Multi-surface tracer and robot

Abstract

The utility model discloses a multi-surface tracer and a robot, and relates to the field of tracers. The tracer comprises a base body and a marking ball, the base body comprises a mechanical arm connecting part, a guider mounting part and a connecting arm, and at least three mounting surfaces are arranged on the periphery of the connecting arm; each mounting surface is provided with at least three marking balls; one marking ball is randomly selected on one of any two mounting surfaces, and the distance between the marking ball and the other marking balls is a first set; optionally selecting one marking ball on the other mounting surface, wherein the distance between the marking ball and the other marking balls on the mounting surface is a second set; one interval is selected from the first set and the second set to form a data pair, the absolute value of the difference value of the two distances of the same data pair is smaller than DT2, the data pair meeting the requirement is smaller than (T-1) pairs, T is the minimum number of balls in the recognition strategy of the positioning instrument, and DT2 is the minimum distance difference of recognition of the positioning instrument on the single-face tracer tool. The multi-surface tracer can ensure that the positioning ball is clear and distinguishable under the visual angle of the positioning instrument, avoids imaging coincidence, and improves the posture recognition accuracy.

Description

Technical Field

[0001] The utility model relates to the field of tracers, in particular to a multi-faceted tracer and a robot. Background Art

[0002] In some scenarios where a vision locator is used, the vision locator often relies on the marker ball on the tracer to accurately determine the spatial position and posture of the tool.

[0003] Tracer tools utilize multiple marker balls placed on them to achieve effective recognition angles. Therefore, the challenge is to properly arrange the distance between the marker balls to ensure that each one is clearly distinguishable from the visual locator's perspective, avoiding recognition errors or misidentification caused by image overlap. Utility Model Content

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, a first aspect of the present invention is to provide a multi-faceted tracer that enables a visual locator to clearly identify each marker ball from a variety of different viewing angles, thereby accurately determining the spatial position and posture of the tracer.

[0005] The second aspect of the present invention aims to provide a robot.

[0006] According to the multifaceted tracer of the first embodiment of the present invention, it includes: a base and a marker ball, the base includes a robot arm connection part, a guide mounting part and a connecting arm located therebetween, the outer peripheral surface of the connecting arm includes at least three mounting surfaces distributed along the circumferential direction; the marker balls are multiple and distributed on each of the mounting surfaces, and each of the mounting surfaces is provided with at least three marker balls; on any two mounting surfaces, any marker ball is selected from one of the mounting surfaces, and the distance between the marker ball and all other marker balls on the mounting surface constitutes a first set; any marker ball is selected from the other mounting surface, and the distance between the marker ball and all other marker balls on the mounting surface constitutes a second set; any distance in the first set and any distance in the second set constitute a data pair, and the absolute value of the difference between the two distances of the same data pair is less than D T2 , the data pairs that meet this requirement are less than (T-1) pairs, T is the minimum number of spheres in the locator identification strategy corresponding to the multi-faceted tracer, D T2 It is the minimum distance difference between the locator corresponding to the multi-surface tracer and the single-surface tracer tool.

[0007] According to the multi-faceted tracer of the embodiment of the present invention, by providing multiple mounting surfaces distributed along the circumference on the connecting arm and arranging at least three marker balls on each mounting surface, the visibility and recognizability of the multi-faceted tracer at different viewing angles are improved, and the problem of difficulty in locating a single marker ball due to obstruction is reduced. By comparing the distance difference between the marker balls on any mounting surface with a specific threshold value and limiting these distance differences, it is ensured that the absolute value of the difference between the two distances in the data pair formed by the distance between the marker balls selected from any two mounting surfaces is less than D T2 , and the number of data pairs meeting this condition is less than (T-1) pairs, where T is the minimum number of spheres required by the multifaceted tracer in the corresponding locator recognition strategy. This design cleverly utilizes the principles of spatial geometry to ensure that when the multifaceted tracer is scanned by the locator in complex environments, the individual marker spheres can maintain sufficient spatial resolution, effectively avoiding image overlap or confusion, and improving the accuracy and stability of posture recognition. This arrangement, by ensuring a reasonable distribution of distances between marker spheres on adjacent mounting surfaces of the connecting arm, can improve the recognition accuracy of the visual locator, avoid recognition errors caused by the close proximity of marker spheres, and help ensure the reliability and accuracy of the tracer.

[0008] According to the multifaceted tracer of some embodiments of the present invention, on the two circumferentially adjacent mounting surfaces on the connecting arm, any one of the marking balls on one of the mounting surfaces and any one of the marking balls on the other mounting surface satisfy the following conditions: the angle between the two marking balls is less than or equal to twice the visual angle of a single marking ball; wherein the angle between the two marking balls refers to the angle between the center lines of the visual angles of the two marking balls.

[0009] According to some embodiments of the multi-faceted tracer of the present invention, the distance between any two marker balls on each mounting surface is D i The minimum identification distance D of the tracer tool of the locator corresponding to the multi-faceted tracer T , satisfying D i >D T On each of the mounting surfaces, the absolute value of the difference between any two of the distances between the marking balls is greater than or equal to D T2 , D T2 It is the minimum distance difference between the locator corresponding to the multi-surface tracer and the single-surface tracer tool.

[0010] According to the multifaceted tracer of some embodiments of the present invention, the connecting arm includes: a first arm and a second arm, one end of the first arm and the second arm are connected to the guide mounting part, and the other ends of the first arm and the second arm are spaced apart and connected to the robotic arm connecting part; the mounting surface is the surface of the first arm and the second arm, and the marking balls are respectively located on the first arm and the second arm.

