0040] Please refer to Figures 1 to 12 , the structure of the three-dimensional marking device of the present application is described in detail below.

[0041] The three-dimensional marking device includes a main body component and a plurality of marking bodies 90 , and the plurality of marking bodies 90 are mounted on the main body component. Figures 1 to 4 The structural diagram of the first main component is shown. Figures 5 to 11 A schematic diagram of a three-dimensional marking device using the first main component is shown in FIG. Fig.12 A schematic structural diagram of the second three-dimensional component is shown.

[0042] Please continue to refer to Figures 1 to 11The three-dimensional component includes a device body 10, and the device body 10 includes a first support portion 11 and a second support portion 12, and the second support portion 12 is connected to the first support portion 11. The first support portion 11 has a first support surface 111, and the second support portion 12 has a second support surface 121. The second support surface 121 is not in the same plane, parallel, or coplanar with the first support surface 111. Optionally, the second support surface 121 is inclined relative to the first support surface 111. In other words, the first support surface 111 and the second support surface 121 face in different directions.

[0043] At least two marking bodies 90 are mounted on the first support portion 11 and protrude relative to the first support surface 111, and at least two marking bodies 90 are mounted on the second support portion 12 and protrude relative to the second support surface 121. Exemplarily, Figures 5 to 9 In the illustrated three-dimensional marking device, three marking bodies 90 are respectively installed on the first supporting surface 111 and the second supporting surface 121. When the three-dimensional marking device is viewed from the front, left and back, that is, when the three-dimensional marking device is in multiple different postures, at least three marking bodies 90 can be seen. Fig.10 , Fig.11 In the illustrated three-dimensional marking device, two marking bodies 90 are respectively installed on the first supporting surface 111 and the second supporting surface 121. When the three-dimensional marking device is in multiple postures, at least three marking bodies 90 can be seen.

[0044] Optionally, the marking body 90 is a reflective structure with a reflective surface, such as a reflective ball. In other embodiments, the marking body 90 may also be a reflective structure of other shapes such as a cube or a polyhedron; or, the marking body 90 may also be a luminous structure that can emit light after being connected to a power source, such as a luminous ball.

[0045] Among them, there are at least three non-collinear markers 90 in the three-dimensional marking device. When the optical signals at the three markers 90 of the marking device are captured in the optical positioning instrument, the position and posture information of the three-dimensional marking device can be calculated. In three-dimensional space, any three non-collinear points can determine a unique positioning plane. When positioning the marking device, the optical positioning instrument is used to capture the light signals at any three non-collinear markers 90 on the marking device. The lines between each marker 90 and the optical sensor or camera of the positioning instrument will intersect with this positioning plane, so that the position and posture of the marking device in three-dimensional space can be calculated. Among them, it should be noted that the three markers 90 are not collinear, which means that the centers of the three markers 90 cannot be passed through by the same line.

[0046] The three-dimensional marking device of the present application provides a non-coplanar first support surface 111 and a second support surface 121, and a marking body 90 is set on both the first support surface 111 and the second support surface 121. When the optical positioning instrument identifies and locates the three-dimensional marking device, since the non-coplanar marking bodies 90 basically do not block each other, a better positioning effect and a better positioning accuracy can be obtained. The three-dimensional marking device can be identified and located in more postures and can meet more positioning requirements.

[0047] In one embodiment, referring to Figure 5 , Figure 6 , Fig. 9 In order to effectively identify and locate the three-dimensional marking device in more postures, the three-dimensional marking device is configured as follows: at least three marking bodies 90 are installed on the first support surface 111, and the marking bodies 90 installed on the first support surface 111 are not collinear; at least three marking bodies 90 are installed on the second support surface 121, and the marking bodies 90 installed on the second support surface 121 are not collinear. It can be understood that when the number of marking bodies 90 installed on each support surface increases, it is conducive to meeting the positioning requirements of the optical positioning instrument for the three-dimensional marking device and the target object in more postures and angles.

