WO2023093884A1 - 定位装置及定位系统 - Google Patents

定位装置及定位系统 Download PDF

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Publication number
WO2023093884A1
WO2023093884A1 PCT/CN2022/134698 CN2022134698W WO2023093884A1 WO 2023093884 A1 WO2023093884 A1 WO 2023093884A1 CN 2022134698 W CN2022134698 W CN 2022134698W WO 2023093884 A1 WO2023093884 A1 WO 2023093884A1
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WIPO (PCT)
Prior art keywords
trigger
processor
positioning
positioning component
module
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PCT/CN2022/134698
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English (en)
French (fr)
Inventor
张琼
王跃
刘超
胡海军
Original Assignee
北京银河方圆科技有限公司
北京优脑银河科技有限公司
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Publication of WO2023093884A1 publication Critical patent/WO2023093884A1/zh

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/08Systems for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06Systems determining the position data of a target
    • G01S15/08Systems for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only

Definitions

  • the present disclosure relates to the technical field of medical equipment, in particular to a positioning device and a positioning system.
  • spatial positioning technology is widely used.
  • spatial positioning technology is used in various aspects such as precision medicine.
  • it is necessary to hold the probe to make the needle touch the target point, and at the same time operate the processor to complete the determination of the target point to start calculating the spatial position information of the target point. This process is complicated to operate and has low efficiency.
  • the disclosure provides a positioning device and a positioning system.
  • the present disclosure provides a positioning device, the positioning device comprising:
  • a communication module and a trigger module are arranged in the housing, the trigger module is connected to the communication module, and the trigger module is used to trigger the communication module to send a control signal to the processor in response to receiving the trigger signal, so that The processor operates to calculate the spatial position information of the target point.
  • the positioning device also includes:
  • the first positioning component is arranged at one end of the housing.
  • the trigger module is configured to trigger the communication module to send the control signal to the processor in response to receiving the trigger signal, including:
  • the trigger module is configured to trigger the communication module to send the control signal and target distance information between the bottom end of the first positioning component and the target point to the processor in response to receiving the trigger signal.
  • the first positioning component includes a detachably connected needle shaft and a needle, and the needle is used to contact the target point.
  • the needle is a blunt structure, and the needle is made of soft material.
  • the first positioning component is connected to the communication module, the first positioning component is a distance measuring instrument, and the distance measuring instrument is used for non-contact measurement of the range measuring instrument. Target distance information between the bottom end and the target point.
  • the trigger module is a pressing element
  • the trigger module is configured to trigger the communication module to send the control signal to the processor in response to receiving the trigger signal, including:
  • the pressing element is used for triggering the communication module to send a control signal to the processor in response to receiving a pressing force.
  • the trigger module is a roller element
  • the trigger module is configured to trigger the communication module to send the control signal to the processor in response to receiving the trigger signal, including:
  • the scroll wheel element is configured to trigger the communication module to send a control signal to the processor in response to receiving a push force.
  • the trigger module is a touch element
  • the trigger module is configured to trigger the communication module to send the control signal to the processor in response to receiving the trigger signal, including:
  • the touch element is used for triggering the communication module to send a control signal to the processor in response to receiving a contact signal.
  • the trigger module is a gesture trigger module
  • the trigger module is configured to trigger the communication module to send the control signal to the processor in response to receiving the trigger signal, including:
  • the gesture triggering module is configured to trigger the communication module to send a control signal to the processor when the collected gesture information includes a preset gesture.
  • the trigger module is a voice trigger module
  • the trigger module is configured to trigger the communication module to send the control signal to the processor in response to receiving the trigger signal, including:
  • the voice triggering module is used for triggering the communication module to send a control signal to the processor when the collected voice information contains preset keyword instructions.
  • the positioning device also includes:
  • the second positioning component is arranged on the housing.
  • the second positioning component includes multiple optical reflective balls or multiple electromagnetic sensors, and the multiple optical reflective balls or multiple electromagnetic sensors are arranged according to preset positions.
  • the positioning device further includes:
  • the power supply module is arranged in the casing and connected with the trigger module and the communication module respectively.
  • the present disclosure provides a positioning system, which includes the positioning device described in the first aspect, a sensing device, a processor, and a display device, the second positioning component of the positioning device is located in the sensor Within the sensing range of the measuring device, the processor is respectively connected to the sensing device and the display device, and the positioning device includes a first positioning component and a second positioning component, wherein:
  • the sensing device is used to sense the spatial position information of the second positioning component and send it to the processor;
  • the processor is configured to determine the spatial position information of the target point according to the spatial position information of the second positioning component and the preset position relationship information in response to receiving the control signal sent by the positioning device, the preset position relationship information Used to characterize the positional relationship between the first positioning component and the second positioning component;
  • the processor sends the spatial position information of the target point to the display device for display by the display device.