[0011] In some embodiments, the mounting surface includes a first mounting surface, a second mounting surface, and a third mounting surface arranged in sequence along the circumferential direction; the second mounting surface is located on the side of the first arm away from the second arm, and is provided with the marking balls; the first mounting surface is distributed on the same side of the first arm and the second arm, and the first mounting surface is located on the first arm and the second arm, and the marking balls are evenly distributed on the first arm and the second arm; the third mounting surface is distributed on the same side of the first arm and the second arm, and the third mounting surface is located on the first arm and the second arm, and the marking balls are evenly distributed on the second arm.

[0012] In some embodiments, the distance between the marker balls on the first mounting surface and the third mounting surface and the robot arm connection portion is at least 8 mm.

[0013] In some embodiments, a through hole for handholding is formed between the first arm, the second arm and the robotic arm connecting portion.

[0014] According to the multi-faceted tracer of some embodiments of the present invention, the guide mounting portion is provided with a sinking platform and a first mounting hole and a first positioning hole located on the bottom wall of the sinking platform.

[0015] According to the multi-faceted tracer of some embodiments of the present invention, at least two second mounting holes and a second positioning hole are provided on the robotic arm connecting portion.

[0016] The robot according to the embodiment of the second aspect of the present invention includes: a robotic arm, the multifaceted tracer according to the embodiment of the first aspect of the present invention, which is installed at the end of the robotic arm through a robotic arm connecting part; and a guide installed on the guide mounting part of the multifaceted tracer.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1Schematic diagram of the structure of a multi-faceted tracer in some embodiments of the present invention;

[0020] Figure 2 is a side view of a multifaceted tracer in some embodiments of the present invention;

[0021] Figure 3 A three-dimensional diagram of a multi-faceted tracer in some embodiments of the present invention;

[0022] Figure 4 This is another stereoscopic view of the multi-faceted tracer in some embodiments of the present invention.

[0023] Reference numerals:

[0024] Multifaceted Tracer 100,

[0025] Base 10, robot arm connecting portion 11, second mounting hole 111, second positioning hole 112, guide mounting portion 12, sink 121, first mounting hole 122, first positioning hole 123, connecting arm 13, first support arm 1301, second support arm 1302, mounting surface 131, first mounting surface F1, second mounting surface F2, protrusion 132, third mounting surface F3, through hole 16,

[0026] Mark ball 20. DETAILED DESCRIPTION

[0027] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0028] In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "top", "bottom", "inner", "outer", "axial", "circumferential", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation and be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0029] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0030] Reference below Figure 1 - Figure 4 A multi-faceted tracer 100 according to an embodiment of the first aspect of the present invention is described.

[0031] According to the multi-faceted tracer 100 in some embodiments of the present invention, the application field of the multi-faceted tracer 100 is not limited.

[0032] The multifaceted tracer 100 can be used in the medical field. For example, it can precisely locate the position of a surgical robot arm, assisting doctors in precise operations and reducing surgical risks. Alternatively, in geological engineering, the multifaceted tracer 100 can help exploration teams detect underground mineral deposits and water resources, improving exploration efficiency and accuracy.

[0033] To simplify the description, the following description is based on the application of the multifaceted tracer 100 in the medical field, and no further details are given.

[0034] like Figure 1 As shown, a multifaceted tracer 100 according to an embodiment of the first aspect of the present invention includes a base 10 and marker balls 20. The base 10 includes a robotic arm connection portion 11, a guide mounting portion 12, and a connecting arm 13 positioned therebetween. The outer circumference of the connecting arm 13 includes at least three circumferentially distributed mounting surfaces 131. Multiple marker balls 20 are distributed on each mounting surface 131, with each mounting surface 131 having at least three marker balls 20 disposed thereon.

[0035] In the above technical solution, the base 10 of the multifaceted tracer 100 is the key part for supporting and fixing the marker ball 20. Figure 1 As shown, the base 10 includes: a robot arm connecting portion 11, a guide mounting portion 12 and a connecting arm 13 connecting the two.

[0036] The robot arm connecting portion 11 is constructed as a structure suitable for connecting to the robot arm to ensure that the multifaceted tracer 100 can be firmly mounted on the robot arm and move and rotate with the robot arm.

[0037] Combine Figure 1The robot arm connector 11 is constructed as a plate-like structure comprising two opposing flat surfaces. One flat surface is designed for tight connection with the robot arm, and its larger contact area enhances contact with the robot arm, thereby improving the stability and reliability of the connection. The other flat surface is used to connect with the connecting arm 13. By increasing the contact area with the connecting arm 13, the connection between the robot arm connector 11 and the connecting arm 13 is effectively improved, ultimately ensuring that the marker ball 20 is firmly connected to the robot arm, enabling precise operation and positioning.

[0038] Optionally, the robot arm connecting portion 11 is a flat plate or an arc-shaped plate, which can be specifically set according to the requirements of the robot arm.

[0039] like Figure 1 As shown, the guide mounting portion 12 is located at the other end of the base 10 and is used to mount auxiliary tools such as surgical guides to guide surgical operations.

[0040] The guide mounting portion 12 is located at the other end of the base 10, opposite the robotic arm connection portion 11. This layout ensures the overall structural balance of the multifaceted tracer 100. The size and shape of the mounting portion can be adjusted based on the desired surgical guide, etc., to ensure accurate and stable installation.

