CN110782982A - Human body meridian path method based on two-dimensional code - Google Patents
Human body meridian path method based on two-dimensional code Download PDFInfo
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Abstract
The invention relates to the field of auxiliary mechanical appliances, in particular to a method for realizing high-precision and automatic guidance treatment by using a robot, and particularly relates to a human body meridian path method based on two-dimensional codes, which comprises the following steps: s1: the two-dimensional code calibrates each part of the human body; s2: scanning and estimating the human body posture; s3: detecting the specific positions of all parts of the human body, and accurately positioning; s4: the robot analyzes and processes the obtained human body position information, controls the tail end of a mechanical arm (UR10) to be provided with an image recognition automatic guide head, and realizes the treatment of meridians according to a planned path. The method has the advantages that the operation efficiency is higher, the recognition accuracy is 98%, the method is more accurate, the mechanical arm is used for treatment, an operator does not contact with a patient, and the privacy of the patient is protected.
Description
Technical Field
The invention relates to the field of auxiliary mechanical appliances, in particular to a method for realizing high-precision and automatic guidance treatment by using a robot, and particularly relates to a human body meridian path method based on two-dimensional codes.
Background
At present, the channels and collaterals are guided by manually holding a guide head to treat a patient, the weight of the guide head is about 2kg, and meanwhile, the guide head shakes strongly, so that the arms of an operator are tired.
In addition, the subjective influence of manual operation is obvious, and the accuracy of the meridian path is influenced by the fatigue and the emotion of an operator.
Finally, meridian treatment can only be done with thin clothes, and the privacy of the patient is not protected. The robot is used for meridian treatment, does not fatigue, is objective and accurate, and protects the privacy of patients to a greater extent.
Disclosure of Invention
In order to solve one of the above technical problems, after a long time of research and development, the applicant developed the present invention to overcome the existing problems and verified in practice, and the technical scheme adopted by the present invention is as follows: a human body meridian path method based on two-dimensional codes comprises the following steps:
s1: the two-dimensional code calibrates each part of the human body;
the set two-dimensional code is pasted on different parts of the human body surface, and the corresponding relation between the human body part and the two-dimensional code information is established, so that the modeling of the position coordinate of the human body is realized;
s2: scanning and estimating the human body posture;
estimating the posture of the human body through a global camera, tracking the position coordinates of each part of the human body in a large range, and feeding back position movement information to a robot information processing center;
s3: detecting the specific positions of all parts of the human body, and accurately positioning;
the local camera is used for detecting the specific position of the two-dimensional code, and the position movement information is fed back to the robot information processing center, so that accurate positioning of all parts of the human body is realized.
Meanwhile, the human body curve fitting is realized by combining the six-axis force sensor according to the information processing result, the force acting on the human body is not too large, and the safety is ensured.
S4: the robot analyzes and processes the obtained human body position information, controls the tail end of a mechanical arm (UR10) to be provided with an image recognition automatic guide head, and realizes the treatment of meridians according to a planned path.
Preferably, in the step S3, N cameras are adopted to detect the two-dimensional codes pasted on the human body surface at different angles at the same time, and the two-dimensional codes are calibrated by the cameras and the eyes of the robot, where N is greater than or equal to 1(N is a natural number).
Preferably, when a plurality of cameras detect the two-dimensional code simultaneously, the two-dimensional code detected by the first camera is preferentially executed.
A two-dimensional code position detection method comprises the following steps: the two-dimensional code is pasted on the surface of the body of the patient in the sequence of the numbers from large to small; the method comprises the following steps: the two-dimensional code is detected, the coordinate of the two-dimensional code is obtained, the coordinate of the two-dimensional code is converted into a robot coordinate system through hand-eye calibration between the camera and the robot and is sent to the robot, and the robot is controlled to move to the position of the two-dimensional code by compiling a robot program.