[0048] At least three non-collinear marking bodies 90 are disposed on each of the first support surface 111 and the second support surface 121, so that the three-dimensional marking device can be rotated to the position as shown in FIG. Figure 7 When the second support surface 121 is facing away from the optical positioning instrument, the optical positioning instrument can capture the optical signals of the three marking bodies 90 on the first support surface 111, thereby accurately positioning the three-dimensional marking device and the target object. Figure 8 In the illustrated posture where the first supporting surface 111 faces away from the optical positioning instrument, the optical positioning instrument can capture the optical signals of the three marking bodies 90 on the second supporting surface 121, thereby realizing accurate positioning of the three-dimensional marking device and the target object.

[0049] In other embodiments, Fig.10 , Fig.11 For illustration, only two marking bodies 90 may be provided on the first supporting surface 111 , and / or only two marking bodies 90 may be provided on the second supporting surface 121 .

[0050] In one embodiment, referring to Figures 6 to 12 The three-dimensional marking device further includes a mounting base 20, which is connected to the device body 10 and is also used to connect to a target object. 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; or, the target object is a manipulator.

[0051] Optionally, the mounting base 20 and the marking body 90 are located on opposite sides of the device body 10. Figure 6 As shown in the figure, the marking body 90 is located on the upper side of the device body 10, and the mounting base 20 is located on the lower side of the device body 10. In this way, in the optical positioning scenario, the mounting base 20 is directly or indirectly connected to the target object to achieve relative fixation between the two. The target object is located on the side of the device body 10 away from the marking body 90. In this way, there will be no mutual obstruction between the target object and the marking parts installed on different supporting surfaces, which is beneficial for indicating the position and posture based on the marking body 90 when the target object moves and the marking device moves accordingly.

[0052] It should be noted that in this application, when describing the orientation or position relationship such as "up", "down", "left", "right", "front", "back", etc., it is only used to illustrate the position relationship between the various components in the three-dimensional marking device. Exemplarily, "the marking body 90 is located on the upper side of the device body 10" means that in the internal coordinates of the three-dimensional marking device, the marking body 90 is located on the upper side of the device body 10, but in the external coordinates, for example, when the three-dimensional marking device is in different postures, for the three-dimensional coordinates of the optical positioning instrument, the marking body 90 may be located on the left side of the device body 10, etc.

[0053] In other embodiments, the mounting seat 20 and the target object may also be located on the same side of the device body 10, and some hollow structures are provided on the mounting seat 20 to reduce the shielding of the marking body 90 on the first supporting surface 111 or the second supporting surface 121 by the mounting seat 20 at some viewing angles. Alternatively, the mounting seat 20 may also be located on the side of the first supporting portion 11 away from the second supporting portion 12, or the mounting seat 20 may be located on the side of the second supporting portion 12 away from the first supporting portion 11.

[0054] In one embodiment, referring to Figure 6 , Fig.11 , Fig.12 In the case where the three-dimensional marking device is provided with a mounting seat 20, a concave portion is provided on the side of the device body 10 away from the marking body 90, the concave portion is located between the first supporting portion 11 and the second supporting portion 12, and the mounting seat 20 is at least partially located in the concave portion. Figure 6 As shown in the figure, the first support portion 11 and the second support portion 12 are plate-shaped structures, and the first support portion 11 and the second support portion 12 are configured to be inclined downward from the middle to the outside, so that the first support portion 11 and the second support portion 12 are

[0055] Among them, the first supporting surface 111 and the second supporting surface 121 are both the upper surfaces of the device body 10. A recess is provided on the lower side of the device body 10, and the mounting seat 20 is arranged in the recess, which not only satisfies that the supporting surface and the mounting seat 20 are located on the upper and lower sides of the device body 10, but also allows the mounting seat 20 to reuse a certain height space occupied by the device body 10, making the overall structure of the three-dimensional marking device more compact, which is conducive to reducing the overall height and volume of the three-dimensional marking device, and is applicable in more scenarios.

[0056] Optionally, the first support portion 11 further comprises a first back surface 112, and the first support surface 111 and the first back surface 112 are located at two opposite sides of the first support portion 11; the second support portion 12 further comprises a second back surface 122, and the second support surface 121 and the second back surface 122 are located at two opposite sides of the second support portion 12. The recess is formed between the first back surface 112 and the second back surface 122, and the mounting seat 20 is disposed between the back surface of the first support portion 11 and the back surface of the second support portion 12.

