CN109730923A - Assist ear acupuncture point automatic positioning equipment, positioning system and the localization method of Auricular point seed pressing - Google Patents
Assist ear acupuncture point automatic positioning equipment, positioning system and the localization method of Auricular point seed pressing Download PDFInfo
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Abstract
Ear acupuncture point automatic positioning equipment, positioning system and the localization method for assisting Auricular point seed pressing, are related to Chinese medicine diagnostic equipment field and Computer Science and Technology field.In order to solve the problems, such as that current equipment cannot carry out ear's Image Acquisition at an appropriate angle for different people to which cannot accurately to carry out acupuncture point positional accuracy caused by images match low.The pedestal of the ear acupuncture point automatic positioning equipment of Auricular point seed pressing is assisted to be equipped with Image Acquisition sliding rail, baffle longitudinal slide rail and holder,head；Image slide unit is equipped with above Image Acquisition sliding rail, image slide unit is equipped with turning platform；Turning platform is equipped with supporting table；The bottom of laser indication instrument is by the way that in the fixed supporting table of universal shaft, two-dimentional driving mechanism is for driving laser indication instrument；Camera is equipped with Laser emission receiver；Barrier support realizes movement by baffle longitudinal slide rail and baffle horizontal slide rail, and barrier support is equipped with flap shutter；Holder,head is equipped with head fixed frame.Ear acupuncture point suitable for Auricular point seed pressing positions.
Description
Technical field
The present invention relates to Chinese medicine diagnostic equipment fields and Computer Science and Technology field, and in particular to the positioning side at acupuncture point
Method, system and device.
Background technique
In the diagnosis and treatment method of Chinese medicine the treatment methods such as acupuncture, massage, local administration be all by the acupuncture point of human body and
Come what is realized, the selection of channels and collaterals and being located in the clinical departments such as inside and outside, woman, youngster for acupuncture point play an important role channels and collaterals.Example
Such as, a large amount of clinical datas show that Auricular point seed pressing has good curative effect to diseases such as insomnia, hypertension, but good curative effect depends on
In the accuracy of ear acupuncture point positioning, if acupuncture point position inaccurate cannot not only reach expected effect, it could even be possible to causing
More serious consequence.For example, in the clinical investigation of Auricular point seed pressing treatment insomnia, if ear acupuncture point position inaccurate, no
The effect for the treatment of is not only had, but also wastes clinical resources, more serious situation may be delayed the state of an illness of patient.To
It can be seen that channels and collaterals and the accuracy of acupuncture point positioning also play a crucial role in clinical treatment, the positioning at traditional acupuncture point
It is all to be determined by the experience of doctor's many years.Since the positioning at acupuncture point is all that doctor can be quasi- by the experience accumulation of many years
Determine position, can not very likely acupuncture point be accurately positioned by being directed to the less doctor of experience.
There are also the device or systems for realizing acupuncture point positioning at present, or even apply acupuncture or massage automatically there are also some
Equipment, these equipment are all that automatic realization acupuncture point positions.But the positional accuracy of these equipment or system is often all lower, very
To the phenomenon that there is positioning mistake.A part of these problems is caused the reason is that equipment reason itself, another part be because
Every patient stature, figure have differences and the organ size and shape of every patient has differences, and these differences are tight
The positional accuracy of equipment or system is affected again.So existing equipment or system can not realize the standard at acupuncture point
Determine position.In particular in face or the lesser position such as auricle, the positional accuracy of equipment or system is generally lower, relatively
For ear, since the auricle size shape of every patient has very big difference, the small volume of auricle, divides thereon in addition
Cloth many acupuncture points, so acupuncture point distribution is than comparatively dense, when acupuncture point positions, some deviations are likely to lead to select cave deviation
It is larger, or even positioning mistake；Simultaneously as the shape of auricle is relative complex, this allows for equipment or system positional accuracy is low
The problem of it is more prominent.
Application No. is the patents of 201410050231.3 (human body ear acupuncture point localization method and devices) although can be realized
The positioning of ear acupuncture point, but the structural relation of its device determines that camera cannot at an appropriate angle carry out ear's image
Accurate acquisition, i.e., the ear's image acquired for the ear of different people are all different relative to the angle of auricle itself, so
Ear's image of acquisition can not achieve accurate fitting, and still resulting in acupuncture point positioning, there are relatively large deviations.
Summary of the invention
It is fixed the purpose of the present invention is to solve using Auricular point seed pressing to need to carry out ear acupuncture point during being treated
When position, current equipment cannot carry out ear's Image Acquisition at an appropriate angle for different people to cannot accurately carry out image
Positional accuracy low problem in acupuncture point caused by matching.