Preferably, the specific steps of scanning and detecting the two-dimensional code and acquiring the coordinates thereof are as follows:
a1. starting a program;
a2. the multiple cameras respectively perform image correction;
a3. starting the robot program to move to the Nth initial position;
a4. the camera starts to identify the two-dimensional code in the visual field range, and the two-dimensional code with the largest representative number is set to be returned each time;
a5. setting the current control variable as a number corresponding to the most recently identified maximum two-dimensional code;
a6. judging the camera capturing the maximum two-dimensional code, and controlling the robot to move correspondingly;
a7. monitoring whether the TCP speed of the robot is 0 or not;
when the TCP speed is 0, executing the next step, otherwise, waiting;
a8. the camera starts to capture the next two-dimensional code;
a9. finding out the camera of the two-dimensional code with the corresponding serial number;
if the corresponding serial number is a preset value, returning to the step a3 to continue execution;
if the corresponding serial number is 0, the procedure is ended;
a10. controlling the robot to move correspondingly according to the serial number of the camera;
a11. the step of returning to a7 continues.
Preferably, the two-dimension code position detection method is applied to the human body meridian path method based on the two-dimension code.
Preferably, the robot adopts a man-machine cooperative six-joint mechanical arm.
Preferably, the robot is a UR10 or UR5 robot.
A two-dimension code numbering method is characterized in that: the method comprises the following steps that calibration blocks distributed at 3 adjacent corner positions of a rectangular two-dimensional code are included, other point positions of the two-dimensional code except for each calibration block are digital point positions, black points are arranged on a plurality of digital point positions as required, the black points represent the positions to be taken and take the number 1, and the blank digital point positions represent the positions to be taken and take the number 0; each two-dimensional code represents a different number.
Preferably, the number of the digital point location at the fourth angular position on the two-dimensional code is 1, and the number of each digital point location is increased progressively according to a natural number sequence in a mode of sequentially turning and alternating along the horizontal direction to the vertical direction; the numerical value corresponding to the numerical point position at each corresponding serial number position is 2
n-1And A (A is the number of black dots at the current digital dot position), and the numerical value represented by the two-dimensional code is the sum of the numerical values corresponding to the digital dot positions at the positions of the corresponding serial numbers.
The invention has the beneficial effects that:
1) the weight of the guide head is about 2kg, the guide head vibrates in the treatment process, two operators respectively treat the left side and the right side in the treatment process due to the symmetry of meridians of the human body, each patient needs about 30 minutes for treatment once, and one operator takes about 1 hour for treatment. When an operator holds the treatment arm, the arm is very tired, the robot does not have the problem when operating, and the operation efficiency is higher;
2) the manual operation is easily affected by subjective factors of the operator, such as the mood, fatigue, etc. of the operator. Therefore, the accuracy of the whole treatment process cannot be guaranteed, and the accuracy of the two-dimensional code identification in the method is 98 percent, so that the method is more accurate;
3) the method utilizes the mechanical arm for treatment, so that an operator does not contact with a patient, and the privacy of the patient is further protected.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or components are generally identified by like reference numerals. In the drawings, elements or components are not necessarily drawn to scale.
Fig. 1 is a display diagram of a treatment state of a patient according to the two-dimensional code-based meridian path method of the human body.
Fig. 2 is a schematic flow chart of the two-dimensional code position detection method of the present invention.
Fig. 3 is a display diagram of two-dimensional code groups (representing numbers 1-63) generated by the two-dimensional code numbering method of the present invention.
Fig. 4 is an exemplary diagram of a two-dimensional code method according to the present invention.
In the figure, 1, a robot; 2. an image recognition automated seeker; 3. a global camera; 4. and (5) two-dimensional codes.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 4, a method for human meridian path based on two-dimensional code includes the following steps:
s1: the two-dimensional code calibrates each part of the human body;
as shown in fig. 1, the set two-dimensional code 4 is pasted on different parts of the human body surface, and the human body part and the two-dimensional code information are in corresponding relation, so that the modeling of the position coordinate of the human body is realized;
s2: scanning and estimating the human body posture;
estimating the posture of the human body through the global camera 3, tracking the position coordinates of each part of the human body in a large range, and feeding back the position movement information to the robot information processing center;
s3: detecting the specific positions of all parts of the human body, and accurately positioning;
the local camera is used for detecting the specific position of the two-dimensional code, and the position movement information is fed back to the robot information processing center, so that accurate positioning of all parts of the human body is realized.
Meanwhile, the human body curve fitting is realized by combining the six-axis force sensor according to the information processing result, the force acting on the human body is not too large, and the safety is ensured.