  • the processor is configured to determine the spatial position of the target point according to the spatial position information of the second positioning component and the preset position relationship information in response to receiving a control signal sent by the positioning device.
  • Information, the preset positional relationship information is used to characterize the positional relationship between the first positioning component and the second positioning component, including:
  • the processor is configured to respond to receiving the control signal sent by the positioning device and the target distance information between the first positioning component and the target point, according to the spatial position information of the second positioning component, the preset position relationship information and The target distance information determines the spatial position information of the target point, and the preset position relationship information is used to characterize the position relationship between the first positioning component and the second positioning component.
  • the present disclosure provides a positioning system, the positioning system includes a positioning device, a sensing device, a processor, and a display device, the positioning device includes a first positioning component and a second positioning component, the second positioning The components are located within the sensing range of the sensing device, the processor is respectively connected to the sensing device and the display device, the positioning device includes a first positioning component and a second positioning component, and the processor Including a non-contact trigger module, the non-contact trigger module is used to trigger the processor to run and calculate the spatial position information of the target point, wherein:
  • the sensing device is used to sense the spatial position information of the second positioning component and send it to the processor;
  • the processor is configured to determine the spatial position information of the first positioning component according to the spatial position information of the second positioning component and preset position relationship information, and the preset position relationship information is used to characterize the first positioning component The positional relationship with the second positioning component;
  • the processor sends the spatial position information of the first positioning component to the display device for display by the display device.
  • the positioning device and the positioning system provided by the embodiments of the present disclosure, through the trigger module set on the positioning device, trigger the communication module to send the control signal to the processor, so that the processor runs and calculates the spatial position information of the target point, so that it can Efficient positioning operations are realized.
  • FIG. 1 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a first three-dimensional structure of a positioning device according to an embodiment of the present disclosure
  • Fig. 3 is a second perspective structural diagram of a positioning device according to an embodiment of the present disclosure.
  • Fig. 4 is a schematic structural diagram of a positioning system according to another embodiment of the present disclosure.
  • 1-positioning device 11-housing, 12-second positioning part, 121-optical reflection ball, 122-bracket, 13-first positioning part, 131-needle bar, 132-needle, 14-trigger module, 15- Communication module, 16-power supply module, 2-sensing device, 3-processor, 4-display device.
  • connection In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms “installation”, “connection”, “connection” and so on should be interpreted in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
  • Fig. 1 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure.
  • the positioning device 1 in this embodiment includes a housing 11 , a first positioning component 13 , a second positioning component 12 , a trigger module 14 , a communication module 15 and a power supply module 16 .
  • the trigger module 14 , the communication module 15 and the power supply module 16 are disposed in the casing 11 .
  • the trigger module 14 is connected with the communication module 15 .
  • the power supply module 16 is electrically connected to the trigger module 14 and the communication module 15 respectively, so as to supply power to the trigger module 14 and the communication module 15 .
  • the communication module 15 may be a wired communication module or a wireless communication module.
  • the housing 11 may be the part held by the operator.
  • the trigger module 14 is configured to trigger the communication module 15 to send a control signal to the processor 3 (see FIG. 4 ) in response to receiving the trigger signal, so that the processor 3 can calculate the spatial position information of the target point.
  • the control signal may be, for example, an instruction for instructing the processor 3 to calculate the spatial position information of the target point.
  • one end of the housing 11 may be provided with a first positioning component 13 .
  • the first positioning component 13 may include a needle shaft 131 and a needle head 132 connected. A needle 132 may be used to contact the target point.
  • the needle 132 can be of a blunt structure, such as a round blunt structure, that is, the contour of the needle tip can be arc-shaped, so as to avoid sharp needles such as conical needles from stabbing the human body and improve safety.
  • the needle 132 can be made of soft materials, such as rubber, silica gel, etc., to prevent discomfort caused when it comes into contact with the human body.
  • the needle bar 131 can be made of hard materials such as metal materials, which can provide supporting force for the needle head 132 .
  • the connection mode between the needle bar 131 and the needle head 132 can be a detachable connection, such as a screw connection, snap connection or hinge connection. In this way, the needle head 132 can be disassembled conveniently, the replacement of the needle head 132 can be realized, and infection can be prevented.