Assist the ear acupuncture point automatic positioning equipment of Auricular point seed pressing, comprising: pedestal 100, two-dimentional driving mechanism 204, laser
Indicator 206, camera 208, Image Acquisition sliding rail 200, Laser emission receiver 209, baffle longitudinal slide rail 300, baffle are horizontal
To sliding rail 301, barrier support 302, flap shutter 303, holder,head 400 and head fixed frame 401；
Pedestal 100 is equipped with Image Acquisition sliding rail 200, baffle longitudinal slide rail 300 and holder,head 400；
Image slide unit 201 is equipped with above Image Acquisition sliding rail 200, image slide unit 201 is equipped with turning platform 202；Turning platform
202 are equipped with supporting table 203；The bottom of laser indication instrument 206 is fixed in supporting table 203 by universal shaft 205, two-dimentional driving machine
Structure 204 is used to drive the tail portion of laser indication instrument 206, and the Laser emission end of laser indication instrument 206 is made to do two dimensional motion, computer
Output drive signal gives two-dimentional driver, and the two dimension driver is for driving two-dimentional driving mechanism 204；Computer, which also exports, to swash
Light indicator start stop signal is to laser indication instrument 206；Camera 208 is arranged in supporting table 203 by crane 207, camera shooting
First 208 export image information to computer；Camera 208 is equipped with Laser emission receiver 209；
Baffle horizontal slide rail 301 is equipped with above baffle longitudinal slide rail 300, baffle horizontal slide rail 301 can be vertical along baffle
It is mobile to sliding rail 300；Baffle horizontal slide rail 301 is equipped with the barrier support 302 moved along baffle horizontal slide rail, barrier support
302 are equipped with flap shutter 303；
Holder,head 400 is equipped with head fixed frame 401.
Further, the flap shutter 303 is arranged on barrier support 302 by rotation axis 331, and rotation axis deviates
Flap shutter symmetrically takes out setting, i.e. rotation axis biasing setting, forms asymmetric baffle-panels, i.e. small front apron face end 332 and big gear
Plate face end 333.
Further, the bottom edge of the head fixed frame 401 is equipped with the jaw portion fixed part 412 rided out downwards, and head is solid
The top for determining frame 401 is equipped with the forehead fixed part 411 that level identical with forehead direction rides out.
Further, described image acquisition sliding rail is linear or arc-shaped.
The automatic station-keeping system of ear acupuncture point, comprising:
Standard ear acupuncture point image storage module, stores standard ear acupuncture point image, and the standard ear acupuncture point image is
Auricle model and the image at acupuncture point；
Slide unit control module controls the movement of image slide unit according to the mobile data of Central Control Module, and will move number
According to feeding back to Central Control Module；
Turning platform control module, the steering of turning platform is controlled according to the steering data of Central Control Module, and will turn to number
According to feeding back to Central Control Module；
Two-dimentional driving mechanisms control module carries out two dimensional motion according to the driving signal of Central Control Module, drives laser
Two dimensional motion is done at the Laser emission end of indicator, carries out ear's positioning；
Laser indication instrument control module controls opening for laser indication instrument according to the indicator start stop signal of Central Control Module
Stop；
Image acquisition and processing module controls camera acquisition ear figure according to the image pick-up signal of Central Control Module
Picture, and Threshold segmentation is carried out to image, determines auricle image and characteristic point；
Laser emission receiver control module, control Laser emission receiver emit and receive laser signal；
Baffle moves control module, controls baffle longitudinal slide rail and baffle according to the baffle mobile data of Central Control Module
The movement of horizontal slide rail；
Image fitting module is realized that standard ear acupuncture point image is fitted to auricle image according to characteristic point information, and is recorded
After fitting on standard ear acupuncture point image acupuncture point variation and position data；
Central Control Module is scheduled overall task and controls；According to the mobile data of image slide unit, turning platform
Turn to data, laser indication instrument dimension data, laser indication instrument range data and standard ear acupuncture point figure away from flap shutter
Variation and position data as upper acupuncture point calculate the two dimensional motion data of two-dimentional driving mechanism.
It further, further include crane control module, for controlling the lifting of crane.
The automatic positioning method of ear acupuncture point, comprising the following steps:
Step 1, using the fixed pending ear acupuncture point of head fixed frame 401 automatic positioning user's head；Control gear
Plate longitudinal slide rail 300 is moved to user and ear's aligned position, then controls barrier support 302 along baffle horizontal slide rail 301
It is mobile to the ear of user, when the big baffle-panels end 333 of flap shutter 303 has just touched helix outer ledge, control gear
Board mount 302 continues mobile to the ear of user；When flap shutter 303 contact helix, anthelix, the two in crura of antihelix or
When three, control barrier support 302 stops movement；
Step 2, control image slide unit 201 are moved along Image Acquisition sliding rail 200, and control turning platform 202 is rotated；
The transmitting of control Laser emission receiver 209 and reception laser signal, control laser signal are penetrated when adjusting turning platform 202
Onto flap shutter 303, when Laser emission receiver 209 emits and when receiving laser signal, Laser emission receiver 209 with
And the position face flap shutter 303 of camera 208, stop the movement of image slide unit and turning platform；
Step 3 is removed barrier support 302 and flap shutter 303 by longitudinal slide rail 300 and horizontal slide rail 301, or is removed
Remove barrier support 302 and flap shutter 303；
Acquire ear's image by camera 208, and by computer to ear's image and standard ear acupuncture point image into
Row fitting determines the ear acupuncture point position of ear's image according to fit correlation, and carries out true ear by laser indication instrument 206
The automatic positioning at portion acupuncture point.
