Mark-based modular geometry localization system

Abstract

The utility model relates to the technical field of positioning, in particular to a mark-based modular geometric shape positioning system, which comprises a positioning platform, more than two groups of polyhedrons are mounted on the positioning platform, mark points are adhered on each surface of each polyhedron, and when a scanner scans one group of polyhedrons, the mark points are marked on the polyhedrons. The scanner can only capture three surfaces on the polyhedron, symmetrical or redundant positions are excluded from mark point arrangement, and the positioning accuracy is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to positioning technical field, specifically point to modularization geometric shape positioning system based on mark. BACKGROUND

[0002] In the current technical level, the method of using four or more markers for positioning is usually used at the same time. However, this method will cause systematic limitations and errors in data acquisition. In particular, when multiple markers are captured at the same time, geometric inconsistency often occurs, resulting in inaccurate positioning (misplacement).

[0003] The related problems can be summarized as follows:

[0004] Interference between markers: capturing multiple markers at the same time can cause misplacement, making the collected data unusable;

[0005] These defects result in significant loss of quality in the scanning data generation process; in addition, these limitations also reduce the efficiency of the entire process.

[0006] Specifically: the original positioning marker color sub is a polyhedron (such as a 12-faced polyhedron, except that one face is fixed on the positioning platform and cannot participate in scanning positioning, the remaining 11 faces are all pasted with a marker point), each face of the polyhedron is symmetrical, when the scanner moves to copy the number, only the X, Y, Z coordinates of the marker color sub can be accurately identified, but it cannot be specifically distinguished which face it is, so positioning errors may occur when the data is superimposed; the scanner is a mobile data acquisition object, which needs to use the marker point to position the data superposition point to superimpose the planar collected data into a three-dimensional solid figure. When the scanner scans the original marker color sub, at least four points (marker points) will be captured by the scanner, thereby realizing positioning and copying the number, but it is found in work practice that the scanner will have redundant recognition, that is, too many points, which makes the scanner unable to correctly position the data superposition point; when the original marker color sub is turned over, since each face angle is the same, when the other four faces (the four faces are consistent with the previous four faces in angle) are scanned, the scanner cannot distinguish the scanned face has been transformed, so the data recorded by the marker points on the four faces will be recognized as the same group of data. UTILITY MODEL CONTENT

[0007] (I) Technical problem

[0008] The utility model aims to solve at least the problem of inaccurate positioning data caused by the number and arrangement of markers in the prior art.

[0009] (II) Technical content

[0010] The scheme provides a modular geometric shape positioning system based on markers, which is achieved by the following specific technical means, including a positioning platform, on which two or more sets of polyhedrons are installed, and on each face of the polyhedrons, a marker point is pasted;

[0011] When a scanner scans a set of the polyhedrons, the scanner can only capture three faces on the polyhedrons.

[0012] Preferred technical solution one: the polyhedrons can be symmetric polyhedrons or asymmetric polyhedrons.

[0013] Preferred technical solution two: the polyhedrons in different sets are irregularly distributed on the positioning platform.

[0014] Preferred technical solution three: a rotating table can be selected on the positioning platform, a plurality of nuts are built-in on the rotating table, and the connecting columns on the polyhedrons are connected with the nuts.

[0015] Preferred technical solution four: the polyhedrons are integrally formed.

[0016] (Three) technical effects

[0017] The above structure makes the scheme have the following beneficial effects:

[0018] 1. Preventing the arrangement of symmetric or redundant markers to avoid positioning errors;

[0019] 2. Achieving unique and accurate positioning independently of the external shape of the device;

[0020] 3. Providing a geometric shape design of polyhedral modularity and flexibility, which is suitable for various application scenarios;

[0021] 4. Robustness to external interference factors (such as lighting conditions, reflection or partial obstruction);

[0022] 5. Improving data accuracy by clearly separating marker groups. DETAILED DESCRIPTION

[0023] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, together with the embodiments of the present application, for explaining the present application, and do not constitute a limitation on the present application. In the drawings:

[0024] Figure 1 It is a positioning state diagram of the scheme;

[0025] Figure 2 It is an embodiment diagram of the positioning platform of the scheme;

[0026] Figure 3 It is a structural schematic diagram of the polyhedrons of the scheme.

[0027] Wherein, 1, polyhedron, 11, connecting column, 2, mark point, 3, positioning platform, 31, nut. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0029] Please refer to Figure 1 、 Figure 3 The modular geometric positioning system based on marks comprises a positioning platform, two or more polyhedrons are installed on the positioning platform (the polyhedrons are irregularly distributed on the positioning platform), and mark points (the mark points are reflective points, stickers or small geometric shapes) are pasted on each face of the polyhedrons.

[0030] The polyhedron can be a symmetrical polyhedron or an asymmetrical polyhedron.

[0031] When the polyhedron is a symmetrical polyhedron, a hexahedron (a cube) is preferably selected, and one vertex of the hexahedron is connected to the positioning platform through a convex connecting column; the polyhedron can also be in the shape of a pyramid.

