阅读说明：本技术 一种位置测定方法及装置 (Position measuring method and device ) 是由 王侃 于 2020-04-16 设计创作，主要内容包括：本发明涉及虚拟现实技术领域,具体涉及一种位置测定方法及装置。该位置测定装置包括参照部和至少三个测位机构,各所述测位机构分别用于获取所述参照部和待测定物体二者相对测位机构自身的空间位置,以得到所述待测定物体与所述参照部之间的相对位置关系。采用这种位置测定装置对待测定物体的空间位置进行测定的过程中,即便测定机构的位置发生变化,也基本不会影响测定结果的准确性。(The invention relates to the technical field of virtual reality, in particular to a position measuring method and device. The position measuring device comprises a reference part and at least three positioning mechanisms, wherein each positioning mechanism is used for acquiring the space position of the reference part and the object to be measured relative to the positioning mechanism so as to obtain the relative position relation between the object to be measured and the reference part. When the position measuring device is used for measuring the spatial position of the object to be measured, even if the position of the measuring mechanism is changed, the accuracy of the measuring result is not influenced basically.)

1. A position determination method, comprising:

s1, obtaining the initial space position A of the reference part_{First stage}；

S2, obtaining the respective measuring space position A of the reference part and the object to be measured after the set time length_MeasuringAnd B_Measuring；

S3, calculating the A_MeasuringAnd said A_{First stage}Difference A of_{Difference (D)}；

S4, summing the B_MeasuringAnd said A_{Difference (D)}Obtaining the actual spatial position B of the object to be measured relative to the reference part_{Fruit of Chinese wolfberry}。

2. A position measuring apparatus according to claim 1, comprising a reference unit and at least three positioning means for acquiring spatial positions of both the reference unit and an object to be measured with respect to the positioning means to obtain a relative positional relationship between the object to be measured and the reference unit.

3. The position measuring apparatus according to claim 2, further comprising a central control unit connected to each of the positioning means, the central control unit being configured to calculate at least two spatial positions.

4. The position measuring apparatus according to claim 3, wherein three positioning means are provided.

5. The position measuring apparatus according to claim 4, wherein an angle of an interval between any adjacent two of the positioning means in a direction around the reference portion is greater than or equal to 60 °.

6. The position measuring apparatus according to claim 3, wherein each of the positioning means is located above the reference part in a vertical direction.

7. The position measuring apparatus according to claim 6, wherein the positioning means are located at the same level.

8. The position measuring apparatus according to claim 3, wherein the positioning means is an infrared camera.

9. The position determining apparatus of claim 8, wherein each of said positioning mechanisms is pivotally connected to a mounting bracket.

Technical Field

The invention relates to the technical field of virtual reality, in particular to a position measuring method and device.

Background

With the continuous development of virtual reality technology, the auxiliary work can be realized by means of the virtual reality technology under many scenes. For example, the position of a moving object may be measured by a camera or an infrared imaging device, and specifically, in a current three-target position calibration system, a device for acquiring images is usually provided, such as three cameras fixed at different positions in a space, actual positions of the object to be measured are measured by the three cameras, and are collectively transmitted to a data processing device, such as a computer, and a relative change of the object to be measured with respect to its own initial position or a position at a previous time point may be obtained by analyzing real-time images acquired by the three cameras.

However, in the process of measuring the position, the fixed position of the camera may be changed due to shaking of the mounting bracket for fixing the camera, which may cause deviation of the value of the object position measured by the object and further cause great adverse effect on the subsequent work.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in the working process of the existing three-target position calibration system, once the position of the camera position changes, the whole three-target position calibration system can cause the measurement of the position of an object to have deviation, and the subsequent working process is influenced.

(II) technical scheme

In order to achieve the above object, the present invention provides a position measuring method including:

s1, obtaining the initial space position A of the reference part_{First stage}；

S2, obtaining the respective measuring space position A of the reference part and the object to be measured after the set time length_MeasuringAnd B_Measuring；

S3, calculating the A_MeasuringAnd said A_{First stage}Difference A of_{Difference (D)}；

S4, summing the B_MeasuringAnd said A_{Difference (D)}Obtaining the actual spatial position B of the object to be measured relative to the reference part_{Fruit of Chinese wolfberry}。

Based on the position measurement method provided above, the present invention also provides a position measurement apparatus that employs the position measurement method and that includes a reference unit and at least three positioning means for acquiring spatial positions of both the reference unit and an object to be measured with respect to the positioning means itself, so as to obtain a relative positional relationship between the object to be measured and the reference unit.

Optionally, the position measuring apparatus provided by the present invention further includes a central control unit connected to each of the positioning mechanisms, the central control unit being configured to calculate at least two spatial positions.

Optionally, three positioning means are provided.

Alternatively, the angle of the interval between any two adjacent positioning means in the direction around the reference portion is greater than or equal to 60 °.