[0041] Optionally, a mounting structure for mounting a surgical guide is provided on the guide mounting portion 12. The mounting structure includes but is not limited to threaded holes, slots, slots, or magnetic adsorption surfaces to provide a variety of mounting methods to accommodate different fixing methods and connection structures of surgical guides.

[0042] like Figure 1 As shown, the connecting arm 13 is used to connect the robot arm connecting portion 11 and the guide mounting portion 12. Its outer circumference is provided with at least three circumferentially distributed mounting surfaces 131. These mounting surfaces 131 provide a platform for the placement of the marker ball 20, ensuring that the tracer can be effectively identified from multiple angles.

[0043] For example, the number of mounting surfaces 131 of the multi-faceted tracer 100 is N, and each mounting surface 131 can be denoted as F i (i∈1,...,N).

[0044] Combine Figure 1 The multifaceted tracer 100 has three mounting surfaces 131 , and the mounting surfaces 131 are respectively denoted as F1 , F2 and F3 .

[0045] There are multiple marker balls 20 distributed across the mounting surfaces 131 of the connecting arm 13. As can be seen, the marker balls 20 are key elements for the vision locator to identify the multi-faceted tracer 100 and determine its spatial position and posture. These marker balls 20 are typically highly reflective spheres that reflect light under certain lighting conditions, allowing them to be captured by cameras or other optical detection equipment. Therefore, the mounting positions of the marker balls 20 must be configured according to layout rules.

[0046] By arranging at least three marking balls 20 on each mounting surface 131 of the connecting arm 13, such a layout can ensure that under multiple single viewing angles, there are at least three non-collinear points available for the visual locator to calculate, thereby improving the accuracy and stability of positioning.

[0047] The operator can generate multiple marker balls 20 that meet the position requirements based on computer simulation. Set the number of marker balls 20 on the i-th mounting surface 131 to M i (i∈1,...,N), satisfying: M i >=3.

[0048] On any two mounting surfaces 131, a marker ball 20 is selected on one of the mounting surfaces 131, and the distances between the marker ball 20 and all other marker balls 20 on the mounting surface 131 constitute a first set; a marker ball 20 is selected on the other mounting surface 131, and the distances between the marker ball 20 and all other marker balls 20 on the mounting surface 131 constitute a second set; a distance selected from the first set and a distance selected from the second set constitute a data pair, and the absolute value of the difference between the two distances in the same data pair is less than D T2 , the data pairs that meet this requirement are less than T-1 pairs, where T is the minimum number of spheres in the locator identification strategy corresponding to the multi-faceted tracer 100. T2 It is the minimum distance difference between the locator corresponding to the multi-surface tracer 100 and the single-surface tracer tool.

[0049] For example, any two mounting surfaces of the multifaceted tracer 100 are F i and F j The marking balls on these two mounting surfaces are and Segment distance, for single-sided F i1 , any marked ball M i1j1 There is M i1 -1 distance collection DV i1j1 , and other single-sided F i2 Any marked ball M i2j2 M i2 -1 distance collection DV i2j2 .

[0050] Satisfies: ∑(|α-β|<D T2 )<T-1(α∈DV i1j1 ,β∈DV i2j2 ).

[0051] Here, T refers to the minimum number of spheres in the visual locator recognition strategy (the theoretical minimum is 3, and different tools are designed to choose a value greater than 3 as the minimum number of spheres to be recognized as a mounting surface 131), that is, the total number of tools in the set that are less than the minimum distance difference threshold of the single-sided tracer tool is less than T-1, and the lower the total number, the better.

[0052] Assumptions:

[0053] The recognition strategy of the vision locator requires at least T=4 marker balls 20 for recognition.

[0054] Combine Figure 4 For any two mounting surfaces F2 and F3 on the connecting arm 13 , it is assumed that a marking ball M21 is included on the mounting surface F2 and a marking ball M31 is included on the mounting surface F3 .

[0055] The distances between M21 and all other marking balls 20 on the mounting surface F2 constitute a first set D4.

[0056] The distances between M31 and all other marking balls 20 on the mounting surface F3 constitute a second set DB.

[0057] All possible data pairs (dA, dB) need to be checked, where dA∈DA and dB∈DB.

[0058] Check all data pairs (dA, dB) to ensure |dA-dB| < ε.

[0059] The number of data pairs that meet the conditions is less than T-1=3 pairs.

[0060] This arrangement, by ensuring that the distance between the marking balls 20 on adjacent mounting surfaces 131 on the connecting arm 13 is reasonably distributed, can improve the recognition accuracy of the visual locator, avoid recognition errors caused by the distance between the marking balls 20 being too close, and help ensure the reliability and accuracy of the tracer.

[0061] Since each mounting surface 131 of the multifaceted tracer 100 tool forms a corresponding viewing angle cone, in order to avoid the blind spots that may be generated under multiple viewing angles, the multifaceted tracer 100 according to some embodiments of the present invention, such as Figure 3As shown, on the two circumferentially adjacent mounting surfaces 131 on the connecting arm 13, any one marking ball 20 on one mounting surface 131 and any one marking ball 20 on the other mounting surface 131 satisfy the following conditions: the angle between the two marking balls 20 is less than or equal to the visual angle of a single marking ball 20; wherein, the angle between the two marking balls 20 refers to the angle between the center lines of the visual angles of the two marking balls 20.

[0062] It should be noted that the viewing angle is the angle range within which the visual locator can effectively identify the marker ball 20.