Further, the process being fitted to ear's image and standard ear acupuncture point image is as follows:
Auricle image is added in blank canvas or blank background, and extracts the characteristic point of auricle image, it is described
The characteristic point of auricle image includes the facial upper contact and the lower contact of face of auricle；
The distance for calculating facial upper contact and the lower contact of face, is denoted as reference distance；
The characteristic point of standard ear acupuncture point image includes connecing under facial upper contact and face in standard ear acupuncture point image
Point；Contact distance under facial upper contact and face in standard ear acupuncture point image is denoted as scaling distance；
On the basis of reference distance, scaling distance is zoomed into reference distance, and record scaling；Simultaneously according to scaling
Ratio carries out whole scaling to standard ear acupuncture point image；
The corresponding characteristic point of standard ear acupuncture point image after scaling is overlapped with the characteristic point of auricle image, then with ear
On the basis of wide image, the standard ear acupuncture point image after scaling is fitted according to auricle image, i.e., by standard ear acupuncture point
Image is fitted to auricle image, record standard ear acupuncture point image acupuncture point variation relation and ratio；
Using the acupuncture point position of the standard ear acupuncture point image after being fitted as the acupuncture point position on auricle image.
The invention has the following advantages:
The present invention provides can be to auricle direct Image Acquisition and positioning device comprehensively, ear caused by the angle avoided
It mutually blocks the problem of can not being fitted and positioning wide part；And but also the image area at each position of auricle is sufficiently large,
To improve the accuracy of fitting and positioning；Existing device is also avoided simultaneously is not applied for everyone auricle growth posture
Different problems, positional accuracy caused by also avoiding because of it declines, or even the problem of cannot position.Even more important
Be, the device of the invention also avoided in acquisition and positioning everyone pinna shape it is different caused by positional accuracy
It is low, or even the problem of cannot position.The clinical treatment that Auricular point seed pressing is carried out using the present invention can assist doctor to carry out accurate
Acupuncture point positioning, to guarantee the therapeutic effect of Auricular point seed pressing, so the present invention can control for the clinic based on ear acupuncture point
It treats and reliable ensure is provided.
Meanwhile baffle arrangement of the invention is when ensure that when flap shutter from side close to auricle, big baffle-panels end first with
The contact of auricle part, flap shutter continue to the movement of the direction of auricle, and big baffle-panels end contacts with auricle part and can generate at this time
The power opposite with the flap shutter direction of motion, this power can around biasing setting rotation axis generate torque, make flap shutter around
Rotation axis rotation, and then contact small front apron face end and big baffle-panels end all with auricle, the baffle that stops operating at this time is to auricle
Direction it is mobile.It can guarantee that the direction of flap shutter is identical as the plane that auricle is presented in this way.Shown in Fig. 5 and Fig. 6, different people
Auricle posture be different, the corresponding Plane Angle presented is also different, due to that can guarantee the direction of flap shutter in this way
It is identical as the plane that auricle is presented, so that auxiliary camera acquires image, and then guarantee that the image of camera acquisition is to face
The face that auricle is presented reduces because the case where the problem of acquisition angles caused auricle each section is mutually blocked, ensure that
The accuracy of acupuncture point positioning；The auricle image acquired at this time is the maximum image of area, not only contributes to the fitting of image in this way,
And auricle more acupuncture points and position details in the picture can be showed, the accuracy of acupuncture point positioning is further ensured, and
And the image area of the corresponding part in each acupuncture point is also the largest, and further ensure that the accuracy of acupuncture point positioning.
It can achieve 97% or more using the accuracy that the present invention carries out ear acupuncture point positioning.
Detailed description of the invention
Fig. 1 is the automatic positioning equipment structural schematic diagram of ear acupuncture point；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the structural schematic diagram in the direction Figure 1B-B；
Fig. 4 is flap shutter structural schematic diagram；
Fig. 5 is the process schematic that flap shutter is moved to auricle；
Fig. 6 is the process schematic that flap shutter is moved to auricle；
Fig. 7 is that head fixed frame connects structural schematic diagram；
Fig. 8 is the side view of Fig. 7；
Fig. 9 is the top view of Fig. 7.
Specific embodiment
Specific embodiment 1: illustrate present embodiment in conjunction with Fig. 1 to Fig. 3,
The automatic positioning equipment of current ear acupuncture point be based on head side acquire ear's image, i.e., perpendicular to
Image is acquired on the direction that family is realized.Due to the auricle of user be not with head vertical-growth, be with head in certain angle
Degree, and everyone auricle angle is also different, i.e. and the growth posture of everyone auricle is different, the ear of someone
Exterior feature can be more close to head；The auricle of someone can tilt, is slightly remote from head, one can easily see that this by Fig. 5 and Fig. 6
Point, it is smaller (it is smaller to be equivalent to projected area) in the area that side directly acquires ear's image that image obtains, auricle
The area at each position also can be smaller, not only causes certain difficulty to fitting, but also the error of expression can be caused to fitting.
At an angle due to auricle and head, ear's image is acquired in side, can also face each position of auricle is mutually to block,
Some acupuncture points can not realize fitting, be also to have no idea to be positioned for these acupuncture points.Even more serious problem
It is that since the shape of auricle is sufficiently complex, and there is many differences for everyone pinna shape, for example, and the ear of somebody
Wheel protrudes from other positions, and the anthelix of somebody or crura of antihelix can protrude from helix, and complicated structure in this way adds
Upper auricle and head at an angle, can make the accuracy of positioning further decrease, or even having many acupuncture points is that can not position
, so directly affecting the therapeutic effect of Auricular point seed pressing.