Alternatively, each of the positioning means is located above the reference part in the vertical direction.

Optionally, each of the positioning means is located at the same level.

Optionally, the positioning means is an infrared camera.

Optionally, each of the positioning mechanisms is rotatably connected to the mounting frame.

(III) advantageous effects

The invention provides a position measuring method and a device, wherein the position measuring device adopts the position measuring method, and in the process of measuring the space position of an object to be measured, the space positions of a reference part and the object to be measured relative to a measuring mechanism are firstly obtained, so that the relative position between the reference part and the object to be measured can be further obtained; then, after a set time period, the relative spatial positions of the reference portion and the object to be measured are obtained again in the same manner and process.

To determine whether or not the positions of the plurality of positioning means have changed at different points in time, the measured initial spatial position a of the reference part may be compared_{First stage}And determining the spatial position A_Measuring. If the position values of the reference part measured at different time points are not changed, the positions of the positioning mechanism are all changed, and correspondingly, the actual spatial position of the object to be measured after the time length is set is the position value directly measured by the measuring mechanism.

If the position values of the reference part measured at different points in time differ, a change in the position of the at least one positioning means is detected, in which case the initial spatial position A of the reference part can be used_MeasuringAnd A_{First stage}Difference A of_{Difference (D)}Correcting the measured spatial position B of the directly measured object to be measured_MeasuringObtaining the actual spatial position B of the object to be measured_{Fruit of Chinese wolfberry}. Thus, by means of the present invention providesWhen the position measuring device measures the actual spatial position of the object to be measured with respect to the reference part, even if the position of the measuring mechanism changes during the measurement, the measured real-time spatial position of the object to be measured with respect to the reference part does not deviate.

Drawings

The advantages of the above and/or additional aspects of the present invention will become apparent and readily appreciated from the following description of the embodiments taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a method for determining a position provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a position measuring apparatus according to an embodiment of the present invention.

Reference numerals

1-a position finding mechanism; 2-a reference part; 3-an object to be measured; 4-central control part.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

In daily work and life, an object to be measured may be an operation tool, and further, a worker may perform setting operation by manipulating the object to be measured, and in order to ensure that the worker can obtain position information of the object to be measured, it is necessary to measure real-time positions (or variations from their own initial spatial positions) of one or more of the objects to be measured. For example, in the current process of performing an operation by a doctor, the position of the scalpel is usually determined according to the experience of the doctor and the physical structure of the patient, but because the physical structure of the patient has individual differences and the subjectivity of the determination process is relatively large, the risk that the accuracy of the determination result obtained by a worker is relatively low is relatively large; for another example, during a bone splicing and repairing operation, two bones to be spliced are usually temporarily fixed by a steel nail, during the steel needle punching operation, since the insertion state of the steel needle is not convenient for visual observation, and during the steel needle punching operation, the steel needle may be deflected due to vibration and other factors, so in the above two specific examples, it is necessary to monitor and measure the real-time spatial position (or the amount of change from its initial spatial position) of the surgical knife or the steel needle. However, since the accuracy of determining the spatial position of the object to be measured by visual observation is relatively poor, it may have a large adverse effect on the subsequent operation process.

For the above reasons, as shown in fig. 1, the present invention provides a position measuring method and a position measuring apparatus, wherein the position measuring method includes:

s1, obtaining the initial space position A of the reference part_{First stage}；

Specifically, the initial spatial position of the reference portion may be obtained in various ways. For example, the purpose of acquiring the initial spatial position of the reference portion may be achieved by a length measuring instrument in combination with a measuring instrument such as a coordinate measuring instrument. Here, the spatial position of the reference portion is stationary with respect to the earth.

More specifically, the initial spatial position a of the reference part_{First stage}May be expressed in terms of spatial coordinates, e.g. the initial spatial position of the reference portion may be A_{First stage}(0, 0, 0), which facilitates the determination of the actual spatial position of the object to be determined after a set time period; furthermore, the measuring instrument can be held stationary with respect to the reference part after the initial spatial position of the reference part is measured until the end of the operation, which ensures that the spatial position of the reference part measured is unique and has a function as a reference point.

S2, obtaining the respective measuring space position A of the reference part and the object to be measured after the set time length_MeasuringAnd B_Measuring；

In particular, the spatial positions of both the reference part and the object to be measured after a set period of time have elapsed can also be determined by means of the measuring instrument in the manner described above. Correspondingly, during the measurement process, the spatial positions of the measurement part and the object to be measured are measured respectively, and the reference part and the object to be measured at the time point of measurement are obtainedMeasuring spatial position A of both objects_MeasuringAnd B_Measuring. Accordingly, when determining the measurement spatial position of the object to be measured, the measurement spatial position B of the object to be measured can also be expressed in the form of spatial coordinates_Measuring(x, y, z). After the above process, there are two cases where the spatial positions of the reference points measured by the same measuring instrument at different points in time are the same or different.