[0063] The above technical solution ensures that, from the perspective of the vision aligner, the marker balls 20 on adjacent mounting surfaces 131 of the connecting arm 13 do not obstruct each other and can be clearly identified. The forward orientation of each marker ball 20 determines the direction of its viewing angle. Here, the forward orientation of a marker ball 20 generally refers to the direction of the centerline of the marker ball 20's viewing angle.

[0064] For example, the viewing angle of a single marker ball 20 is ±θ T Angle, the angle between two marking balls 20 on two consecutive surfaces is θ, satisfying θ≤2θ T .

[0065] The positive direction of each marker ball 20 is V i,j (i∈1,...,N,j∈1,...,M i ), the angle between the marker balls 20 on two consecutive surfaces satisfies:

[0066] θ(i1j1,i2j2)<=2θ T (i1,i2∈1,...,N,j1,j2∈1,...,M i )

[0067] Here θ(i1j1,i2j2) represents the angle between the j1th ball on the i1th surface and the j2th ball on the i2th surface.

[0068] Assumptions:

[0069] Single marker ball 20 viewing angle ±θ T =±30°.

[0070] Combine Figure 4 , two adjacent mounting surfaces F2 and F3 on the connecting arm 13, assuming that the marking ball M21 is selected on the mounting surface F2 and the marking ball M31 is selected on the mounting surface F3.

[0071] Calculate the angle θ between M21 and M31.

[0072] If θ≤60°, the arrangement of the two marking balls 20 is reasonable.

[0073] By ensuring that the angle between the marker balls 20 on any two adjacent mounting surfaces 131 is less than or equal to twice the visual angle of a single marker ball 20, it can be ensured that in many situations, at least one marker ball 20 can be observed, thereby improving the overall visibility of the multi-faceted tracer 100.

[0074] When multiple marker balls 20 are observed simultaneously, the spatial position of the multifaceted tracer 100 can be more accurately determined by calculating their positional relationship within the image, further improving positioning accuracy. Simultaneously, the field of view remains continuous, meaning that the multifaceted field of view of the multifaceted tracer 100 remains uninterrupted when switching between multiple viewing angles. Consequently, the multifaceted tracer 100 of the present invention maintains high visibility and recognizability under a variety of lighting conditions, viewing angles, and occlusions.

[0075] According to some embodiments of the multi-faceted tracer 100 of the present invention, the distance between any two marker balls 20 on each mounting surface 131 is D i The minimum identification distance D of the tracer tool of the locator corresponding to the multi-faceted tracer 100 is T , satisfying D i >D T .

[0076] It is worth noting that the distance between the marker balls 20 must be far enough so that each ball can be clearly distinguished in the imaging system of the visual locator to avoid overlapping, thereby achieving high-precision spatial positioning.

[0077] Then, by calculating the distance D between any two marking balls 20 i Set to be greater than the minimum distance D that can be recognized by the tracer tool of the visual locator corresponding to the multi-faceted tracer 100 T .

[0078] Combine Figure 2 , the position of each marker ball 20 is P i,j (i∈1,...,N,j∈1,...,M i ), then, in any single-sided F i The distance between any two marked balls 20 degrees satisfies: D i (j1,j2)>D T (i∈1,...,N,j1,j2∈1,...,M i ), or, on any single-sided F i The distance between any two marked balls 20 degrees satisfies: D i (j3,j4)>D T (i∈1,...,N,j1,j2∈1,...,M i ).

[0079] Such an arrangement can firstly reduce recognition errors caused by imaging overlap or confusion by ensuring that there is sufficient spacing between the marker balls 20, thereby improving the overall spatial positioning accuracy.

[0080] At the same time, the larger 20-degree spacing between the marker balls makes the visual locator more stable and reliable during the recognition process, and can maintain stable tracking effects even when the robotic arm moves or rotates quickly.

[0081] High-precision spatial positioning helps surgical operators more accurately judge the position and posture of surgical tools, thereby improving the efficiency and success rate of surgical operations.

[0082] This arrangement ensures that even in a complex surgical environment, when the multifaceted tracer 100 moves and rotates with the robotic arm, the visual locator can clearly capture each marker ball 20 and accurately calculate the relative positions between them.

[0083] On each mounting surface 131, the absolute value of the difference between any two distances in the set consisting of the distances between any two marking balls 20 is greater than or equal to D T2 , D T2 It is the minimum distance difference between the locator corresponding to the multi-surface tracer 100 and the single-surface tracer tool.

[0084] Combine Figure 2 , No. F i The distance between points j1 and j2 in the plane is D i (j1,j2), any single-sided F i There are distance.

[0085] Then, the absolute value of the difference between any two distances needs to satisfy:

[0086] |D i (j1,j2)-D i (j3,j4)|>=D T2 (i∈1,...,N,j1,j2,j3,j4∈1,...,M i )

[0087] Here, D T2 is the minimum distance difference between the locator and the single-sided tracer tool, D i (j1,j2) and D i (j3, j4) represent respectively the distance between points j1 and j2 in the second mounting surface F2 and the distance between points j3 and j4 in the second mounting surface F2.

[0088] Example:

[0089] Assume that there are four marker balls 20 on the polyhedral tracer 100: A, B, C and D, and the distances between them are:

[0090] AB=10mm, AC=15mm, AD=20mm, BC=12mm, BD=18mm, CD=25mm.

[0091] Assumptions:

[0092] Minimum recognition distance D of the visual locator's tracer tool T =8mm; the minimum distance difference D between the visual locator and the single-sided tracer tool T2 =1.5mm.