The ear acupuncture point automatic positioning equipment of Auricular point seed pressing, including pedestal 100, Image Acquisition are assisted described in present embodiment
Sliding rail 200, two-dimentional driving mechanism 204, laser indication instrument 206, camera 208, Laser emission receiver 209, baffle are longitudinally sliding
Rail 300, baffle horizontal slide rail 301, barrier support 302, flap shutter 303, holder,head 400 and head fixed frame 401；
Pedestal 100 is equipped with Image Acquisition sliding rail 200, baffle longitudinal slide rail 300 and holder,head 400；
Image slide unit 201 is equipped with above Image Acquisition sliding rail 200, image slide unit 201 is equipped with turning platform 202；Turning platform
202 are equipped with supporting table 203；The bottom of laser indication instrument 206 is fixed in supporting table 203 by universal shaft 205, two-dimentional driving machine
Structure 204 is used to drive the tail portion of laser indication instrument 206, and the Laser emission end of laser indication instrument 206 is made to do two dimensional motion, computer
Output drive signal gives two-dimentional driver, and the two dimension driver is for driving two-dimentional driving mechanism 204；Computer, which also exports, to swash
Light indicator start stop signal is to laser indication instrument 206；Camera 208 is arranged in supporting table 203 by crane 207, camera shooting
First 208 export image information to computer；Camera 208 is equipped with Laser emission receiver 209；Laser emission receiver includes
Laser emission element and laser pick-off unit, laser emission element emit laser, adjust laser reflection direction by flap shutter,
Laser pick-off unit is set to receive reflected laser signals, 209 output reflection laser signal of Laser emission receiver is to computer；
In some embodiments, crane 207 is motor driven realization lifting by gear.Fig. 1 drives into Fig. 3 for motor
Moving gear realizes that crane 207 is gone up and down, and supporting table 203 is equipped with stroke hole or the stroke groove of crane 207.In some embodiments
In, crane 207 is motor driven realization lifting by belt.In some embodiments, crane 207 is realized by hydraulic cylinder
Lifting.
Baffle horizontal slide rail 301 is equipped with above baffle longitudinal slide rail 300, baffle horizontal slide rail 301 can be vertical along baffle
It is mobile to sliding rail 300；Baffle horizontal slide rail 301 is equipped with the barrier support 302 moved along baffle horizontal slide rail, barrier support
302 are equipped with flap shutter 303；In some embodiments, 302 height of barrier support is adjustable；
Holder,head 400 is equipped with head fixed frame 401.
Present embodiments provide for can Image Acquisition comprehensive to auricle, direct and positioning device, avoid because of angle
The problem of caused auricle part mutually blocks and makes acupuncture point that can not be fitted and position；But also the figure at each position of auricle
Image planes product is sufficiently large, to improve the accuracy of fitting and positioning；Simultaneously also avoid existing device be not applied for it is each
Positional accuracy declines caused by human ear exterior feature grows the different problems of posture, or even the problem of cannot position.It is even more important
, the device of present embodiment also avoided in acquisition and positioning everyone pinna shape it is different caused by positioning it is quasi-
Exactness is low, or even the problem of cannot position.Therefore, present embodiment is able to solve aforementioned existing ear acupuncture point positioning device and exists
Problems.Also acupuncture point can accurately be positioned just because of the present invention, the present invention is made full use of to carry out ear acupuncture point pressure
When the clinical treatment of seed, it is ensured that the therapeutic effect of Auricular point seed pressing.In conclusion the present invention can be for using ear acupuncture point as base
The clinical treatment of plinth provides reliable ensure.
Specific embodiment 2: embodiment is described with reference to Fig. 4,
In the ear acupuncture point automatic positioning equipment of the auxiliary Auricular point seed pressing of present embodiment, the flap shutter 303 passes through
Rotation axis 331 is arranged on barrier support 302, and rotation axis deviates flap shutter and symmetrically takes out setting, i.e. rotation axis biasing setting,
Form asymmetric baffle-panels, i.e. small front apron face end 332 and big baffle-panels end 333.
Such a construction ensures when flap shutter from side close to auricle when, big baffle-panels end is first contacted with auricle part,
Flap shutter continues mobile to the direction of auricle, and big baffle-panels end contacts with auricle part and can generate and flap shutter movement at this time
Contrary power, this power can generate torque around the rotation axis of biasing setting, rotate flap shutter around rotation axis, into
And contacting small front apron face end 332 and big baffle-panels end 333 all with auricle, the baffle that stops operating at this time is moved to the direction of auricle
It is dynamic.It can guarantee that the direction of flap shutter 303 is identical as the plane that auricle is presented in this way.Shown in Fig. 5 and Fig. 6, the ear of different people
Wide posture is different, and the corresponding Plane Angle presented is also different, due to can guarantee in this way the direction of flap shutter 303 with
The plane that auricle is presented is identical, so that auxiliary camera acquires image, and then guarantees that the image of camera acquisition is to face ear
The face that is presented of exterior feature reduces because the case where the problem of acquisition angles caused auricle each section is mutually blocked, ensure that cave
The accuracy of position positioning；The auricle image acquired at this time is the maximum image of area (and the projected area in Image Acquisition direction
It is maximum), the fitting of image is not only contributed in this way, and can show auricle more acupuncture points and position details in the picture,
The accuracy of acupuncture point positioning is further ensured, and the image area of the corresponding part in each acupuncture point is also the largest, and into
One step ensure that the accuracy of acupuncture point positioning.