S4: the robot 1 analyzes and processes the obtained human body position information, controls the tail end of a mechanical arm (UR10) to be provided with an image recognition automatic guide head 2, and realizes meridian treatment according to a planned path.
The method utilizes the mechanical arm for treatment, so that an operator does not contact with a patient, and the privacy of the patient is further protected.
Preferably, in the step S3, N cameras are adopted to detect the two-dimensional codes pasted on different angles of the human body surface at the same time, and the two-dimensional codes are calibrated by the cameras and the eyes and hands of the robot 1, where N is greater than or equal to 1(N is a natural number).
Preferably, when a plurality of cameras detect the two-dimensional code simultaneously, the two-dimensional code detected by the first camera is preferentially executed.
A two-dimensional code position detection method comprises the following steps: the two-dimensional code is pasted on the surface of the body of the patient in the sequence of the numbers from large to small; the method comprises the following steps: the two-dimensional code is detected, the coordinate of the two-dimensional code is obtained, the coordinate of the two-dimensional code is converted into a robot coordinate system through hand-eye calibration between the camera and the robot and is sent to the robot, and the robot is controlled to move to the position of the two-dimensional code by compiling a robot program.
Preferably, the specific steps of scanning and detecting the two-dimensional code and acquiring the coordinates thereof are as follows:
a1. starting a program;
a2. the multiple cameras respectively perform image correction;
a3. starting the robot program to move to the Nth initial position;
a4. the camera starts to identify the two-dimensional code in the visual field range, and the two-dimensional code with the largest representative number is set to be returned each time;
a5. setting the current control variable as a number corresponding to the most recently identified maximum two-dimensional code;
a6. judging the camera capturing the maximum two-dimensional code, and controlling the robot to move correspondingly;
a7. monitoring whether the TCP speed of the robot is 0 or not;
when the TCP speed is 0, executing the next step, otherwise, waiting;
a8. the camera starts to capture the next two-dimensional code;
a9. finding out the camera of the two-dimensional code with the corresponding serial number;
if the corresponding serial number is a preset value, returning to the step a3 to continue execution;
if the corresponding serial number is 0, the procedure is ended;
a10. controlling the robot to move correspondingly according to the serial number of the camera;
a11. the step of returning to a7 continues.
Preferably, the two-dimension code position detection method is applied to the human body meridian path method based on the two-dimension code.
Preferably, the robot adopts a man-machine cooperative six-joint mechanical arm.
Preferably, the robot is a UR10 or UR5 robot.
A two-dimension code numbering method is characterized in that: the method comprises the following steps that calibration blocks distributed at 3 adjacent corner positions of a rectangular two-dimensional code are included, other point positions of the two-dimensional code except for each calibration block are digital point positions, black points are arranged on a plurality of digital point positions as required, the black points represent the positions to be taken and take the number 1, and the blank digital point positions represent the positions to be taken and take the number 0; each two-dimensional code represents a different number.
Preferably, the number of the digital point location at the fourth angular position on the two-dimensional code is 1, and the number of each digital point location is increased progressively according to a natural number sequence in a mode of sequentially turning and alternating along the horizontal direction to the vertical direction; the numerical value corresponding to the numerical point position at each corresponding serial number position is 2
n-1A (A is the number of black dots at the current digital dot position), and the numerical value represented by the two-dimensional code is the number at each corresponding serial number positionThe sum of the numerical values corresponding to the point positions, and n represents the corresponding serial number.
Example (c): as shown in fig. 4: placing the two-dimensional code at the position shown in the figure, wherein the black dots represent that the position is 1, and the blank dots represent that the position is 0
The two-dimension code number in the figure is: 2
0*0+2
1*1+2
2*0+2
3*1+2
4*0+2
5*1＝42
Each two-dimensional code represents a different number according to the encoding mode, and the two-dimensional codes in fig. 3 represent 0 to 63 respectively.
The two-dimensional codes used in the human body meridian path method based on the two-dimensional codes and the two-dimensional code position detection method both adopt the two-dimensional codes generated by the two-dimensional code numbering method.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; the modifications or the substitutions do not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions of the embodiments of the present invention, and the technical solutions are all covered in the scope of the claims and the specification of the present invention; it will be apparent to those skilled in the art that any alternative modifications or variations to the embodiments of the present invention may be made within the scope of the present invention.