  • the first positioning component 13 may be connected to the communication module 15 .
  • the first positioning component 13 may be a distance measuring instrument.
  • the distance measuring instrument can be used for non-contact measurement of target distance information between the bottom end of the distance measuring instrument and the target point. Specifically, the distance measuring instrument can measure the distance between the bottom end of the distance measuring instrument and the target according to the time difference between the moment when the distance measuring instrument emits a light wave/sound wave/electromagnetic wave to the target point and the moment when the light wave/sound wave/electromagnetic wave reflected from the target point is received. Target distance information between points.
  • the distance measuring instrument can be a sonar, a laser range finder, etc.
  • a laser range finder can include a laser generator, a laser receiver, a timer, and the like. The use of non-contact position detection technology can avoid the discomfort caused by contact with the human body.
  • the trigger module 14 can be used to trigger the communication module 15 to send the control signal and the target distance information between the bottom end of the first positioning component 13 and the target point to the processing unit in response to receiving the trigger signal. device 3, so that the processor 3 operates to calculate the spatial position information of the target point.
  • the target distance information may be zero.
  • the target distance information may be a distance value between the bottom end of the first positioning component 13 and the target point.
  • the housing 11 may be provided with a second positioning component 12 .
  • the second positioning component 12 includes a plurality of optical reflective balls or a plurality of electromagnetic sensors. A plurality of optical reflective balls or a plurality of electromagnetic sensors are arranged according to preset positions.
  • the second positioning component 12 may include at least three optical reflective balls 121 . At least three optical reflective balls 121 can be spaced apart on the bracket 122 .
  • the shape of the bracket 122 can be a cross shape, a Y shape, a square, a triangle, a circle or an irregular shape.
  • the centers of at least three optical reflective spheres 121 may be located in the same plane. In this way, three optical reflective balls 121 can form a positioning surface. It is also possible to include more than three optical reflective balls 121 for layout, and when more than three optical reflective balls 121 are blocked, the other three can continue to reflect infrared light.
  • the second positioning component 12 may include four optical reflective balls 121 , and the bracket 122 may be cross-shaped. As shown in FIG. 3 , the second positioning component 12 may include four optical reflective balls 121 , and the bracket 122 may be Y-shaped.
  • the trigger module 14 may be a pressing element.
  • the pressing element may trigger the communication module 15 to send a control signal to the processor 3 in response to receiving the pressing force applied by the operator.
  • the trigger module 14 may be a roller element.
  • the roller element may trigger the communication module 15 to send a control signal to the processor 3 in response to receiving a push force applied by the operator.
  • the trigger module 14 may be a touch element.
  • the touch element may trigger the communication module 15 to send a control signal to the processor 3 in response to receiving the contact signal.
  • the touch elements can be capacitive sensors or pressure sensors.
  • the trigger module 14 may be a voice trigger module.
  • the voice trigger module may include a voice acquisition module and a keyword trigger module.
  • the voice acquisition module can be used to collect the voice information sent by the operator.
  • the keyword triggering module can be used to trigger the communication module 15 to send a control signal to the processor 3 in response to the preset keyword instruction included in the voice information, so that the processor 3 can calculate the spatial position information of the target point.
  • the trigger module 14 may be a gesture trigger module.
  • the gesture trigger module may include a gesture acquisition module and a preset gesture trigger module.
  • the attitude acquisition module can be used to acquire the operator's attitude or gesture captured by the camera.
  • the preset gesture triggering module can respond to the operator's gesture or gesture including the preset gesture, triggering the communication module 15 to send a control signal to the processor 3, so that the processor 3 calculates the spatial position information of the target point.
  • the trigger module 14 may be a button element or a scroll wheel element.
  • the operator can press the button element or slide the roller element to trigger the communication module 15 to send a control signal to the processor 3, so that the processor 3 can calculate the spatial position information of the target point.
  • the positioning device triggers the communication module to send a control signal to the processor through the trigger module provided on the positioning device, so that the processor runs and calculates the spatial position information of the target point, thereby realizing efficient positioning operations.
  • the use of detachable contact probes or non-contact position detection technologies with specific materials and shapes not only facilitates replacement, but also avoids injuries, improving safety and ease of use.
  • Fig. 4 is a schematic structural diagram of a positioning system according to another embodiment of the present disclosure.
  • the positioning system 100 shown in FIG. 4 includes a sensing device 2 , a processor 3 , a display device 4 and the positioning device 1 shown in FIGS. 1-3 .