Other structures are same as the specific embodiment one.
Specific embodiment 3: illustrate present embodiment in conjunction with Fig. 7 to Fig. 8,
In the ear acupuncture point automatic positioning equipment of the auxiliary Auricular point seed pressing of present embodiment, the head fixed frame 401
Bottom edge is equipped with the jaw portion fixed part 412 rided out downwards, and the top of head fixed frame 401 is equipped with water identical with forehead direction
The forehead fixed part 411 that jack arch goes out.
If the head that the supporting bracket in only jaw portion may cause is put by the front and back of head caused by fulcrum of jaw portion supporting bracket
Dynamic, the angles and positions so as to cause ear's Image Acquisition are uncertain problems, or even head occurs when acquiring ear's image
Mistake occurs for the position that portion shakes and ear's image is caused to blur or position.Utilize the head fixed frame of present embodiment, jaw
Portion's fixed part is downward, forehead fixed part horizontally forward, can from three-dimensional space fixing head, while avoiding the above problem also
It can guarantee guarantee that the fixed position in head is identical with posture when different people is acquired, to provide for ear's Image Acquisition
Identical base position, under the premise of guaranteeing to compare accuracy basis as far as possible and further acquisition ear's image while can also
Enough guarantee image slide unit 201 on Image Acquisition sliding rail 200 as far as possible position range relative to it is stable, in small range in the range of move
Adjustment, so that image slide unit and the few as far as possible adjustment of top all devices, so that workload and the time of adjustment are reduced,
Auxiliary improves the efficiency of entire ear acupuncture point positioning.
Other structures are the same as one or two specific embodiments.
Specific embodiment 4:
In the ear acupuncture point automatic positioning equipment of the auxiliary Auricular point seed pressing of present embodiment, it is straight that described image, which acquires sliding rail,
It is linear or arc-shaped.
In some embodiments, Image Acquisition sliding rail is arc-shaped, and Image Acquisition sliding rail of the Fig. 1 into Fig. 3 is arc-shaped.
If Image Acquisition sliding rail is arc-shaped, this ensure that distance of the image collecting device apart from ear is relatively fixed, for
Ear's image of different users, acquisition have same or similar basic standard, not only contribute to the acquisition number of Image Acquisition
According to control, so that also helping laser indication instrument with opposite data reference when ear's image and standard picture are fitted
Data reduction and angle when 206 pairs of ears position adjust, so that positioning is more accurate.
In some embodiments, Image Acquisition sliding rail is linear.If Image Acquisition sliding rail is linear, root is needed
According to image slide unit 201 in the mobile data of Image Acquisition sliding rail 200 and the rotational angle data of turning platform 202 and each portion
Positional relationship data of part etc. carry out the conversion of range data calculating and other data, so that it is determined that laser indication instrument 206 adjusts
Angle.
Other structures are identical as one of specific embodiment one to three.
Specific embodiment 5:
The automatic station-keeping system of ear acupuncture point stores or runs on the ear acupuncture point automatic positioning equipment of auxiliary Auricular point seed pressing
In computer in, comprising:
Standard ear acupuncture point image storage module, stores standard ear acupuncture point image, and the standard ear acupuncture point image is
Auricle model and the image at acupuncture point；The standard ear acupuncture point image is the front acquisition image to true auricle model, that is, is schemed
Auricle area as in is maximum, to be in identical Image Acquisition posture and direction with the auricle image to be positioned of acquisition, from
And the accuracy of fitting is improved, while the problem of be also avoided that position inaccurate caused by auricle is different；
Slide unit control module controls the movement of image slide unit according to the mobile data of Central Control Module, and will move number
According to feeding back to Central Control Module；
Turning platform control module, the steering of turning platform is controlled according to the steering data of Central Control Module, and will turn to number
According to feeding back to Central Control Module；
Two-dimentional driving mechanisms control module carries out two dimensional motion according to the driving signal of Central Control Module, drives laser
Two dimensional motion is done at the Laser emission end of indicator, carries out ear's positioning；
Laser indication instrument control module controls opening for laser indication instrument according to the indicator start stop signal of Central Control Module
Stop；
Image acquisition and processing module controls camera acquisition ear figure according to the image pick-up signal of Central Control Module
Picture, and Threshold segmentation is carried out to image, determines auricle image and characteristic point；
Laser emission receiver control module, control Laser emission receiver emit and receive laser signal；
Baffle moves control module, controls baffle longitudinal slide rail and baffle according to the baffle mobile data of Central Control Module
The movement of horizontal slide rail；
Image fitting module is realized that standard ear acupuncture point image is fitted to auricle image according to characteristic point information, and is recorded
After fitting on standard ear acupuncture point image acupuncture point variation and position data；
Central Control Module is scheduled overall task and controls；According to the mobile data of image slide unit, turning platform
Turn to data, laser indication instrument dimension data, laser indication instrument away from flap shutter range data (flap shutter contact helix,
The two in anthelix, crura of antihelix or distance when three) and standard ear acupuncture point image on acupuncture point variation and position
The data such as data calculate the two dimensional motion data of two-dimentional driving mechanism.