[0093] We can check whether the difference between the distances of any two balls satisfies the condition:

[0094] All of these differences are greater than D T , the distance set of ball A is 10mm, 15mm, 20mm, the distance difference set of ball B is 10mm, 12mm, 18mm, the distance difference set of ball C is 15mm, 12mm, 25mm, the distance difference set of ball D is 20mm, 18mm, 25mm, the number of AB balls less than the minimum distance difference is 1 group, the number of AC balls less than the minimum distance difference is 1 group, the number of AD balls less than the minimum distance difference is 1 group, the number of BC balls less than the minimum distance difference is 1 group, the number of BD balls less than the minimum distance difference is 1 group, and the number of CD balls less than the minimum distance difference is 1 group, all of which are less than T-1, so the layout meets the requirements.

[0095] In this way, it is possible to ensure that each marker ball 20 can be accurately identified by the vision locator, thereby improving the accuracy and reliability of positioning, which is very important in medical and other applications requiring high-precision positioning.

[0096] According to some embodiments of the present invention, the multifaceted tracer 100, such as Figure 2 - Figure 3 As shown, the connecting arm 13 includes: a first arm 1301 and a second arm 1302, one end of the first arm 1301 and the second arm 1302 are connected and connected to the guide mounting part 12, and the other ends of the first arm 1301 and the second arm 1302 are spaced apart and connected to the robot arm connecting part 11; the mounting surface 131 is the surface of the first arm 1301 and the second arm 1302, and the marking ball 20 is respectively located on the first arm 1301 and the second arm 1302.

[0097] The first arm 1301 and the second arm 1302 are the main components of the connecting arm 13 and are made of strong and lightweight materials, such as aluminum alloy, carbon fiber, etc. This ensures sufficient strength and reduces overall weight for easy operation.

[0098] One end of the first arm 1301 and the second arm 1302 are connected, forming a stable base for mounting the guide mounting portion 12. The other ends are spaced apart to form two independent ends, each of which is connected to the robot arm connection portion 11. This design allows the connecting arm 13 to be connected to the robot arm or other actuator in a more flexible manner to meet different operational requirements.

[0099] The mounting surface 131 refers to the surfaces of the first arm 1301 and the second arm 1302 . These surfaces are not only components of the structure of the connecting arm 13 , but also serve as platforms for mounting other accessories (such as the marker ball 20 ).

[0100] The marker balls 20 are located on the first arm 1301 and the second arm 1302, respectively, and the specific positions are set according to needs. Optionally, the marker balls 20 can reflect light, allowing the visual locator to accurately identify and track the position and movement of the connecting arm 13 and the tracer.

[0101] In some Figure 1 In the illustrated embodiment, the mounting surface 131 includes a first mounting surface F1, a second mounting surface F2, and a third mounting surface F3 arranged in sequence along the circumferential direction; the second mounting surface F2 is located on the side of the first arm 1301 away from the second arm 1302, and is provided with marking balls 20; the first mounting surface F1 is distributed on the same side of the first arm 1301 and the second arm 1302, and the first mounting surface F1 is located on the first arm 1301 and the second arm 1302, and marking balls 20 are evenly distributed on the second arm 1302; the third mounting surface F3 is distributed on the same side of the first arm 1301 and the second arm 1302, and the third mounting surface F3 is located on the first arm 1301 and the second arm 1302, and marking balls 20 are evenly distributed on the third arm 1302.

[0102] The connecting arm 13 is composed of a first arm 1301 and a second arm 1302 . The two arms are not only connected to each other to form a stable structure, but also have multiple mounting surfaces 131 formed on their surfaces to meet different installation and tracking requirements.

[0103] Combine Figure 1 The mounting surfaces 131 are respectively: a first mounting surface F1, a second mounting surface F2 and a third mounting surface F3.

[0104] The second mounting surface F2 is located on the side of the first arm 1301 away from the second arm 1302. Marker balls 20 are positioned on this surface, serving as key reference points for the visual tracking system. Because the second mounting surface F2 is located on the side of the arm, it directly faces the tracking system's camera or sensor, improving tracking accuracy and stability.

[0105] In some Figure 1 - Figure 4 In the illustrated embodiment, a raised area 132 is formed on the second mounting surface F2. A portion of the marker balls 20 are located within the raised area 132, while another portion of the marker balls 20 are located within the non-raised area of ​​the second mounting surface F2. These raised areas 132 form different slopes on the second mounting surface F2, varying the angles of view of the marker balls 20. Due to the different effects of the raised areas 132 and the second mounting surface F2, marker balls 20 located at different locations naturally face different directions. This design enables the multi-faceted tracer 100 to provide multi-directional tracking capabilities without changing its overall position or orientation.

[0106] Unlike the second mounting surface F2, the first mounting surface F1 is located on the same side of the first arm 1301 and the second arm 1302. This means that the first mounting surface F1 is evenly distributed on the same side of the first arm 1301 and the second arm 1302. This increases the area on the side of the multi-faceted tracker 100 where marker balls 20 can be mounted, allowing for a more even arrangement of marker balls 20 along the side of the multi-faceted tracker 100, thereby increasing the redundancy and reliability of the visual locator's tracking. If the marker ball 20 on one arm cannot be effectively tracked for some reason, the marker ball 20 on the other arm can still maintain tracking continuity. This layout of the first mounting surface F1 also helps improve the spatial resolution of the tracking system, enabling it to more accurately perceive changes in the posture and position of the connecting arm 13.