  • the second positioning component 12 of the positioning device 1 may be located within the sensing range of the sensing device 2 .
  • the processor 3 can be electrically connected with the sensing device 2 and the display device 4 respectively.
  • the sensing device 2 can be used to sense the spatial position information of the second positioning component 12 and send it to the processor 3 .
  • the processor 3 is configured to determine the spatial position information of the target point according to the spatial position information of the second positioning component 12 and the preset position relationship information in response to receiving the control signal sent by the positioning device 1.
  • the preset positional relationship information may be used to characterize the positional relationship between the first positioning component 13 and the second positioning component 12 .
  • the processor 3 sends the spatial position information of the target point to the display device 4 for display by the display device 4 .
  • the sensing device 2 may include an infrared camera or a 3D camera. Specifically, the sensing device 2 can identify and determine the spatial position information of the second positioning component 12 through the infrared rays reflected by the second positioning component 12 .
  • the processor 3 may be configured to respond to receiving the control signal sent by the positioning device 1 and the target distance information between the first positioning component 13 and the target point, according to the space of the second positioning component 12
  • the position information, the preset position relationship information and the target distance information determine the spatial position information of the target point.
  • the target distance information may be zero.
  • the target distance information may be a distance value between the bottom end of the first positioning component 13 and the target point.
  • the operator holds a part of the housing 11 of the positioning device 1, and makes the first positioning part 13 of the positioning device 1 contact the target point on the human body, and operates the trigger module 14, so that the trigger module 14 triggers the communication module 15.
  • the positioning device of this positioning system may not have a trigger module and a communication module, but the processor has a non-contact trigger module.
  • the non-contact trigger module can be used to trigger the processor 3 to run and calculate the spatial position information of the target point.
  • the non-contact trigger module can be a voice trigger module or a gesture trigger module.
