Posture track recording handle based on machine vision

Abstract

The utility model discloses a posture track recording handle based on machine vision, and belongs to the technical field of recording handles. A posture track recording handle based on machine vision comprises a handle body, the handle body is at least provided with six installation planes, and the orientations of the six installation planes correspond to the front, the rear, the left, the right, the upper portion and the lower portion in the space respectively. A sensing assembly is arranged at any mounting plane, and the sensing assembly is provided with at least three non-collinear marking bodies; wherein the marker is used for being matched with image acquisition equipment. Mounting planes are arranged in the front direction, the rear direction, the left direction, the right direction, the upper direction and the lower direction of a real space, each plane is provided with three non-collinear marking bodies, an omni-directional recognizable three-dimensional marking array is formed, the handle can be effectively tracked by image acquisition equipment in any posture, and therefore the limitation of the using posture of a traditional handle is broken through; and the flexibility and the accuracy of track drawing are greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to record handle technical field, concretely, it relates to the posture trajectory record handle based on machine vision. BACKGROUND

[0002] When carrying out the trajectory tracking based on machine vision, usually need to rely on a handheld handle that can be exposed in the shooting range of image acquisition equipment to realize. The handheld handle at present, usually need to keep specific spatial posture when using, to realize the induction component at the handheld handle can be fully tracked by image acquisition equipment, this design, the use posture of handheld handle is limited, and cannot satisfy the drawing of multiple trajectories very well. SUMMARY

[0003] The utility model provides posture trajectory record handle based on machine vision, it can overcome the certain or some defects of prior art.

[0004] The posture trajectory record handle based on machine vision according to the utility model, it includes handle main part, handle main part at least has 6 installation planes, the orientation of 6 installation planes corresponds to the front, rear, left, right, upper and lower in space respectively;

[0005] Any installation plane is provided with induction component, and induction component at least has 3 non-collinear mark body;Wherein, mark body is used to cooperate with image acquisition equipment.

[0006] The posture trajectory record handle based on machine vision of the disclosure, through setting installation plane in the front, rear, left, right, upper and lower of real space, each plane is configured with 3 non-collinear mark body, forms the three-dimensional mark array of all-directional recognizable, so that the handle can be effectively tracked by image acquisition equipment under any posture, thereby breaking the restriction of traditional handle use posture, greatly improve the flexibility and accuracy of trajectory drawing.

[0007] Preferably, the handle main body includes a frame body portion and a holding portion detachably provided at a bottom portion of the frame body portion, a pointer assembly is provided at a front portion of a top portion of the frame body portion, induction assemblies corresponding to the front, rear, left, right and upper of the installation planes are provided at a rear portion of the top portion of the frame body portion, and an induction assembly corresponding to the lower of the installation planes is provided at the bottom portion of the frame body portion, wherein the induction assembly corresponding to the lower of the installation planes is provided inclinedly along a direction of the pointer assembly.

[0008] The top rear of the frame body is provided with five corresponding sensing components corresponding to the five main installation planes (front, rear, left, right and top), which ensures that the handle can be effectively tracked by the image acquisition device in any posture, significantly improving the accuracy of trajectory recording and the flexibility and accuracy of trajectory recording.

[0009] It can be understood that the pointer component provided at the top front of the frame body provides intuitive guidance for the user, which helps the user to quickly locate the required point during work.

[0010] Preferably, the sensing component has a panel, and the panels of the sensing components corresponding to the front, rear, left, right and top of the installation plane form a cuboid as a whole.

[0011] By setting the panel as a cuboid, the space on the frame body can be effectively utilized, and the sensing component can be installed in the set installation plane, so that the sensing component can be fully tracked by the image acquisition device.

[0012] Preferably, three non-collinear through holes are formed in the panel, and the three through holes are used for installing the marker.

[0013] By setting three non-collinear markers, it is helpful to expand the visual coverage of the handle in the image acquisition device. Regardless of the posture of the handle, at least one marker can be in the field of view of the image acquisition device, thereby improving the continuity and integrity of the trajectory recording.

[0014] Preferably, the pointer component includes a bracket detachably arranged on the handle body and a pointer for pointing to the point of work, wherein the bracket and the pointer are located in the middle of the corresponding panel.

[0015] By setting the pointer component, the pointer can directly point to the point of work, providing intuitive visual guidance for the user, enabling the user to quickly identify and locate the required operation position, and improving the work efficiency.