[0057] In other embodiments, the recess may not be provided on the lower side of the device body 10. The device body 10 includes two downwardly inclined first support surfaces 111 and a second support surface 121 on the left and right sides. The bottom surface of the device body 10 is a bottom plane connected between the first support surface 111 and the second support surface 121. The target object can be directly mounted on the bottom plane, or a protruding mounting platform can be provided on the bottom plane to mount the target object on the mounting platform.

[0058] Optionally, when a recess is provided on the lower side of the device body 10 and the mounting seat 20 is provided in the recess, Figure 2 As shown in the figure, the lower side of the mounting seat 20 is provided with an assembly surface 21, and the target object is abutted against the assembly surface 21 when being mounted, and the target object is directly or indirectly fixed to the assembly surface 21 by fastening with fasteners or snap-fitting. For example, a medical probe or the end of a robotic arm is fixed to the assembly surface 21, and the assembly surface 21 contacts the target object to achieve force transmission.

[0059] In other embodiments, the assembly surface 21 of the mounting seat 20 may also be at other positions.

[0060] In one embodiment, the first support surface 111 and the second support surface 121 are both upper surfaces of the device body 10 . In other words, the first support surface 111 and the second support surface 121 can be completely seen when looking down from the upper side of the device body 10 .

[0061] The device body 10 has a first vertical line 101, Figure 4 , Figure 6, a first vertical line 101 of the device body 10 is illustrated. It should be noted that the first vertical line 101 extends from top to bottom, and the first vertical line 101 is not an actual line but a virtual line, and the first vertical line 101 is only used to illustrate the layout of the first support portion 11, the first support surface 111, the second support portion 12, and the second support surface 121.

[0062] The first support portion 11 and the second support portion 12 are arranged around the first vertical line 101; illustratively, Figure 5 The first support portion 11 and the second support portion 12 are located on the left and right sides of the first vertical line 101; in other embodiments, one of the first support portion 11 and the second support portion 12 may be located on the left side of the first vertical line 101 and the other may be located in front of the first vertical line 101. Figure 4 , Figure 6 , the first support surface 111 is inclined downward from the side close to the first vertical line 101 to the side away from the first vertical line 101, and the second support surface 121 is inclined downward from the side close to the first vertical line 101 to the side away from the first vertical line 101. In other words, the angle α between the first support surface 111 and the second support surface 121 set on the upper surface of the device body 10 is greater than 180 degrees. In this way, the marking body 90 on the first support surface 111 and the second support surface 121 is visible at more angles. Figure 7 or Figure 8 It is shown that, when the three-dimensional marking device rotates around the first vertical line 101, the first support portion 11 reduces the shielding of the marking body 90 on the second support surface 121, and the second support portion 12 also reduces the shielding of the marking body 90 on the first support surface 111.

[0063] Alternatively, if Figure 1 As shown in the figure, the first support surface 111 and the second support surface 121 are distributed on the left and right sides of the first vertical line 101, and the first support surface 111 and the second support surface 121 are inclined downward at a certain angle from back to front, and the inclination angle can be small. Figure 4 When viewed from the rear side of the three-dimensional marking device, a portion of the first supporting surface 111 and a portion of the second supporting surface 121 can be seen, which helps to make the marking body 90 on the two supporting surfaces visible.

[0064] In other embodiments, Fig.13 As shown in the figure, the first support surface 111 and the second support surface 121 are the upper surfaces of the device body 10, and the first support surface 111 and the second support surface 121 are configured to be inclined upward from the side close to the first vertical line 101 to the side away from the first vertical line 101. In order to reduce the shielding of the marking body 90 on the other supporting part by one supporting part, hollow holes are set in the first supporting part 11 and the second supporting part 12, so that the marking body 90 can be easily seen from the hollow parts.

[0065] In one embodiment, referring to Figures 1 to 6 , Fig.10 , Fig.11 The device body 10 includes a base 13, and the first support part 11 and the second support part 12 are both connected to the base 13. The arrangement of the base 13, on the one hand, allows the marking body 90 on the first support surface 111 and the second support surface 121 to be spaced a certain distance apart, and on the other hand, when the mounting seat 20 is provided, the mounting seat 20 can be connected to the base 13.