Specific embodiment 6:
The automatic station-keeping system of ear acupuncture point described in present embodiment further includes crane control module, for controlling
The lifting of crane.
Other modules are identical as specific embodiment five.
Specific embodiment 7:
The automatic station-keeping system of ear acupuncture point described in present embodiment, described image fitting module carry out image fitting
Process is as follows:
Auricle image is added in blank canvas or blank background, and extracts the characteristic point of auricle image, it is described
The characteristic point of auricle image includes the facial upper contact and the lower contact of face of auricle；
The face upper contact is the point of auricle the top corresponding with facial connection；The lower contact of face be auricle with
Face connects the point of corresponding bottom；After eliminating face-image after image acquisition and processing module carries out Threshold segmentation,
On auricle image corresponding position retain auricle originally with the edge of facial contact, the point of the point of the top at edge, bottom
For facial upper contact and the lower contact of face；
The distance for calculating facial upper contact and the lower contact of face, is denoted as reference distance；
The characteristic point of standard ear acupuncture point image includes connecing under facial upper contact and face in standard ear acupuncture point image
Point；Contact distance under facial upper contact and face in standard ear acupuncture point image is denoted as scaling distance；
On the basis of reference distance, scaling distance is zoomed into reference distance, and record scaling；Simultaneously according to scaling
Ratio carries out whole scaling to standard ear acupuncture point image；
The corresponding characteristic point of standard ear acupuncture point image after scaling is overlapped with the characteristic point of auricle image, then with ear
On the basis of wide image, the standard ear acupuncture point image after scaling is fitted according to auricle image, i.e., by standard ear acupuncture point
Image is fitted to auricle image, record standard ear acupuncture point image acupuncture point variation relation and ratio；
Using the acupuncture point position of the standard ear acupuncture point image after being fitted as the acupuncture point position on auricle image.
Other modules are identical as specific embodiment five or six.
Specific embodiment 8:
A kind of computer, storage or operation have the automatic positioning system of ear acupuncture point described in specific embodiment five to seven
System.
Specific embodiment 9:
The automatic positioning method of ear acupuncture point, comprising the following steps:
Step 1, using the fixed pending ear acupuncture point of head fixed frame 401 automatic positioning user's head；Control gear
Plate longitudinal slide rail 300 is moved to user and ear's aligned position, then controls barrier support 302 along baffle horizontal slide rail 301
It is mobile to the ear of user, when the big baffle-panels end 333 of flap shutter 303 has just touched helix outer ledge, control gear
Board mount 302 continues mobile to the ear of user；Flap shutter 303 rotates around rotation axis 331 under the action of torque,
So that big baffle-panels end 333 and small front apron face end 332 continue to contact auricle, when flap shutter 303 contacts helix, anthelix, right
The two in crus helicis or when three, control barrier support 302 stops movement；
Step 2, control image slide unit 201 are moved along Image Acquisition sliding rail 200, and control turning platform 202 is rotated；This
A process can be determined according to the shape of Image Acquisition sliding rail；In some embodiments, Image Acquisition sliding rail is arc-shaped,
The equipment that image slide unit 201 and top setting can first be adjusted is moved to the position substantially opposite with barrier support 302 (coarse adjustment),
Then control turning platform 202 rotation (fine tuning or accurate adjustment), the alignment of camera 208 is controlled by Laser emission receiver 209.?
In some embodiments, Image Acquisition sliding rail is linear, can first adjust image slide unit according to preset part position relations
201 and the equipment of top setting be moved to the position substantially opposite with barrier support 302 (position adjustment), then barrier support
302 and the cooperation of turning platform 202 (position and angle adjustment), pass through Laser emission receiver 209 and feeds back (feedback regulation) and control
The alignment of camera 208.
The transmitting of control Laser emission receiver 209 and reception laser signal, control laser signal are penetrated when adjusting turning platform 202
Onto flap shutter 303, when Laser emission receiver 209 emits and receives laser signal, Laser emission receiver is indicated
209 and camera 208 position face flap shutter 303 (the shooting sight that can be camera is vertical with flap shutter),
Stop the movement of image slide unit and turning platform；
Step 3 is removed barrier support 302 and flap shutter 303 by longitudinal slide rail 300 and horizontal slide rail 301, or is removed
Remove barrier support 302 and flap shutter 303；
Acquire ear's image by camera 208, and by computer to ear's image and standard ear acupuncture point image into
Row fitting determines the ear acupuncture point position of ear's image according to fit correlation, and carries out true ear by laser indication instrument 206
The automatic positioning at portion acupuncture point.