[0016] It can be understood that the bracket and the pointer are located in the middle of the corresponding panel, which helps to maintain the balance and stability of the handle as a whole. At the same time, the middle position also makes the pointer easier to be seen and recognized by the user.

[0017] Preferably, a downwardly inclined slope is formed at the rear of the holding portion, and the first button, the second button and the third button are arranged on the slope, the first button is used to control the start of recording function, the second button is used to control the start of recording command, and the third button is used to save the recorded track and posture.

[0018] The downwardly inclined slope formed at the rear of the holding portion enables the user to place fingers more naturally when holding the handle, thereby reducing hand fatigue after long time use. The plurality of buttons arranged on the slope correspond to different functions, thereby meeting various use requirements of the user during work.

[0019] Preferably, a power button is arranged on the side wall of the holding portion, and the power button is used to control the opening and closing of the power of the handle.

[0020] The arrangement of the power button enables the user to quickly control the opening and closing of the power of the handle, thereby improving the convenience and efficiency of use.

[0021] Preferably, a handle start button and a start gun button are arranged on the side of the holding portion, the handle start button is used to control the start of functions of the handle, and the start gun button is used to control the start and stop of replacing the pointer with the end execution tool.

[0022] The reasonable arrangement of the buttons enables the user to complete the work process more smoothly, thereby reducing operation interruption and waiting time, and improving the overall work efficiency.

[0023] It can be understood that the start gun button is specially used to control the start and stop of replacing the pointer with the end execution tool, and this precise control mode enables the user to quickly switch the tool when needed, thereby improving the work efficiency and flexibility.

[0024] Preferably, the first button, the second button, the third button, the power button, the start gun button and the handle start button are arranged in different colors.

[0025] The intuitive color distinction enables the user to quickly find the required button during operation, thereby reducing the time for finding and confirming the button, and improving the operation efficiency.

[0026] Preferably, the sensing assembly further comprises a working indicator light and an integrated circuit board, the integrated circuit board is used to control the working of the working indicator light and the marker, and the working indicator light is used to keep consistent with the color of the pressed button.

[0027] The arrangement of the working indicator light keeping consistent with the color of the pressed button provides intuitive visual feedback for the user. When the user presses a certain button, the working indicator light of the corresponding color will light up, thereby enabling the user to immediately confirm the operation performed, and reducing the misoperation.

[0028] It can be understood that, by means of color matching, the user can quickly understand the current state of the handle by color only, and the operation process is simplified. BRIEF DESCRIPTION OF DRAWINGS

[0029] Fig. 1 A schematic view of the overall structure of a posture trajectory recording handle based on machine vision.

[0030] Fig. 2 A schematic view of the bottom of a posture trajectory recording handle based on machine vision.

[0031] Fig. 3 A schematic view of the back of a posture trajectory recording handle based on machine vision. DETAILED DESCRIPTION

[0032] In order to further understand the content of the present application, the present application will be described in detail in conjunction with the embodiments. It should be understood that the embodiments are only used to explain the present application and are not limited.

[0033] Embodiment 1

[0034] Please refer to Figs. 1-3 The embodiment provides a posture trajectory recording handle based on machine vision, which comprises a handle main body 100, and the handle main body 100 has at least six installation planes, and the directions of the six installation planes correspond to front, back, left, right, top and bottom in space respectively.

[0035] An induction assembly 110 is arranged at any installation plane, and the induction assembly 110 has at least three non-collinear mark bodies 230; wherein the mark body 230 is used in cooperation with an image acquisition device.

[0036] The mark body can be an infrared emitter.

[0037] The posture trajectory recording handle based on machine vision provided by the present application is provided with installation planes in six directions of front, back, left, right, top and bottom in real space, three non-collinear mark bodies are arranged on each plane, a three-dimensional mark array capable of being recognized in all directions is formed, the handle can be effectively tracked by the image acquisition device in any posture, the limitation of the use posture of the traditional handle is broken, and the flexibility and accuracy of trajectory drawing are greatly improved.

[0038] In this embodiment, the handle body 100 includes a frame body 130 and a holding portion 210 detachably arranged at the bottom of the frame body 130, a pointer assembly 120 arranged at the front of the top of the frame body 130, and sensing assemblies 110 corresponding to the front, rear, left, right, and upper directions in the installation plane arranged at the rear of the top of the frame body 130, and a sensing assembly 110 corresponding to the lower direction in the installation plane arranged at the bottom of the frame body 130, wherein the sensing assembly 110 corresponding to the lower direction in the installation plane is arranged obliquely along the direction of the pointer assembly 120.