[0107] Optionally, the first mounting surface F1 on the first arm 1301 includes two inclined surfaces with different slopes, both of which are evenly distributed with marking balls 20. By distributing the marking balls 20 on the inclined surfaces with different slopes, effective coverage in multiple directions is achieved.

[0108] The third mounting surface F3 is similar to the first mounting surface F1. The third mounting surface F3 is also located on the same side of the first arm 1301 and the second arm 1302, and is located opposite the first mounting surface F1. This design further enriches the layout of the mounting surfaces 131 on the multi-faceted tracer 100, providing more options for the placement of the marker balls 20. Marker balls 20 are arranged on the third mounting surface F3. These marker balls 20, together with the marker balls 20 on the first mounting surface F1 and the second mounting surface F2, form a tracking network. This tracking network not only covers multiple key positions of the connecting arm 13, but also provides the tracking network with richer spatial information through the relative positional relationships between the marker balls 20 on different mounting surfaces 131, enabling it to more accurately reconstruct the three-dimensional posture and motion trajectory of the connecting arm 13.

[0109] Optionally, the third mounting surface F3 on the first arm 1301 includes two inclined surfaces with different inclinations, and the marking balls 20 are evenly distributed on the two inclined surfaces.

[0110] In some embodiments, the distance between the marker balls 20 on the first mounting surface F1 and the third mounting surface F3 and the robot arm connection portion 11 is at least 8 mm.

[0111] This ensures that the marker balls 20 are not obscured by the base 10 or other components during rotation, movement, or other dynamic operations of the polyhedral tracer 100. In particular, sufficient spacing prevents marker balls 20 from entering blind spots during rotation due to the presence of marker balls 20 on the mounting surface 131 near the robotic arm connection 11. For example, during rotation, the robotic arm connection 11 will not obstruct the view of the marker balls 20, thereby maintaining their continued visibility and identifiability.

[0112] Furthermore, this spacing requirement also takes into account the ease of installation and maintenance. Sufficient space allows technicians to more easily install, adjust, or replace the marker spheres 20 without worrying about interference with surrounding components. This helps improve the maintainability of the multifaceted tracer 100.

[0113] Optionally, the distance between the marking ball 20 on the first mounting surface F1 and the third mounting surface F3 and the robot arm connecting part 11 can be 8 mm, 8.5 mm, 9 mm, 9.5 mm, 10 mm, etc.

[0114] In some embodiments, a through hole 16 for handholding is formed between the first arm 1301 , the second arm 1302 and the robot arm connection portion 11 .

[0115] First, by providing the through holes 16, unnecessary materials can be reduced, thereby directly reducing the overall weight of the polyhedral tracer 100. In a robotic arm or handheld device, reducing the end load helps improve performance, extend service life, and increase the flexibility of operating the polyhedral tracer 100.

[0116] Secondly, the design of through-hole 16 also helps optimize the load distribution of the polyhedral tracer 100 at the end of the robotic arm. By reducing the area of ​​mass concentration, the torque and imbalance caused by the center of gravity shift can be reduced, making the robotic arm more stable and reliable during dynamic operations.

[0117] At the same time, the presence of the through hole 16 also provides a natural grip point for the operator, making the handheld operation of the multifaceted tracer 100 more convenient. Whether adjusting the posture or performing precise positioning, the operator can stably control the position of the multifaceted tracer 100 by inserting a finger into the through hole 16.

[0118] Furthermore, operating the polyhedral tracer 100 through the through-hole 16 reduces direct contact with other parts of the polyhedral tracer, particularly the marker ball 20. This reduced direct contact between the hand and the marker ball 20 significantly reduces the risk of scratching or contaminating the marker ball 20 due to mishandling or improper handling. This helps maintain the accuracy of the marker ball 20 and extends the life of the polyhedral tracer 100.

[0119] According to the multi-faceted tracer 100 of some embodiments of the present invention, the guide mounting portion 12 is provided with a sinking platform 121 and a first mounting hole 122 and a first positioning hole 123 located on the bottom wall of the sinking platform 121 .

[0120] Combine Figure 4 The guide mounting portion 12 is recessed downward to form a recessed platform 121, creating an additional three-dimensional space. This space provides a deeper installation depth for guide mounting components (such as the guide mounting knob assembly), allowing the components to be fully or partially embedded within the recessed platform 121. This inclusive design significantly helps reduce the external space occupied by the mounting components, preventing them from obstructing the view of the marker ball 20.

[0121] When the guide mounting member is installed on the guide mounting portion 12, since it can be completely or at least partially located within the sink 121, the installation process becomes more intuitive and simple. The operator can more easily align and insert the guide mounting member into the sink 121, and then secure it with fasteners. This sink 121 design also reduces the need for adjustment and correction during installation, improving installation efficiency.

[0122] First mounting hole 122 is located on the bottom wall of sink 121 and serves as a mounting interface for the guide mounting member. First mounting hole 122 is typically designed to accommodate fasteners (such as screws, bolts, etc.) to achieve a secure connection between components. Optionally, first mounting hole 122 includes a pin hole, a threaded hole, etc.

[0123] The first positioning hole 123 is used to provide a positioning connection for the installation guide. For example, the first positioning hole 123 closely cooperates with the first positioning member (such as a positioning pin, boss, etc.) on the guide to ensure smooth docking without gaps or deviations during installation, thereby simplifying the installation process and improving installation efficiency.