[0066] In one embodiment, the device body 10 includes a base 13, and the first support portion 11 and the second support portion 12 are arranged on opposite sides of the base 13 and are both connected to the base 13. Exemplarily, the first support portion 11 and the second support portion 12 are arranged on the left and right sides of the base 13, and the first support surface 111 is inclined downward from the side close to the base 13 to the side away from the base 13, and the second support surface 121 is inclined downward from the side close to the base 13 to the side away from the base 13. The two support portions are distributed on both sides of the base 13. In this way, when the first support surface 111 and the second support surface 121 are each provided with three marking bodies 90, as shown in FIG. Figure 6 As shown, at least four marking bodies 90 can be seen from the front or rear perspective of the three-dimensional marking device, at least three marking bodies 90 can be seen from the left and right perspectives of the three-dimensional marking device, and six marking bodies 90 can be seen from the top view of the three-dimensional marking device. A better recognition effect of the three-dimensional marking device can be obtained at multiple angles.

[0067] Optionally, the first support portion 11 and the second support portion 12 are symmetrically arranged about the base 13, which is beautiful in appearance and easy to manufacture. Of course, the structural shapes of the first support portion 11 and the second support portion 12 can also be different, and the inclination angles of the first support surface 111 and the second support surface 121 can also be different.

[0068] In other embodiments, the device body 10 includes a base 13, and the first support portion 11 and the second support portion 12 are arranged on two adjacent sides of the base 13 and are both connected to the base 13. Exemplarily, the first support portion 11 and the second support portion 12 are connected to the left side and the rear side of the base 13.

[0069] In other embodiments, the device body 10 includes a base 13, and the left and right sides of the base 13 are respectively connected to the first support part 11 and the second support part 12, and the front and rear sides are respectively connected to the third support part and the fourth support part, and the upper surfaces of the four support parts are all inclined downward from the middle to the outside to provide a mounting surface for the marking body 90.

[0070] In other embodiments, Fig.12 , Fig.13As shown in FIG. 1 , the device body 10 may not be provided with the base 13 , and the first supporting portion 11 is directly connected to the second supporting portion 12 .

[0071] In one embodiment, referring to Figures 5 to 9 Three marking bodies 90 distributed in a triangular shape are arranged on the first supporting surface 111, and three marking bodies 90 distributed in a triangular shape are arranged on the second supporting surface 121. In this way, the marking bodies 90 on each supporting surface are connected to form a triangular positioning surface, and the positioning surface is inclined downward, so as to obtain a better recognition effect while reducing the mutual occlusion between the marking bodies 90.

[0072] Optionally, the first support portion 11 is a triangular plate portion, the first support surface 111 is a triangular or approximately triangular outer contour, and one side of the first support portion 11 is connected to the base 13. Similarly, the second support portion 12 is a triangular plate portion, and one side of the second support portion 12 is connected to the base 13. The two support portions are triangular plate portions, and on the basis of satisfying the layout of three triangularly distributed marking bodies 90 on each support portion, the volume of the support portion is minimized, the weight is reduced, and it is also beneficial for the support portion to block other marking bodies 90 in the field of view.

[0073] Of course, in other embodiments, the first supporting portion 11 and the second supporting portion 12 may also be other shapes such as a quadrilateral.

[0074] In one embodiment, the first support portion 11 is provided with a first hollow through hole 1101 extending vertically, and a plurality of marking bodies 90 provided on the first support surface 111 surround the outside of the first hollow through hole 1101. The second support portion 12 is provided with a second hollow through hole 1102 extending vertically, and a plurality of marking bodies 90 provided on the second support surface 121 surround the outside of the second hollow through hole 1102. The provision of hollow through holes in the first support portion 11 and the second support portion 12 is conducive to reducing the weight and material cost of the support portion, and the provision of the hollow through holes also reduces the shielding of the marking body 90 by the support portion at some viewing angles.

[0075] In one embodiment, the base 13 is provided with a third hollow through hole 1301 to reduce the weight and material cost of the base 13 .

[0076] In one embodiment, the three-dimensional marking device further comprises a mounting seat 20 connected to the base 13, the mounting seat 20 is arranged at the lower side of the base, the mounting seat 20 is provided with a mounting hole 201 which passes through from top to bottom, the base 13 is provided with a position avoidance hole 1302 which passes through from top to bottom, the position avoidance hole 1302 is connected with the mounting hole 201, so that when the three-dimensional marking device needs to be assembled with the target object, the target object can be arranged at the lower side of the mounting seat 20, and then the fastener can be inserted from the position avoidance hole 1302 of the base 13, and the fastener can be screwed into the target object through the position avoidance hole 1302 and the mounting hole 201. Of course, in other embodiments, the target object and the mounting seat 20 can be connected and fixed in other ways.