[0039] The sensing assembly 110 corresponding to the lower direction in the installation plane and the pointer assembly 120 at the front end of the handle body 100 form a triangular structure.

[0040] The rear of the top of the frame body 130 is provided with sensing assemblies 110 corresponding to the five main installation planes (front, rear, left, right, and upper directions), which ensures that the handle can be effectively tracked by the image acquisition device in any posture, significantly improving the accuracy of trajectory recording and the accuracy and flexibility of trajectory recording. The sensing assembly 110 corresponding to the lower direction in the installation plane is arranged obliquely along the direction of the pointer assembly 120, so that the handle maintains good line of sight between the sensing assembly and the image acquisition device in a specific posture (such as when the handle is tilted or inverted), thereby improving the stability and reliability of tracking.

[0041] It can be understood that the pointer assembly 120 arranged at the front of the top of the frame body 130 provides intuitive guidance for the user, which helps the user to quickly locate the required point during work.

[0042] In this embodiment, the sensing assembly 110 has a panel 220, and the panels 220 of the sensing assemblies 110 corresponding to the front, rear, left, right, and upper directions in the installation plane are integrally arranged in a cuboid shape.

[0043] By arranging the panel 220 in a cuboid shape, the space on the frame body 130 can be effectively utilized, and the sensing assembly 110 can be installed in the set installation plane, so that the sensing assembly 110 can be fully tracked by the image acquisition device.

[0044] In this embodiment, three non-collinear through holes are formed at the panel 220, and the three through holes are used for mounting the marker 230.

[0045] By arranging three non-collinear markers, it is helpful to expand the visual field coverage range of the handle in the image acquisition device. Regardless of the posture of the handle, at least one marker can be in the field of view of the image acquisition device, thereby improving the continuity and integrity of the trajectory recording.

[0046] In this embodiment, the pointer assembly 120 includes a bracket and a pointer detachably arranged at the handle body 100, and the pointer is used to point to the point of the work. The bracket and the pointer are located in the middle of the corresponding panel 220.

[0047] The pointer assembly 120 is arranged to enable the pointer to directly point to the point of the work, thereby providing intuitive visual guidance for the user, enabling the user to quickly identify and locate the position of the required operation, and improving the work efficiency.

[0048] It can be understood that the bracket and the pointer are located in the middle of the corresponding panel 220, and such a layout helps to maintain the balance and stability of the handle as a whole. Meanwhile, the middle position also enables the pointer to be more easily seen and identified by the user.

[0049] In this embodiment, a downwardly inclined slope is formed at the rear of the holding portion 210, and the first button 320, the second button 330 and the third button 340 are arranged at the slope. The first button 320 is used to control the start of the recording function, the second button 330 is used to control the start of the recording command, and the third button 340 is used to save the recorded trajectory and posture.

[0050] The second button 330 can be selected in a tapping mode or a long-pressing mode. In the tapping mode, the current position and posture of the handle are recorded, and in the long-pressing mode, the position and posture of the handle in the next period of time are recorded at a certain interval.

[0051] The downwardly inclined slope formed at the rear of the holding portion 210 enables the user to more naturally place the fingers when holding the handle, thereby reducing hand fatigue during long-time use. Multiple buttons are arranged at the slope, and each button corresponds to a different function, thereby meeting the various use requirements of the user during work.

[0052] In this embodiment, a power button 250 is arranged at one side wall of the holding portion 210, and the power button 250 is used to control the opening and closing of the power supply of the handle.

[0053] The power button 250 enables the user to quickly control the opening and closing of the power supply of the handle, thereby improving the convenience and efficiency of use.

[0054] In this embodiment, a handle start button 260 and a start gun button 240 are arranged at the side surface of the holding portion 210. The handle start button 260 is used to control the start of the functions of the handle, and the start gun button 240 is used to control the start and stop of replacing the pointer with an end execution tool.

[0055] The buttons are reasonably arranged, and the user can more smoothly complete the work process, thereby reducing the operation interruption and waiting time, and improving the overall work efficiency.

[0056] It can be understood that the start gun button 240 is specially used to control the start-stop of replacing the pointer with the end execution tool, and the precise control manner enables the user to quickly switch the tool when needed, thereby improving the work efficiency and flexibility.

[0057] In the embodiment, the first button 320, the second button 330, the third button 340, the power button 250, the start gun button 240 and the handle start button 260 are all provided with different colors.