  • the processor 3 can be controlled without contact, and the processor 3 can be triggered within the sensing range through non-contact operations such as voice trigger or gesture trigger, so that single-person operation can be realized and labor costs can be reduced.
  • the positioning system triggers the communication module to send a control signal to the processor through the trigger module set on the positioning device, so that the processor runs and calculates the spatial position information of the target point, or through the non-contact system set on the processor In the trigger module, the non-contact trigger processor runs and calculates the spatial position information of the target point, thereby realizing efficient positioning operations and improving work efficiency.

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  • Engineering & Computer Science (AREA)
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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

一种定位装置(1),通过在定位装置(1)上设置的触发模块(14),触发通信模块(15)将控制信号发送至处理器(3),以使处理器(3)运行计算目标点的空间位置信息,由此可以实现高效的定位操作。还公开一种定位系统。定位装置(1)和定位系统采用特定材料和形状的可拆卸接触式探头或非接触式位置探测技术,不仅可以方便更换,还可以避免造成伤害,提高了安全性以及易用性。

Description

定位装置及定位系统 技术领域
本公开涉及医疗设备技术领域,具体涉及一种定位装置及定位系统。
背景技术
当前空间定位技术广泛应用,例如在精准医疗等各个方面都用到了空间定位技术。在一个场景中,需要手持探针使针头接触目标点,同时操作处理器完成目标点的确定以开启计算目标点的空间位置信息。这个过程操作复杂,效率低。
发明内容
本公开提出了一种定位装置及定位系统。
根据第一方面,本公开提供了一种定位装置,该定位装置包括:
壳体;
通信模块和触发模块,设于所述壳体内,所述触发模块与通信模块连接,所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,以使所述处理器运行计算目标点的空间位置信息。
在一些可选的实施方式中,所述定位装置还包括:
第一定位部件,设于所述壳体的一端。
在一些可选的实施方式中,所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
所述触发模块用于响应于接收到触发信号时触发所述通信模块将所述控制信号和第一定位部件底端与目标点之间的目标距离信息发送至处理器。
在一些可选的实施方式中,所述第一定位部件包括可拆卸连接的针杆和针头,所述针头用于接触目标点。
在一些可选的实施方式中,所述针头为钝形结构,所述针头采用软质材料。
在一些可选的实施方式中,所述第一定位部件与所述通信模块连接,所述第一定位部件为测距仪器,所述测距仪器用于非接触式测量所述测距仪器的底端与目标点之间的目标距离信息。
在一些可选的实施方式中,所述触发模块为按压元件;以及
所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器, 包括:
所述按压元件用于响应于接收到一按压力时触发所述通信模块将控制信号发送至处理器。
在一些可选的实施方式中,所述触发模块为滚轮元件;以及
所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
所述滚轮元件用于响应于接收到一推力时触发所述通信模块将控制信号发送至处理器。
在一些可选的实施方式中,所述触发模块为触摸元件;以及
所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
所述触摸元件用于响应于接收到接触信号时触发所述通信模块将控制信号发送至处理器。
在一些可选的实施方式中,所述触发模块为姿态触发模块;以及
所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
所述姿态触发模块用于响应于所采集的姿势信息中包含预设姿势时触发所述通信模块将控制信号发送至处理器。
在一些可选的实施方式中,所述触发模块为语音触发模块;以及
所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
所述语音触发模块用于响应于所采集的语音信息中包含预设的关键词指令时触发所述通信模块将控制信号发送至处理器。
在一些可选的实施方式中,所述定位装置还包括:
第二定位部件,设于所述壳体上。
在一些可选的实施方式中,所述第二定位部件包括多个光学反射球或多个电磁传感器,所述多个光学反射球或多个电磁传感器是按照预设位置排列。