[0124] In addition to the positioning function, the cooperation between the first positioning hole 123 and the first positioning member can also enhance the connection strength between the guide and the guide mounting portion 12 to a certain extent. After the positioning member is inserted into the positioning hole, it can disperse and withstand part of the installation stress, thereby improving the stability and durability of the overall structure.

[0125] According to some embodiments of the present invention, the multifaceted tracer 100, such as Figure 1 、 Figure 3 、 Figure 4 As shown, the robot arm connecting portion 11 is provided with at least two second mounting holes 111 and a second positioning hole 112 .

[0126] The second mounting hole 111 is used to connect the robotic arm. Optionally, the second mounting hole 111 includes but is not limited to: a threaded hole, a pin hole, etc. This facilitates a stable connection through fasteners such as bolts and pins.

[0127] The second positioning hole 112 is used to provide a positioning for connecting the robot arm. For example, the second positioning hole 112 closely cooperates with the second positioning member (such as a positioning pin, boss, etc.) on the robot arm to ensure smooth docking during installation without gaps or deviations, thereby simplifying the installation process and improving installation efficiency.

[0128] Furthermore, during operation, the polyhedral tracer 100 may be subject to vibration and impact. The cooperation between the second positioning hole 112 and the second positioning member effectively reduces the impact of these vibrations on the installation stability of the polyhedral tracer 100, ensuring that the polyhedral tracer 100 can maintain its original accuracy and performance.

[0129] In such Figure 4 In the embodiment shown, the arm connecting portion 11 is provided with two second mounting holes 111, which are centrally symmetrical with respect to the center of the base 11. Each second mounting hole 111 is provided with three second positioning holes 112 spaced apart along its circumference.

[0130] A robot according to an embodiment of the second aspect of the present invention includes a robotic arm, a multi-faceted tracer 100, and a guide. The multi-faceted tracer 100 is the multi-faceted tracer 100 according to the embodiment of the first aspect of the present invention, and is mounted at the end of the robotic arm via a robotic arm connection portion 11. The guide is mounted on the guide mounting portion 12 of the multi-faceted tracer 100.

[0131] The robotic arm, as the robot's moving part, is responsible for achieving multi-degree-of-freedom motion in space. It typically consists of multiple joints and connecting rods, driven by motors to rotate or translate each joint, thereby driving the polyhedral tracer 100 to a desired location.

[0132] The multifaceted tracer 100 has high-precision positioning and navigation capabilities. It interacts with the external environment through multiple built-in marker balls 20 and uses image recognition or laser scanning technology to accurately identify and locate target objects.

[0133] The guide is mounted on the guide mounting portion 12 of the multifaceted tracer 100 .

[0134] The robot according to the second embodiment of the present invention achieves high-precision and high-flexibility operation capabilities by integrating components such as a robotic arm, a multi-surface tracer 100, and a guide, thereby greatly improving the robot's adaptability and stability in various environments.

[0135] Reference below Figure 1 - Figure 4 The multi-faceted tracer 100 according to the embodiment of the present invention is described in detail with reference to a specific embodiment. It is worth noting that the following description is merely an illustrative description and does not specifically limit the present invention.

[0136] Reference Figure 1 The multifaceted tracer 100 includes a base 10 and a marker ball 20 .

[0137] The base 10 includes a robot arm connecting portion 11 , a guide mounting portion 12 and a connecting arm 13 located therebetween.

[0138] Reference Figure 2 The connecting arm 13 includes: a first arm 1301 and a second arm 1302 .

[0139] One end of the first arm 1301 and the second arm 1302 are connected to each other and connected to the guide mounting portion 12 , and the other ends of the first arm 1301 and the second arm 1302 are spaced apart and connected to the robot arm connecting portion 11 .

[0140] The outer circumferential surface of the connecting arm 13 includes three mounting surfaces 131 arranged in sequence along the circumferential direction, namely a first mounting surface F1 , a second mounting surface F2 and a third mounting surface F3 .

[0141] Reference Figure 3 The second mounting surface F2 is located on a side of the first arm 1301 away from the second arm 1302 , and four marking balls 20 are arranged on the second mounting surface F2 .

[0142] First mounting surface F1 is located on the same side of first arm 1301 and second arm 1302. Marking balls 20 are evenly distributed on first mounting surface F1 and second arm 1301, 1302. The spacing between these marking balls 20 and the robot arm connection portion 11 is at least 8 mm. Two marking balls 20 are distributed on first mounting surface F1 of first arm 1301, and two marking balls 20 are distributed on first mounting surface F1 of second arm 1302.

[0143] The third mounting surface F3 is located on the same side of the first and second arms 1301, 1302. Marking balls 20 are evenly distributed on both the first and second arms 1301, 1302. These marking balls 20 are spaced at least 8 mm from the arm connection portion 11. Two marking balls 20 are located on the third mounting surface F3 of the first arm 1301, and two on the third mounting surface F3 of the second arm 1302.

[0144] On any two mounting surfaces 131 , a marker ball 20 is selected on one of the mounting surfaces 131 , and the distances between the marker ball 20 and all other marker balls 20 on the mounting surface 131 constitute a first set.

[0145] A marking ball 20 is randomly selected on another mounting surface 131 , and the distances between the marking ball 20 and all other marking balls 20 on the mounting surface 131 constitute a second set.

[0146] Any distance in the first set and any distance in the second set form a data pair. The absolute value of the difference between the two distances in the same data pair is less than D T2 , the data pairs that meet this requirement are less than T-1 pairs, where T is the minimum number of spheres in the locator identification strategy corresponding to the multi-faceted tracer 100. T2 It is the minimum distance difference between the locator corresponding to the multi-surface tracer 100 and the single-surface tracer tool.