In the first case, since the spatial positions of the reference points obtained at different points in time by means of the same measuring instrument are identical, it is possible to derive: at different time points, the position of the measuring instrument is unchanged relative to the initial position of the measuring instrument. Accordingly, the measured spatial position B of the object to be measured is measured by each positioning means_MeasuringNamely the actual spatial position of the object to be measured relative to the reference part.

In the second case, since the spatial position of the reference portion measured by the same measuring instrument at different points in time is different and the actual spatial position of the reference portion is not changed, it can be derived that: the position of the measuring instrument changes at different points in time. After a set period of time, the measured spatial position B of the object to be measured relative to the reference part is directly measured by the measuring instrument_MeasuringNot an exact value. In this case, the measured spatial position needs to be corrected.

Specifically, S3, calculating the A_MeasuringAnd said A_{First stage}Difference A of_{Difference (D)}；

By comparing the spatial position A of the reference part at different time points_{First stage}And A_MeasuringTo obtain the difference A between the two_{Difference (D)}，A_{Difference (D)}I.e. the amount of change A of the position of the positioning means relative to the reference part at different points in time_{Difference (D)}The aforementioned difference includes a direction and a distance.

Finally, S4, summing said B_MeasuringAnd said A_{Difference (D)}Obtaining the actual spatial position B of the object to be measured relative to the reference part_{Fruit of Chinese wolfberry}。

By applying the variation A_{Difference (D)}Obtained by actual measurementDetermination of the spatial position B of an object to be determined_MeasuringSumming to obtain the actual spatial position B of the object to be measured at the time point_{Fruit of Chinese wolfberry}。

Based on the position measuring method provided in the above embodiment, as shown in fig. 2, the present invention also provides a position measuring apparatus, which can provide a position measuring function for an object 3 to be measured using the above-mentioned position measuring method, comprising a reference part 2 and at least three positioning means 1, wherein each positioning means 1 is used to obtain the spatial position of the reference part 2 and the object 3 to be measured with respect to the positioning means 1 itself, i.e. the operation content of the different positioning means 1 is the same, in the process of position measurement, each positioning means 1 can simultaneously measure and obtain the spatial relative position relationship between the reference part 2 and the positioning means 1 and the spatial relative position between the object 3 to be measured and the positioning means 1, by comprehensively processing the data of the relative positional relationships measured by all the positioning means 1, the spatial relative positional relationship between the reference part 2 and the object 3 to be measured can be obtained.

In particular, the reference part 2 is an object that is stationary relative to the earth and provides a reference function, which can be fixed around the object 3 to be measured and is within the measuring range of the position-finding means 1. The position-finding means 1 may be the measuring instrument mentioned in the above embodiments; in order to increase the degree of automation and the accuracy of the entire position determination device, the position-finding means 1 may preferably be a camera or an infrared camera, so that the relative position relationship between the reference part 2 and itself can be acquired more accurately by means of the infrared camera; correspondingly, the infrared camera can also simultaneously acquire the relative position relationship between the object 3 to be measured and the infrared camera, and further the spatial relative position between the object 3 to be measured and the reference part 2 can be obtained through comprehensive comparison and analysis. Since the spatial position of the reference portion 2 is set to be constant, spatial position data of the object 3 to be measured with respect to the reference portion 2 can be obtained, alternatively, the spatial position of the reference portion 2 can be represented by spatial coordinates (0, 0, 0), and accordingly, the spatial position of the object 3 to be measured can also be correspondingly represented.

In a set time period, a worker may control the object 3 to be measured to generate corresponding operation, so as to change the position of the object 3 to be measured relative to the reference part 2, in order to obtain an accurate value of the amount of change in the position of the object 3 to be measured relative to the reference part 2, after the set time period, the relative positional relationship between the reference part 2 and the object 3 to be measured and each of the positioning mechanisms 1 may be measured again by at least three positioning mechanisms 1, through comprehensive comparison and analysis, the spatial relative positional relationship between another set of the reference part 2 and the object 3 to be measured may be obtained, and finally, through comparison of the spatial relative positional relationship and the initial spatial relative position, the amount of change in the position of the object 3 to be measured relative to the reference part 2 over the set time period may be obtained, that is, under the condition that the spatial position of the reference part 2 is not changed, the spatial position of the object 3 to be determined is obtained.