[0058] Through the intuitive color distinction, the user can quickly find the required button during operation, thereby reducing the time for searching and confirming the button and improving the operation efficiency.

[0059] In the embodiment, the sensing assembly 110 further comprises a working indicator lamp 310 and an integrated circuit board, the integrated circuit board is used to control the working of the working indicator lamp 310 and the marker 230, and the working indicator lamp 310 is used to keep consistent with the color of the pressed button.

[0060] Through the setting that the working indicator lamp 310 keeps consistent with the color of the pressed button, the user is provided with intuitive visual feedback. When the user presses a certain button, the working indicator lamp of the corresponding color will light up, so that the user can immediately confirm the operation performed, thereby reducing the misoperation.

[0061] It can be understood that through the color matching manner, the user can quickly understand the current state of the handle only by the color, thereby simplifying the operation process.

[0062] It can be easily understood that the person skilled in the art can obtain other embodiments by combining, splitting, recombining, etc. the embodiments of the present application on the basis of one or more embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0063] The utility model and its implementation mode are described above, and the description is not restrictive, and the embodiments shown are only part of the implementation mode of the utility model, and the actual structure is not limited thereto. Therefore, if the ordinary skilled person in the art is inspired thereby, without departing from the creative purpose of the utility model, similar structure modes and embodiments are not creatively designed, which should belong to the protection scope of the utility model.

Claims

1. A pose trajectory recording handle based on machine vision, characterized in that, The handle body (100) has at least six installation planes, and the directions of the six installation planes correspond to front, back, left, right, up and down in space respectively; An induction assembly (110) is arranged at any installation plane, and the induction assembly (110) has at least three non-collinear mark bodies (230); wherein the mark bodies (230) are used for cooperating with an image acquisition device.

2. The machine vision-based pose trajectory recording handle of claim 1, wherein: The handle body (100) comprises a frame body (130) and a holding part (210) detachably arranged at the bottom of the frame body (130), a pointer assembly (120) is arranged at the front of the top of the frame body (130), the induction assemblies (110) corresponding to the front, back, left, right and up in the installation planes are arranged at the back of the top of the frame body (130), and the induction assembly (110) corresponding to the down in the installation planes is arranged at the bottom of the frame body (130), wherein the induction assembly (110) corresponding to the down in the installation planes is arranged in an inclined manner along the direction of the pointer assembly (120).

3. The machine vision-based pose trajectory recording handle of claim 2, wherein: The induction assembly (110) has a panel (220), and the panels (220) of the induction assemblies (110) corresponding to the front, back, left, right and up in the installation planes integrally form a cuboid.

4. The machine vision-based pose trajectory recording handle of claim 3, wherein: Three non-collinear through holes are formed at the panel (220), and the three through holes are used for mounting the mark bodies (230).

5. The machine vision-based pose trajectory recording handle of claim 3, wherein: The pointer assembly (120) comprises a bracket and a pointer which are detachably arranged at the handle body (100), and the pointer is used for pointing to a working point, wherein the bracket and the pointer are located in the middle of the corresponding panel (220).

6. The machine vision-based pose trajectory recording handle of claim 3, wherein: A downwardly inclined inclined surface is formed at the back of the holding part (210), and a first button (320), a second button (330) and a third button (340) are arranged at the inclined surface, the first button (320) is used for controlling the start of a recording function, the second button (330) is used for controlling the start of a recording command, and the third button (340) is used for saving a recorded track and posture.

7. The machine vision-based pose trajectory recording handle of claim 3, wherein: A power button (250) is arranged at the side wall of the holding part (210), and the power button (250) is used for controlling the opening and closing of a handle power supply.

8. The machine vision-based pose trajectory recording handle of claim 3, wherein: A handle start button (260) and a start gun button (240) are arranged at the side of the holding part (210), the handle start button (260) is used for controlling the start of functions of the handle, and the start gun button (240) is used for controlling the start and stop of replacing the pointer with an end execution tool.

9. The machine vision-based pose trajectory recording handle of claim 6, wherein: The first button (320), the second button (330), the third button (340), the power button (250), the start gun button (240) and the handle start button (260) are arranged in different colors.

10. The machine vision-based pose trajectory recording handle of claim 9, wherein: The induction assembly (110) further comprises a working indicator light (310) and an integrated circuit board, the integrated circuit board is used for controlling the working of the working indicator light (310) and the mark bodies (230), and the working indicator light (310) is used for keeping consistent with the color of the pressed button.

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