[0077] In one embodiment, the marking body 90 is a reflective ball, and a support column 30 is provided on both the first support surface 111 and the second support surface 121, and the reflective ball is connected to the support column 30. The reflective ball can be detachably mounted on the support column 30 by snap-fitting, and the setting of the support column 30 is convenient for providing a reflective ball installation position. In other embodiments, the marking body 90 can also be directly fixed to the support surface by fasteners or the like.

[0078] In the description of this document, the terms "first" and "second" are only used to distinguish in the description and have no special meaning. 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.

[0079] 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.

[0080] 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. A three-dimensional marking device, characterized in that: It comprises a device body (10) and a plurality of marking bodies (90); The device body (10) comprises a first supporting portion (11) and a second supporting portion (12) connected to each other, the first supporting portion (11) having a first supporting surface (111), the second supporting portion (12) having a second supporting surface (121), and the second supporting surface (121) being inclined relative to the first supporting surface (111); At least two of the marking bodies (90) are installed on the first supporting surface (111), and at least two of the marking bodies (90) are installed on the second supporting surface (121).

2. The three-dimensional marking device according to claim 1, characterized in that: At least three marking bodies (90) are installed on the first supporting surface (111), and the marking bodies (90) installed on the first supporting surface (111) are not collinear; At least three marking bodies (90) are installed on the second supporting surface (121), and the marking bodies (90) installed on the second supporting surface (121) are not collinear.

3. The three-dimensional marking device according to claim 1, characterized in that: The three-dimensional marking device further comprises a mounting seat (20), the mounting seat (20) being connected to the device body (10), and the mounting seat (20) being used to be connected to a target object; The mounting seat (20) and the marking body (90) are located on opposite sides of the device body (10).

4. The three-dimensional marking device according to claim 3, characterized in that: A recess is provided on the side of the device body (10) facing away from the marking body (90), the recess is located between the first supporting part (11) and the second supporting part (12), and the mounting seat (20) is at least partially located in the recess.

5. The three-dimensional marking device according to claim 1, characterized in that: The first supporting surface (111) and the second supporting surface (121) are both upper surfaces of the device body (10); The first supporting portion (11) and the second supporting portion (12) are arranged around a first vertical line (101); the first supporting surface (111) is inclined downward from a side close to the first vertical line (101) to a side away from the first vertical line (101), and the second supporting surface (121) is inclined downward from a side close to the first vertical line (101) to a side away from the first vertical line (101).

6. The three-dimensional marking device according to any one of claims 1 to 5, characterized in that: The device body (10) comprises a base (13), the first supporting part (11) is connected to the base (13), and the second supporting part (12) is connected to the base (13).

7. The three-dimensional marking device according to claim 6, characterized in that: The first supporting portion (11) and the second supporting portion (12) are arranged on opposite sides of the base (13).

8. The three-dimensional marking device according to claim 7, characterized in that: The first supporting surface (111) is provided with three marking bodies (90) distributed in a triangular shape, and the second supporting surface (121) is provided with three marking bodies (90) distributed in a triangular shape; The first support portion (11) is a triangular plate portion, one side of which is connected to the base portion (13); the second support portion (12) is a triangular plate portion, one side of which is connected to the base portion (13).

9. The three-dimensional marking device according to claim 6, characterized in that: The first supporting portion (11) is provided with a first hollow through hole (1101), the second supporting portion (12) is provided with a second hollow through hole (1102), and the base portion (13) is provided with a third hollow through hole (1301); The three-dimensional marking device also includes a mounting seat (20) connected to the base (13), the mounting seat (20) is provided with a mounting hole (201), the base (13) is provided with a position avoidance hole (1302), and the position avoidance hole (1302) is connected to the mounting hole (201).

10. The three-dimensional marking device according to claim 1, characterized in that: The plurality of marking bodies (90) are all reflective balls; support columns (30) are provided on the first support surface (111) and the second support surface (121), and the reflective balls are connected to the support columns (30).

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