[0147] On two circumferentially adjacent mounting surfaces 131 of the connecting arm 13, one marker ball 20 can be selected from one mounting surface 131 and one marker ball 20 can be selected from the other mounting surface 131, provided that the angle between the two marker balls 20 is less than or equal to the visual angle of a single marker ball 20. The angle between the two marker balls 20 refers to the angle between the centerlines of the visual angles of the two marker balls 20.

[0148] On each mounting surface 131, the distance between any two marking balls 20 is D i The minimum identification distance D of the tracer tool of the locator corresponding to the multi-faceted tracer 100 is T , satisfying D i >D T .

[0149] On each mounting surface 131, the absolute value of the difference between any two distances in the set consisting of the distances between any two marking balls 20 is greater than or equal to D T2 .

[0150] Reference Figure 3 A through hole 16 for handholding is formed between the first arm 1301 , the second arm 1302 and the robot arm connecting portion 11 .

[0151] Reference Figure 4 The guide mounting portion 12 includes a sinking platform 121 and a first mounting hole 122 and a first positioning hole 123 located on the bottom wall of the sinking platform 121 .

[0152] The arm connecting portion 11 is provided with two second mounting holes 111, which are symmetrical with respect to the center of the base 11. Each second mounting hole 111 is provided with three second positioning holes 112 spaced apart along its circumference.

[0153] Other components of the multifaceted tracer according to the embodiment of the present invention, such as the robot, and operations are known to those skilled in the art and will not be described in detail here.

[0154] Throughout this specification, references to terms such as "embodiment" and "example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0155] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A multifaceted tracer, characterized in that: include: A base body, the base body comprising a robot arm connecting portion, a guide mounting portion, and a connecting arm located therebetween, wherein an outer peripheral surface of the connecting arm comprises at least three mounting surfaces distributed along the circumferential direction; Marker balls, wherein the marker balls are in plurality and distributed on each of the mounting surfaces, with at least three marker balls being arranged on each mounting surface; On any two of the mounting surfaces, one of the marker balls is selected from one of the mounting surfaces, and the distances between the marker ball and all other marker balls on the mounting surface constitute a first set; A second set is formed by selecting one of the marker balls on the other mounting surface and the distances between the marker ball and all the other marker balls on the mounting surface. Any one of the distances in the first set and any one of the distances in the second set form a data pair, and the absolute value of the difference between the two distances in the same data pair is less than D T2 , the data that meets this requirement is less than the pair, T is the minimum number of spheres in the locator identification strategy corresponding to the multifaceted tracer, D T2 It is the minimum distance difference between the locator corresponding to the multi-surface tracer and the single-surface tracer tool.

2. The multifaceted tracer according to claim 1, characterized in that On the two circumferentially adjacent mounting surfaces of the connecting arm, one of the mounting surfaces may be provided with a marking ball, and the other mounting surface may be provided with a marking ball, if: The included angle between the two marker balls is smaller than or equal to the visual angle of a single marker ball; The angle between the two marking balls refers to the angle between the center lines of the viewing angles of the two marking balls.

3. The multifaceted tracer according to claim 1, characterized in that On each mounting surface, the distance between any two marking balls is D i The minimum identification distance D of the tracer tool of the locator corresponding to the multi-faceted tracer T , satisfying D i >D T ; On each mounting surface, in the set of distances between any two of the marking balls, the absolute value of the difference between any two of the distances is greater than or equal to D T2 .

4. The multifaceted tracer according to claim 1, characterized in that The connecting arm includes: a first support arm and a second support arm, one end of the first support arm and the second support arm are connected and connected to the guide mounting portion, and the other ends of the first support arm and the second support arm are spaced apart and connected to the robot arm connecting portion; The mounting surface is the surface of the first support arm and the second support arm, and the marking ball is located on the first support arm and the second support arm respectively.

5. The multi-faceted tracer according to claim 4, characterized in that The mounting surface includes a first mounting surface, a second mounting surface and a third mounting surface arranged in sequence along the circumferential direction; The second mounting surface is located on a side of the first arm away from the second arm and is provided with the marking ball; The first mounting surface is distributed on the same side of the first supporting arm and the second supporting arm, and the first mounting surface is located on the first supporting arm and the second supporting arm and the marking balls are evenly distributed; The third mounting surface is distributed on the same side of the first supporting arm and the second supporting arm, and the marking balls are evenly distributed on the first supporting arm and the second supporting arm.

6. The multi-faceted tracer according to claim 5, characterized in that The distance between the marking balls on the first mounting surface and the third mounting surface and the connecting portion of the robotic arm is at least 8 mm.

7. The multi-faceted tracer according to claim 4, characterized in that A through hole for handholding is formed between the first supporting arm, the second supporting arm and the mechanical arm connecting portion.

8. The multifaceted tracer according to any one of claims 1 to 7, characterized in that: The guide mounting portion is provided with a sinking platform and a first mounting hole and a first positioning hole located on the bottom wall of the sinking platform.

9. The multifaceted tracer according to any one of claims 1 to 7, characterized in that: The mechanical arm connecting portion is provided with at least two second mounting holes and a second positioning hole.

10. A robot, characterized in that: include: robotic arm; The multi-faceted tracer according to any one of claims 1 to 9, mounted on the end of the robotic arm via a robotic arm connection portion; A guide is mounted on the guide mounting portion of the multifaceted tracer.

Images