在一些可选的实施方式中,在一些可选的实施方式中,所述定位装置还包括:
供电模块,设于所述壳体内且分别与所述触发模块以及所述通信模块连接。
根据第二方面,本公开提供了一种定位系统,该定位系统包括第一方面所述的定位装置、感测装置、处理器以及显示设备,所述定位装置的第二定位部件位于所述感测装置的感测范围内,所述处理器分别与所述感测装置和所述显示设备连接,所述定位装置包括第一定位部件和第二定位部件,其中:
所述感测装置用于感测所述第二定位部件的空间位置信息且发送至所述处理器;
所述处理器用于响应于接收到定位装置发送的控制信号,根据所述第二定位部件的空间位置信息以及预设位置关系信息确定所述目标点的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第二定位部件之间的位置关系;
所述处理器将所述目标点的空间位置信息发送至所述显示设备,以供所述显示设备显示。
在一些可选的实施方式中,所述处理器用于响应于接收到定位装置发送的控制信号,根据所述第二定位部件的空间位置信息以及预设位置关系信息确定所述目标点的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第二定位部件之间的位置关系,包括:
所述处理器用于响应于接收到定位装置发送的控制信号以及所述第一定位部件与目标点之间的目标距离信息,根据所述第二定位部件的空间位置信息、预设位置关系信息以及目标距离信息确定所述目标点的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第二定位部件之间的位置关系。
根据第三方面,本公开提供了一种定位系统,该定位系统包括定位装置、感测装置、处理器以及显示设备,所述定位装置包括第一定位部件和第二定位部件,所第二定位部件位于所述感测装置的感测范围内,所述处理器分别与所述感测装置和所述显示设备连接,所述定位装置包括第一定位部件和第二定位部件,所述处理器包括非接触式触发模块,所述非接触式触发模块用于触发所述处理器运行计算目标点的空间位置信息,其中:
所述感测装置用于感测所述第二定位部件的空间位置信息且发送至所述处理器;
所述处理器用于根据所述第二定位部件的空间位置信息以及预设位置关系信息确定所述第一定位部件的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第二定位部件之间的位置关系;
所述处理器将所述第一定位部件的空间位置信息发送至所述显示设备,以供所述显示设备显示。
本公开的实施例提供的定位装置及定位系统,通过在定位装置上设置的触发模块,触发通信模块将控制信号发送至处理器,以使处理器运行计算目标点的空间位置信息,由此可以实现高效的定位操作。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述,本公开的其它特征、 目的和优点将会变得更明显:
图1是根据本公开一个实施例的定位装置的结构示意图;
图2是根据本公开一个实施例的定位装置的第一立体结构示意图;
图3是根据本公开一个实施例的定位装置的第二立体结构示意图;
图4是根据本公开另一实施例的定位系统的结构示意图。
符号说明:
1-定位装置,11-壳体,12-第二定位部件,121-光学反射球,122-支架,13-第一定位部件,131-针杆,132-针头,14-触发模块,15-通信模块,16-供电模块,2-感测装置,3-处理器,4-显示设备。
具体实施方式
下面结合附图和实施例对本公开作进一步的详细说明。可以理解的是,此处所描述的具体实施例仅仅用于解释相关发明,而非对该发明的限定。另外还需要说明的是,为了便于描述,附图中仅示出了与有关发明相关的部分。
在本发明的描述中,需要说明的是,术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“第一”、“第二”、“第三”仅用于描述目的,而不能理解为指示或暗示相对重要性。
在本发明的描述中,需要说明的是,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”等应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明的描述中,需要说明的是,在不冲突的情况下,本公开中的实施例及实施例中的特征可以相互组合。
图1是根据本公开一个实施例的定位装置的结构示意图。如图1所示,本实施例中的定位装置1包括壳体11、第一定位部件13、第二定位部件12、触发模块14、通信模块15以及供电模块16。触发模块14、通信模块15以及供电模块16设于壳体11内。触发模块14与通信模块15连接。供电模块16分别与触发模块14和通信模块15电连接,实现对触发模块14和通信模块15的供电。通信模块15可以是有线通信模块或无线通信模块。壳体11可以是操 作人员手持的部分。
在本实施例中,触发模块14用于响应于接收到触发信号时触发通信模块15将控制信号发送至处理器3(参见图4),以使处理器3运行计算目标点的空间位置信息。这里,控制信号例如可以是用于指示处理器3进行计算目标点的空间位置信息操作的指令。
在一些可选的实施方式中,壳体11的一端可以设有第一定位部件13。在一个场景中,第一定位部件13可以包括相连接的针杆131和针头132。针头132可以用于接触目标点。
针头132可以为钝形结构,例如圆钝形结构,即针尖的轮廓可以为圆弧状,避免圆锥型针头这类较为尖锐的针头刺伤人体,提高安全性。针头132可以采用软质材料,例如橡胶、硅胶等,防止与人体接触时造成不适感。针杆131可以采用金属材料等硬质材料,可以为针头132提供支撑力。针杆131和针头132之间的连接方式可以是可拆卸连接,例如螺纹连接、卡扣连接或铰链连接。这样可以方便拆卸针头132,实现针头132的更换,防止感染。
在另一个场景中,第一定位部件13可以与通信模块15连接。第一定位部件13可以为测距仪器。测距仪器可以用于非接触式测量测距仪器的底端与目标点之间的目标距离信息。具体地,测距仪器可以根据测距仪器发射光波/声波/电磁波至目标点的时刻与接收从目标点反射的光波/声波/电磁波的时刻之间的时间差,测量测距仪器的底端与目标点之间的目标距离信息。测距仪器可以是声呐、激光测距仪等,例如激光测距仪可以包括激光发生器、激光接收器和计时器等。采用非接触式位置探测技术可以避免接触人体造成的不适感。