The present invention is not described in detail, but is known to those skilled in the art.
Claims (9)
1. A human body meridian path method based on two-dimensional codes is characterized by comprising the following steps: the method comprises the following steps:
s1: the two-dimensional code calibrates each part of the human body;
s2: scanning and estimating the human body posture;
s3: detecting the specific positions of all parts of the human body, and accurately positioning;
s4: the robot analyzes and processes the obtained human body position information, controls the tail end of a mechanical arm (UR10) to be provided with an image recognition automatic guide head, and realizes the treatment of meridians according to a planned path.
2. The human body meridian path method based on the two-dimensional code as claimed in claim 1, wherein: in the step S3, N cameras are adopted to detect the two-dimensional codes pasted on different angles of the surface of the human body at the same time, and the two-dimensional codes are calibrated through the cameras and the eyes and hands of the robot, wherein N is more than or equal to 1(N is a natural number).
3. The human body meridian path method based on the two-dimensional code as claimed in claim 2, wherein: when a plurality of cameras detect the two-dimensional code simultaneously, the two-dimensional code detected by the first camera is preferentially executed.
4. A two-dimensional code position detection method comprises the following steps: the method is characterized in that: the two-dimensional code is pasted on the surface of the body of the patient in the sequence of the numbers from large to small; the method comprises the following steps: the two-dimensional code is detected, the coordinate of the two-dimensional code is obtained, the coordinate of the two-dimensional code is converted into a robot coordinate system through hand-eye calibration between the camera and the robot and is sent to the robot, and the robot is controlled to move to the position of the two-dimensional code by compiling a robot program.
5. The two-dimensional code position detection method according to claim 4, characterized in that: the specific steps of scanning and detecting the two-dimensional code and acquiring the coordinates of the two-dimensional code are as follows:
a1. starting a program;
a2. the multiple cameras respectively perform image correction;
a3. starting the robot program to move to the Nth initial position;
a4. the camera starts to identify the two-dimensional code in the visual field range, and the two-dimensional code with the largest representative number is set to be returned each time;
a5. setting the current control variable as a number corresponding to the most recently identified maximum two-dimensional code;
a6. judging the camera capturing the maximum two-dimensional code, and controlling the robot to move correspondingly;
a7. monitoring whether the TCP speed of the robot is 0 or not;
when the TCP speed is 0, executing the next step, otherwise, waiting;
a8. the camera starts to capture the next two-dimensional code;
a9. finding out the camera of the two-dimensional code with the corresponding serial number;
if the corresponding serial number is a preset value, returning to the step a3 to continue execution;
if the corresponding serial number is 0, the procedure is ended;
a10. controlling the robot to move correspondingly according to the serial number of the camera;
a11. the step of returning to a7 continues.
6. The two-dimensional code position detection method according to claim 4 or 5, characterized in that: the two-dimension code position detection method is applied to the human body meridian path method based on the two-dimension code.
7. The two-dimensional code position detection method according to claim 6, characterized in that: the robot adopts a man-machine cooperative six-joint mechanical arm.
8. A two-dimension code numbering method is characterized in that: the method comprises the following steps that calibration blocks distributed at 3 adjacent corner positions of a rectangular two-dimensional code are included, other point positions of the two-dimensional code except for each calibration block are digital point positions, black points are arranged on a plurality of digital point positions as required, the black points represent the positions to be taken and take the number 1, and the blank digital point positions represent the positions to be taken and take the number 0; each two-dimensional code represents a different number.
9. The two-dimensional code numbering method according to claim 7, wherein: the number of the digital point position at the fourth corner position on the two-dimensional code is 1, and the number of each digital point position is increased progressively according to a natural number sequence in a mode of sequentially turning and alternating along the horizontal direction to the vertical direction; each corresponding serial numberThe numerical value corresponding to the numerical point position at the position is 2
n-1A (a is the number of black dots at the current digital dot position), the numerical value represented by the two-dimensional code is the sum of the numerical values corresponding to the digital dot positions at the positions of the corresponding serial numbers, and n is the serial number corresponding to the current digital dot position.
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| CN116086896A (en) * | 2023-04-06 | 2023-05-09 | 国网湖北省电力有限公司电力科学研究院 | Standardized oil extraction device and method suitable for transformer oil extraction robot |
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