Specific embodiment 10:
It is described to ear's image and standard ear acupuncture point in the automatic positioning method of ear acupuncture point described in present embodiment
The process that image is fitted is as follows:
Auricle image is added in blank canvas or blank background, and extracts the characteristic point of auricle image, it is described
The characteristic point of auricle image includes the facial upper contact and the lower contact of face of auricle；
The distance for calculating facial upper contact and the lower contact of face, is denoted as reference distance；
The characteristic point of standard ear acupuncture point image includes connecing under facial upper contact and face in standard ear acupuncture point image
Point；Contact distance under facial upper contact and face in standard ear acupuncture point image is denoted as scaling distance；
On the basis of reference distance, scaling distance is zoomed into reference distance, and record scaling；Simultaneously according to scaling
Ratio carries out whole scaling to standard ear acupuncture point image；
The corresponding characteristic point of standard ear acupuncture point image after scaling is overlapped with the characteristic point of auricle image, then with ear
On the basis of wide image, the standard ear acupuncture point image after scaling is fitted according to auricle image, i.e., by standard ear acupuncture point
Image is fitted to auricle image, record standard ear acupuncture point image acupuncture point variation relation and ratio；
Using the acupuncture point position of the standard ear acupuncture point image after being fitted as the acupuncture point position on auricle image.
Other steps are identical as specific embodiment nine.
Claims (10)
1. assisting the ear acupuncture point automatic positioning equipment of Auricular point seed pressing, including pedestal (100), two-dimentional driving mechanism (204), laser
Indicator (206), camera (208)；It is characterized by further comprising: Image Acquisition sliding rail (200), Laser emission receiver
(209), baffle longitudinal slide rail (300), baffle horizontal slide rail (301), barrier support (302), flap shutter (303), head branch
Frame (400) and head fixed frame (401)；
Pedestal (100) is equipped with Image Acquisition sliding rail (200), baffle longitudinal slide rail (300) and holder,head (400)；
Image slide unit (201) are equipped with above Image Acquisition sliding rail (200), image slide unit (201) is equipped with turning platform (202)；Turn
Supporting table (203) are equipped with to platform (202)；The bottom of laser indication instrument (206) passes through universal shaft (205) fixed supporting table
(203) on, two-dimentional driving mechanism (204) is used to drive the tail portion of laser indication instrument (206), makes swashing for laser indication instrument (206)
Light emitting end does two dimensional motion, and computer output drive signal gives two-dimentional driver, and the two dimension driver is for driving two dimension
Driving mechanism (204)；Computer also exports laser indication instrument start stop signal and gives laser indication instrument (206)；Camera (208) passes through
Crane (207) is arranged on supporting table (203), and camera (208) exports image information to computer；On camera (208)
Equipped with Laser emission receiver (209)；
Baffle horizontal slide rail (301) are equipped with above baffle longitudinal slide rail (300), baffle horizontal slide rail (301) can be along baffle
Longitudinal slide rail (300) is mobile；Baffle horizontal slide rail (301) is equipped with the barrier support (302) moved along baffle horizontal slide rail,
Barrier support (302) is equipped with flap shutter (303)；
Holder,head (400) is equipped with head fixed frame (401).
2. the ear acupuncture point automatic positioning equipment of auxiliary Auricular point seed pressing according to claim 1, which is characterized in that described turn
Dynamic baffle (303) are arranged on barrier support (302) by rotation axis (331), and rotation axis deviation flap shutter is symmetrically taken out and set
It sets, i.e. rotation axis biasing setting, forms asymmetric baffle-panels, i.e. small front apron face end (332) and big baffle-panels end (333).
3. the ear acupuncture point automatic positioning equipment of auxiliary Auricular point seed pressing according to claim 1 or 2, which is characterized in that institute
The bottom edge for stating head fixed frame (401) is equipped with the jaw portion fixed part (412) rided out downwards, the top of head fixed frame (401)
It is equipped with the forehead fixed part (411) that level identical with forehead direction rides out.
4. the ear acupuncture point automatic positioning equipment of auxiliary Auricular point seed pressing according to claim 3, which is characterized in that the figure
As acquisition sliding rail is linear or arc-shaped.
5. the automatic station-keeping system of ear acupuncture point characterized by comprising
Standard ear acupuncture point image storage module, stores standard ear acupuncture point image, and the standard ear acupuncture point image is auricle
Model and the image at acupuncture point；
Slide unit control module controls the movement of image slide unit according to the mobile data of Central Control Module, and mobile data is anti-
It feeds Central Control Module；
Turning platform control module controls the steering of turning platform according to the steering data of Central Control Module, and it is anti-to turn to data
It feeds Central Control Module；
Two-dimentional driving mechanisms control module carries out two dimensional motion according to the driving signal of Central Control Module, drives laser designation
Two dimensional motion is done at the Laser emission end of instrument, carries out ear's positioning；
Laser indication instrument control module controls the start and stop of laser indication instrument according to the indicator start stop signal of Central Control Module；
Image acquisition and processing module controls camera according to the image pick-up signal of Central Control Module and acquires ear's image, and
Threshold segmentation is carried out to image, determines auricle image and characteristic point；
Laser emission receiver control module, control Laser emission receiver emit and receive laser signal；
Baffle moves control module, controls baffle longitudinal slide rail according to the baffle mobile data of Central Control Module and baffle is lateral
The movement of sliding rail；
Image fitting module realizes that standard ear acupuncture point image is fitted to auricle image according to characteristic point information, and records fitting
Afterwards on standard ear acupuncture point image acupuncture point variation and position data；
Central Control Module is scheduled overall task and controls；According to the mobile data of image slide unit, the steering of turning platform
In data, laser indication instrument dimension data, laser indication instrument range data and standard ear acupuncture point image away from flap shutter
The variation at acupuncture point and position data calculate the two dimensional motion data of two-dimentional driving mechanism.