在一些可选的实施方式中,触发模块14可以用于响应于接收到触发信号时触发通信模块15将控制信号与第一定位部件13的底端和目标点之间的目标距离信息发送至处理器3,以使处理器3运行计算目标点的空间位置信息。当第一定位部件13接触目标点时,目标距离信息可以为零。当第一定位部件13没有接触目标点时,目标距离信息可以为第一定位部件13的底端与目标点之间的距离值。
在一些可选的实施方式中,壳体11上可以设有第二定位部件12。第二定位部件12包括多个光学反射球或多个电磁传感器。多个光学反射球或多个电磁传感器是按照预设位置排列。在一个场景中,第二定位部件12可以包括至少三个光学反射球121。至少三个光学反射球121可以间隔设于支架122上。支架122的形状可以为十字架形、Y字形、方形、三角形、圆形或不规则形状。至少三个光学反射球121的球心可以位于同一平面内。这样,三个光学反射球121可以构成一个定位面。也可以包括多于三个的光学反射球121进行布局,并且当多于三个之外的光学反射球121被遮挡时,其他三个还能继续反射红外光。
如图2所示,第二定位部件12可以包括四个光学反射球121,支架122可以为十字架形。 如图3所示,第二定位部件12可以包括四个光学反射球121,支架122可以为Y字形。
在一些可选的实施方式中,触发模块14可以为按压元件。按压元件可以响应于接收到操作人员施加的按压力时触发通信模块15将控制信号发送至处理器3。
在一些可选的实施方式中,触发模块14可以为滚轮元件。滚轮元件可以响应于接收到操作人员施加的推力时触发通信模块15将控制信号发送至处理器3。
在一些可选的实施方式中,触发模块14可以为触摸元件。触摸元件可以响应于接收到接触信号时触发通信模块15将控制信号发送至处理器3。触摸元件可以是电容传感器或压力传感器。
在一些可选的实施方式中,触发模块14可以为语音触发模块。具体地,语音触发模块可以包括语音获取模块和关键词触发模块。语音获取模块可以用于采集操作人员所发出的语音信息。关键词触发模块可以用于响应于上述语音信息中包含预设的关键词指令,触发通信模块15将控制信号发送至处理器3,以使处理器3运行计算目标点的空间位置信息。
在一些可选的实施方式中,触发模块14可以为姿态触发模块。具体地,姿态触发模块可以包括姿态获取模块和预设姿势触发模块。姿态获取模块可以用于获取摄像头所采集的操作人员的姿势或手势。预设姿势触发模块可以响应于操作人员的姿势或手势中包含预设姿势时,触发通信模块15将控制信号发送至处理器3,以使处理器3运行计算目标点的空间位置信息。
在一些可选的实施方式中,触发模块14可以为按键元件或滚轮元件。操作人员可以通过对按键元件施加压力,或者滑动滚轮元件,可以触发通信模块15将控制信号发送至处理器3,以使处理器3运行计算目标点的空间位置信息。
本公开提供的定位装置,通过在定位装置上设置的触发模块,触发通信模块将控制信号发送至处理器,以使处理器运行计算目标点的空间位置信息,由此可以实现高效的定位操作。同时,采用特定材料和形状的可拆卸接触式探头或非接触式位置探测技术,不仅可以方便更换,还可以避免造成伤害,提高了安全性以及易用性。
图4是根据本公开另一实施例的定位系统的结构示意图。如图4所示的定位系统100包括感测装置2、处理器3、显示设备4以及如图1-图3所示的定位装置1。定位装置1的第二定位部件12可以位于感测装置2的感测范围内。处理器3可以分别与感测装置2和显示设备4电连接。
在本实施例中,感测装置2可以用于感测第二定位部件12的空间位置信息且发送至处理器3。处理器3用于响应于接收到定位装置1发送的控制信号,根据第二定位部件12的空间 位置信息以及预设位置关系信息确定目标点的空间位置信息。预设位置关系信息可以用于表征第一定位部件13与第二定位部件12之间的位置关系。处理器3将目标点的空间位置信息发送至显示设备4,以供显示设备4显示。
在本实施例中,感测装置2可以包括红外相机、3D相机。具体地,感测装置2可以通过第二定位部件12反射的红外线,从而识别和确定出第二定位部件12的空间位置信息。
在一些可选的实施方式中,处理器3可以用于响应于接收到定位装置1发送的控制信号以及第一定位部件13与目标点之间的目标距离信息,根据第二定位部件12的空间位置信息、预设位置关系信息以及目标距离信息确定目标点的空间位置信息。当第一定位部件13接触目标点时,目标距离信息可以为零。当第一定位部件13未接触目标点时,目标距离信息可以为第一定位部件13的底端与目标点之间的距离值。
在一个定位场景中,操作人员手持定位装置1的壳体11的一部分,并使定位装置1的第一定位部件13与人体上的目标点接触,操作触发模块14,使触发模块14触发通信模块15将控制信号发送至处理器3,以使处理器3根据第二定位部件12的空间位置信息以及预设位置关系信息计算目标点的空间位置信息,显示设备4显示出目标点的空间位置信息。
在另一个定位系统中,与上述的定位系统的区别在于,该定位系统的定位装置可以不具有触发模块和通信模块,而处理器具有非接触式触发模块。非接触式触发模块可以用于触发处理器3运行计算目标点的空间位置信息。非接触式触发模块可以为语音触发模块或姿态触发模块。由此可以无需接触操作控制处理器,通过语音触发或者姿态触发等非接触式操作,在感应范围内触发处理器3,由此可以实现单人操作,减少人力成本。
本公开提供的定位系统,通过定位装置上设置的触发模块,触发通信模块将控制信号发送至处理器,以使处理器运行计算目标点的空间位置信息,或者通过处理器上设置的非接触式触发模块,非接触式触发处理器运行计算目标点的空间位置信息,由此可以实现高效的定位操作,提高了工作效率。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解,本公开中所涉及的发明范围,并不限于上述技术特征的特定组合而成的技术方案,同时也应涵盖在不脱离上述发明构思的情况下,由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (17)