[0032] The specific shape is not limited, as long as the following technical requirements are met:

[0033] On each face of the polyhedron, the mark points are arranged in a specific manner to ensure that: at any time point, at most three mark points on one polyhedron can be seen simultaneously; the mark points are arranged to exclude symmetrical or redundant positions; at least two polyhedrons must be placed in the field of view of the scanner to achieve the minimum number of marks required by the scanner.

[0034] The 3D scanner is equipped with one or more cameras or optical sensors. During the scanning process, the scanner captures the images or data of the scene, identifies the marks through a special algorithm, and determines the positions of the marks in the images. Since the positions of the polyhedrons are known when they are placed, the scanner can establish a spatial coordinate relationship through the measured mark positions in the images and the known geometric structure of the marks, which is usually achieved by converting the collected two-dimensional image data into a three-dimensional coordinate system through mathematical transformation (for example, using affine transformation or least squares method).

[0035] When the scanner scans a set of polyhedrons, it can only capture three faces on the polyhedrons, reducing the probability of capturing the same position marker point on the same polyhedron when the scanner moves, and the existing polyhedrons can at most allow the scanner to capture 3 points at a time, which is not enough to locate the data overlap point, so it is necessary to search for another marker point on another polyhedron, so that the data of the located set of data overlap points come from at least two polyhedrons, and the coordinates of the two polyhedrons + the marker points on the polyhedrons allow the scanner to more accurately locate the data overlap point.

[0036] By collecting multiple markers from different perspectives (for example, combining data from multiple cameras), a positioning system can be formed; this redundancy helps to reduce measurement errors, and even if some markers are blocked or the lighting conditions change, the position of the markers can still be accurately reconstructed; once the position of the markers in space is accurately determined, the system uses these data to reconstruct the three-dimensional model of the object, at the same time, the scanner can also collect the surface texture or shape information of the object, and combine it with the marker data to generate an accurate and complete 3D model;

[0037] The above applications and advantages are reflected in:

[0038] Calibration: Markers are usually also used for the calibration of scanners to ensure that all collected data can be correctly aligned in the global coordinate system;

[0039] Robustness: Because the markers are arranged clearly, the system can still reliably capture data even in complex objects or unstable lighting conditions;

[0040] High precision: Using mathematical algorithms to calculate the transformation matrix from the marker positions, the measurement accuracy can reach millimeters or even microns;

[0041] In summary, 3D scanners use optical sensors to capture pre-set reference markers, convert these markers to a 3D coordinate system, and then reconstruct an accurate 3D model of the object based on these data. This method is particularly effective, can avoid positioning errors, and can achieve high-precision measurement in complex lighting or partial occlusion conditions;

[0042] The above scanning and positioning process and method are prior art.

[0043] Please refer to Figure 2 , the modular geometric positioning system based on markers, a turntable table can be selected on the positioning platform, and a plurality of inner nuts are embedded and fixed on the tabletop of the turntable table at the center and at different radii around the center, and the connecting columns on the polyhedrons are inserted into the nuts and can be screwed with the inner wall threads of the nuts through the outer wall threads of the connecting columns;

[0044] The structure of the turntable table facilitates the installation and placement of the polyhedrons.

[0045] Referring to Figure 3 The modular geometric positioning system based on markers, the polyhedron is integrally formed, and the corners of the polyhedron are circularly chamfered, so that the polyhedron is convenient to produce and form, and safety risks caused by sharp corners are avoided.

[0046] After in-depth analysis of the product description, the system should be mainly classified in the field of "navigation, measurement and drawing equipment". The main reasons are as follows:

[0047] Main functions:

[0048] The device is mainly used for precise position-based measurement through marker acquisition, which is the core requirement of modern measurement systems; because this category best reflects the core functions and advantages of the present scheme.

[0049] The undisclosed parts in the utility model are all prior art, and the specific structure and working principle will not be repeated.

[0050] Unless otherwise specified and limited, the terms "arrangement", "installation", "connection", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0051] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. Marker-based modular geometric positioning system, comprising a positioning platform (3), characterized in that: Two or more polyhedrons (1) are installed on the positioning platform (3), and a mark point (2) is pasted on each face of the polyhedron (1); When the scanner scans a group of the polyhedrons (1), the scanner can only capture three faces of the polyhedron (1).

2. The marker-based modular geometric shape positioning system of claim 1, wherein: The polyhedron (1) can be a symmetric polyhedron or an asymmetric polyhedron. When the polyhedron (1) is a symmetric polyhedron, a top corner of the symmetric polyhedron is connected with the positioning platform through a protruding connecting column (11).

3. The marker-based modular geometric shape positioning system of claim 2, wherein: The symmetric polyhedron is a cube.

4. A marker-based modular geometric positioning system according to claim 2 or 3, characterized in that: The polyhedrons (1) are irregularly distributed on the positioning platform (3).

5. The marker-based modular geometric positioning system of claim 4, wherein: A turntable table is selected on the positioning platform (3), and a plurality of built-in nuts (31) are embedded and fixed on the tabletop of the turntable table at the center and at different radii around the center, and the connecting column (11) of the polyhedron is connected with the nut (31).

6. The marker-based modular geometric shape positioning system of claim 1, wherein: The corners of the polyhedron (1) are arc-shaped.

7. The marker-based modular geometric shape positioning system of claim 1, wherein: The polyhedron (1) is integrally formed.

Images