6. the automatic station-keeping system of ear acupuncture point according to claim 5, which is characterized in that further include crane control mould
Block, for controlling the lifting of crane.
7. according to the automatic station-keeping system of the ear acupuncture point of claim 5 or 6, which is characterized in that described image fitting module
The process for carrying out image fitting is as follows:
Auricle image is added in blank canvas or blank background, and extracts the characteristic point of auricle image, the auricle
The characteristic point of image includes the facial upper contact and the lower contact of face of auricle；
The distance for calculating facial upper contact and the lower contact of face, is denoted as reference distance；
The characteristic point of standard ear acupuncture point image includes facial upper contact and the lower contact of face in standard ear acupuncture point image；It will
The lower contact distance of facial upper contact and face in standard ear acupuncture point image is denoted as scaling distance；
On the basis of reference distance, scaling distance is zoomed into reference distance, and record scaling；Simultaneously according to scaling
Whole scaling is carried out to standard ear acupuncture point image；
The corresponding characteristic point of standard ear acupuncture point image after scaling is overlapped with the characteristic point of auricle image, then with auricle figure
As on the basis of, the standard ear acupuncture point image after scaling is fitted according to auricle image, i.e., by standard ear acupuncture point image
It is fitted to auricle image, record standard ear acupuncture point image acupuncture point variation relation and ratio；
Using the acupuncture point position of the standard ear acupuncture point image after being fitted as the acupuncture point position on auricle image.
8. a kind of computer, which is characterized in that storage or operation have the right to require 5,6 or 7 described in ear acupuncture point it is automatic calmly
Position system.
9. the automatic positioning method of ear acupuncture point, which comprises the following steps:
Step 1, using head fixed frame (401) fixed pending ear acupuncture point automatic positioning user's head；Control baffle
Longitudinal slide rail (300) is moved to user and ear's aligned position, then controls barrier support (302) along baffle horizontal slide rail
(301) mobile to the ear of user, when the big baffle-panels end (333) of flap shutter (303) has just touched helix outer ledge
When, control barrier support (302) continues mobile to the ear of user；When flap shutter (303) contact helix, anthelix, to ear
The two in caster or when three, control barrier support (302) stops movement；
Step 2, control image slide unit (201) are mobile along Image Acquisition sliding rail (200), and control turning platform (202) is rotated；
Control Laser emission receiver (209) transmitting and reception laser signal, control laser signal are penetrated when adjusting turning platform (202)
To on flap shutter (303), when Laser emission receiver (209) emit and receive laser signal, Laser emission receiver
(209) and the position face flap shutter (303) of camera (208), stop the movement of image slide unit and turning platform；
Step 3 removes barrier support (302) and flap shutter (303) by longitudinal slide rail (300) and horizontal slide rail (301), or
Person removes barrier support (302) and flap shutter (303)；
Ear's image is acquired by camera (208), and ear's image and standard ear acupuncture point image are carried out by computer
Fitting determines the ear acupuncture point position of ear's image according to fit correlation, and carries out true ear by laser indication instrument (206)
The automatic positioning at portion acupuncture point.
10. the automatic positioning method of ear acupuncture point according to claim 9, which is characterized in that described to ear's image and mark
The process that quasi- ear acupuncture point image is fitted is as follows:
Auricle image is added in blank canvas or blank background, and extracts the characteristic point of auricle image, the auricle
The characteristic point of image includes the facial upper contact and the lower contact of face of auricle；
The distance for calculating facial upper contact and the lower contact of face, is denoted as reference distance；
The characteristic point of standard ear acupuncture point image includes facial upper contact and the lower contact of face in standard ear acupuncture point image；It will
The lower contact distance of facial upper contact and face in standard ear acupuncture point image is denoted as scaling distance；
On the basis of reference distance, scaling distance is zoomed into reference distance, and record scaling；Simultaneously according to scaling
Whole scaling is carried out to standard ear acupuncture point image；
The corresponding characteristic point of standard ear acupuncture point image after scaling is overlapped with the characteristic point of auricle image, then with auricle figure
As on the basis of, the standard ear acupuncture point image after scaling is fitted according to auricle image, i.e., by standard ear acupuncture point image
It is fitted to auricle image, record standard ear acupuncture point image acupuncture point variation relation and ratio；
Using the acupuncture point position of the standard ear acupuncture point image after being fitted as the acupuncture point position on auricle image.
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Application publication date: 20190510 Assignee: Jinan Tonglijian Medical Technology Co.,Ltd. Assignor: HEILONGJIANG University OF CHINESE MEDICINE Contract record no.: X2023980035020 Denomination of invention: Ear acupoint automatic positioning device, positioning system, and positioning method for assisting ear acupoint seed pressing Granted publication date: 20210219 License type: Common License Record date: 20230425 |