  1. 一种定位装置,包括:
    壳体;
    通信模块,设于所述壳体内;和
    触发模块,设于所述壳体内,所述触发模块与通信模块连接,所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,以使所述处理器运行计算目标点的空间位置信息。
  2. 根据权利要求1所述的定位装置,其特征在于,所述定位装置还包括:
    第一定位部件,设于所述壳体的一端。
  3. 根据权利要2所述的定位装置,其特征在于,所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
    所述触发模块用于响应于接收到触发信号时触发所述通信模块将所述控制信号和第一定位部件的底端与目标点之间的目标距离信息发送至处理器。
  4. 根据权利要求2或3所述的定位装置,其特征在于,所述第一定位部件包括可拆卸连接的针杆和针头,所述针头用于接触目标点。
  5. 根据权利要求4所述的定位装置,其特征在于,所述针头为钝形结构,所述针头采用软质材料。
  6. 根据权利要求3所述的定位装置,其特征在于,所述第一定位部件与所述通信模块连接,所述第一定位部件为测距仪器,所述测距仪器用于非接触式测量所述测距仪器的底端与目标点之间的目标距离信息。
  7. 根据权利要求1所述的定位装置,其特征在于,所述触发模块为按压元件;以及
    所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
    所述按压元件用于响应于接收到一按压力时触发所述通信模块将控制信号发送至处理器。
  8. 根据权利要求1所述的定位装置,其特征在于,所述触发模块为滚轮元件;以及
    所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
    所述滚轮元件用于响应于接收到一推力时触发所述通信模块将控制信号发送至处理器。
  9. 根据权利要求1所述的定位装置,其特征在于,所述触发模块为触摸元件;以及
    所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
    所述触摸元件用于响应于接收到接触信号时触发所述通信模块将控制信号发送至处理器。
  10. 根据权利要求1所述的定位装置,其特征在于,所述触发模块为姿态触发模块;以及
    所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
    所述姿态触发模块用于响应于所采集的姿势信息中包含预设姿势时触发所述通信模块将控制信号发送至处理器。
  11. 根据权利要求1所述的定位装置,其特征在于,所述触发模块为语音触发模块;以及
    所述触发模块用于响应于接收到触发信号时触发所述通信模块将控制信号发送至处理器,包括:
    所述语音触发模块用于响应于所采集的语音信息中包含预设的关键词指令时触发所述通信模块将控制信号发送至处理器。
  12. 根据权利要求1-11中任一项所述的定位装置,其特征在于,所述定位装置还包括:
    第二定位部件,设于所述壳体上。
  13. 根据权利要求12所述的定位装置,其特征在于,所述第二定位部件包括多个光学反 射球或多个电磁传感器,所述多个光学反射球或多个电磁传感器按照预设位置排列。
  14. 根据权利要求1-13中任一项所述的定位装置,其特征在于,所述定位装置还包括:
    供电模块,设于所述壳体内且分别与所述触发模块以及所述通信模块连接。
  15. 一种定位系统,包括权利要求1-14任一项所述的定位装置、感测装置、处理器以及显示设备,所述处理器分别与所述感测装置和所述显示设备连接,所述定位装置包括第一定位部件和第二定位部件,所述第二定位部件位于所述感测装置的感测范围内,其中:
    所述感测装置用于感测所述第二定位部件的空间位置信息且发送至所述处理器;
    所述处理器用于响应于接收到定位装置发送的控制信号,根据所述第二定位部件的空间位置信息以及预设位置关系信息确定所述目标点的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第二定位部件之间的位置关系;
    所述处理器将所述目标点的空间位置信息发送至所述显示设备,以供所述显示设备显示。
  16. 根据权利要求15所述的定位系统,其特征在于,所述处理器用于响应于接收到定位装置发送的控制信号,根据所述第二定位部件的空间位置信息以及预设位置关系信息确定所述目标点的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第二定位部件之间的位置关系,包括:
    所述处理器用于响应于接收到定位装置发送的控制信号以及所述第一定位部件与目标点之间的目标距离信息,根据所述第二定位部件的空间位置信息、预设位置关系信息以及目标距离信息确定所述目标点的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第二定位部件之间的位置关系。
  17. 一种定位系统,包括定位装置、感测装置、处理器以及显示设备,所述定位装置包括第一定位部件和第二定位部件,所述第二定位部件位于所述感测装置的感测范围内,所述处理器分别与所述感测装置和所述显示设备连接,所述处理器包括非接触式触发模块,所述非接触式触发模块用于触发所述处理器运行计算目标点的空间位置信息,其中:
    所述感测装置用于感测所述第二定位部件的空间位置信息且发送至所述处理器;
    所述处理器用于根据所述第二定位部件的空间位置信息以及预设位置关系信息确定所述第一定位部件的空间位置信息,所述预设位置关系信息用于表征所述第一定位部件与所述第 二定位部件之间的位置关系;
    所述处理器将所述第一定位部件的空间位置信息发送至所述显示设备,以供所述显示设备显示。
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