At the same time, in order to ensure a high degree of accuracy in the measured position result, it is necessary to determine whether the position of the positioning means 1 has changed. Specifically, by comparing the spatial position information of the reference unit 2 measured by each positioning means 1 at different time points, if there is no change in any of the plurality of spatial position information, it can be verified that the positions of all the positioning means 1 have not changed; if the measured at least one spatial position information of the reference part 2 changes, this indicates that the position of the at least one position-finding means 1 has changed after a set period of time has elapsed, and therefore the measured value of the object 3 to be measured over the set period of time is inaccurate and needs to be corrected. Specifically, the measured position information of the object 3 to be measured by the positioning means 1 may be corrected by obtaining the difference between the initial position information of the reference unit 2 and the measured position information measured after a set period of time has elapsed, and the accurate amount of change in position of the object 3 to be measured with respect to the reference unit 2 after the set period of time has elapsed, that is, the actual spatial position information of the object 3 to be measured is finally obtained.

Alternatively, the above-mentioned determination and correction operations can be manually calculated by a worker, and in order to further improve the automation and accuracy of the entire position measuring device, it is preferable that the position measuring device provided in the embodiment of the present invention further includes a central control unit 4, where the central control unit 4 is connected to each of the positioning mechanisms 1, so that the spatial position information of the reference unit 2 and the object 3 to be measured, which are measured by each of the positioning mechanisms 1, can be transmitted to the central control unit 4, and at least two pieces of spatial position information can be calculated by the central control unit 4. The information on the relative positional relationship between the positioning means 1 and both the reference unit 2 and the object 3 to be measured include at least two pieces of information, namely, distance and direction, and the calculated spatial position information may include both a distance value and a direction value, and may include a case where the distances are different depending on the directions.

Specifically, the central control unit 4 may be an industrial personal computer or a computer, which has at least data receiving and data processing capabilities; moreover, the central control part 4 can be further provided with a display screen, so that the central control part 4 has the capability of data output, and the staff can directly check the position variation of the object 3 to be measured relative to the reference part 2 after the set time length. The connection between the positioning means 1 and the central control unit 4 can be established by means of cables or wireless transmission, so that the central control unit 4 can receive the information of the spatial positions of the reference unit 2 and the object 3 to be measured by the positioning means 1.

Alternatively, the positioning means 1 may be provided with only three positioning means 1, and by means of the three positioning means 1 provided at different positions of the reference part 2, the unique spatial position information of the reference part 2 can be determined by means of a comparative analysis or the like, and correspondingly, the information of the unique spatial position of the object 3 to be measured can also be obtained by means of the three positioning means 1, so that the amount of change in position of the object 3 to be measured with respect to the reference part 2 over a set period of time can be obtained. Moreover, by providing a small number of positioning mechanisms 1, on the one hand, the equipment cost can be saved, and the costs for installing, maintaining and replacing the positioning mechanisms 1 can be correspondingly reduced, and on the other hand, by reducing the number of the positioning mechanisms 1, the data processing amount generated in the whole positioning process can be reduced, so that the data processing efficiency is improved, and even the position measuring device can have the capability of outputting the position variation of the object 3 to be measured relative to the reference part 2 in real time, so that the worker can flexibly change the progress of the subsequent operation process according to the real-time position information of the object to be measured output by the central control part 4.

In order to further improve the accuracy of the values of the spatial relationship between the reference part 2 and the object 3 to be measured by the three positioning means 1, it is preferable that the angle between any two adjacent positioning means 1 is greater than or equal to 60 ° in the direction around the reference part 2, in which case the three positioning means 1 are arranged in any manner, and a coverage area of greater than or equal to 180 ° is formed in the circumferential direction of the reference part 2, and in which case the spatial position information of the measured reference part 2 and the object 3 to be measured is more accurate and the accuracy of the amount of change in the spatial relationship between the measured object 3 and the reference part 2 is relatively higher over a set period of time.

More specifically, three positioning means 1 may be installed on the same horizontal plane, and the included angle between any two adjacent positioning means 1 is 120 °, so that the reference part 2 and the object to be measured are covered in all directions, and the amount of change in the spatial position of the object 3 to be measured can be measured more accurately by means of the three positioning means 1.

In addition, each positioning mechanism 1 can be disposed above the reference part 2 in the vertical direction, which can prevent other parts from blocking the reference part 2 and the object 3 to be measured to some extent and further affecting the position measurement of the object 3 to be measured, and can prevent the positioning mechanism from being covered with dust, impurities, and the like, thereby ensuring high accuracy of the measurement result.

In the process of installing the positioning mechanism 1, the positioning mechanism 1 can be installed on an installation frame (not shown in the figure), and the positioning mechanism 1 can have the capability of rotating relative to the installation frame, so that in the process of measuring the position, the orientation of the positioning mechanism 1 can be changed along with the position change of the object to be measured, on one hand, the object to be measured is ensured to be positioned in the visual field range of each positioning mechanism 1, on the other hand, the spatial position information measured by each positioning mechanism 1 on the object to be measured can be ensured to be more accurate, and the accuracy of the position measurement result is improved.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the communication may be direct, indirect via an intermediate medium, or internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.