CN111437185A - Automatic robot channel positioning method and application - Google Patents
Automatic robot channel positioning method and application Download PDFInfo
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Abstract
The invention relates to the field of traditional Chinese medicine, in particular to the field of intelligent traditional Chinese medicine, and more particularly relates to a method for automatically positioning channels of a robot and the robot applying the method. The invention obtains the orthographic projection image of the human body of the meridian to be positioned in the set direction through the visual identification device; obtaining the edge line of the human body to be positioned through color difference analysis processing; according to a meridian positioning method preset in the system, positioning points are identified and marked in the orthographic projection image by using a chromatic aberration analysis method, and then all the positioning points are connected to form an image with meridians. By adopting the scheme disclosed by the invention, full-automatic meridian positioning can be realized, and a full-automatic traditional Chinese medicine treatment basis is provided for meridian-based moxibustion, massage and the like.
Description
Technical Field
The invention relates to the field of traditional Chinese medicine, in particular to the field of intelligent traditional Chinese medicine, and more particularly relates to a method for automatically positioning channels by a robot and application thereof.
Background
The meridians are the channels for circulating qi and blood, connecting viscera, body surface and all parts of the body, and are the regulation and control system of human body functions. The meridians and collaterals are the basis of acupuncture and massage and are the important components of traditional Chinese medicine.
With the development of robotics and artificial intelligence in recent years, the concept of intelligent TCM has been accepted by more and more technicians in this field. For those skilled in the art, it is the research direction of those skilled in the art to combine robot technology with traditional Chinese medicine, so as to combine traditional Chinese medicine with modern technology, develop and form an intelligent robot for traditional Chinese medicine.
A robot is a machine device that automatically performs work. The robot is mainly used for replacing or partially replacing the work of human beings, thereby reducing the labor intensity of workers and avoiding the risk of manual operation in the dangerous labor industry. With the continuous development of robot technology, the robot is not only used for completing some simple repetitive labor at present, but also the development and development of intelligent robots enable the robot to complete preset principle and outline actions.
The robot has different compositions according to different application requirements, but generally comprises an actuating mechanism, a driving device, a detection device, a control system and the like.
The identification of the meridians, which is the basis of the treatment of traditional Chinese medicine, is an important link in the intelligent and robotics process of traditional Chinese medicine. If the robot can accurately identify the meridians of the human body, various treatment methods such as mechanical moxibustion, massage and the like can be carried out along the meridians according to established commands, so that automatic traditional Chinese medicine treatment is realized. Therefore, it is important to develop a meridian identification method that can be applied to a robot. At present, no report related to the technology exists in the prior art.
Disclosure of Invention
The technical problem to be solved by the invention is how to combine the robot automation technology with the traditional Chinese medicine treatment. In particular, how to use a robot to perform automatic TCM treatment. Through analysis of the traditional Chinese medicine treatment, the inventor of the invention finds that the problem to be solved for realizing the automatic traditional Chinese medicine treatment is the problem of channel positioning. Only if the robot can automatically position the channels, on the basis, the traditional Chinese medicine treatment such as massage, moxibustion and the like along the channels can be further completed according to preset action instructions.
Therefore, one of the problems to be solved by the present invention is to develop an automatic meridian positioning method that can be adapted to a robot, and further to apply the automatic meridian positioning method to the robot. Therefore, the automatic positioning of the channels can be realized through an accurate positioning technology, and technical support is provided for traditional Chinese medicine treatment methods such as moxibustion, massage and massage depending on the channels in a form that a traditional Chinese medicine teacher is not required to participate or only the traditional Chinese medicine teacher is required to participate in a monitoring form.
In order to solve the technical problem, the invention discloses a method for automatically positioning meridians by a robot, which comprises the following steps:
s1: obtaining an orthographic projection image of a human body to be positioned in the set direction through a visual recognition device;
s2: carrying out color difference analysis processing on the orthographic projection image obtained in the S1 to obtain a margin line of the human body to be positioned;
s3: carrying out color difference analysis on the head image, and judging whether the orthographic projection image is a human body front image or a human body back image;
s4: according to the human face where the meridian to be positioned is located, in combination with the judgment result in the S3, whether a required orthographic projection image is obtained is determined,
if the required orthographic projection image coincides with the judgment result in S3, the next step is proceeded to,
if the required orthographic projection image is inconsistent with the judgment result in the S3, a prompt is sent to prompt the person to be positioned to turn over, S1-S4 is executed again, if the judgment result is consistent, the next step is carried out, and if the judgment result is still inconsistent, manual intervention is carried out to the next step;
s5: according to a meridian positioning method preset in the system, positioning points are identified and marked in the orthographic projection image by using a chromatic aberration analysis method, and then all the positioning points are connected to form an image with meridians.
Further, the invention also discloses a method for positioning the channels, conception vessels and governor vessels commonly used in S5, which comprises the following steps:
the positioning method of the conception vessel comprises the following steps,
a1: it is confirmed as a front image that,
a2: identifying a bifurcation point of two legs, marking the bifurcation point as a first positioning point, identifying and connecting a bifurcation point of a left arm and a trunk with a bifurcation point of a right arm and the trunk, taking a middle point on the connecting line as a second positioning point, connecting the first positioning point and the second positioning point to obtain a position where the conception vessel is located, wherein the first positioning point is a lower end point of the conception vessel, and extending the upper end of the connecting line to a neck part to obtain an upper end point of the conception vessel;
the governor vessel positioning method comprises the following steps,
b1: it is confirmed as a back-side image,
b2: identifying a bifurcation point of two legs, marking the bifurcation point as a first positioning point, identifying and connecting a bifurcation point of a left arm and a trunk with a bifurcation point of a right arm and the trunk, taking a middle point on the connecting line to mark as a second positioning point, connecting the first positioning point and the second positioning point to obtain the position of the governor vessel, wherein the first positioning point is a lower end point of the governor vessel, and the upper end of the connecting line is extended to the top of the head to obtain an upper end point of the governor vessel;
the method for positioning the pericardium channel of hand jueyin comprises the following steps,
c1: it is confirmed as a front image that,
c2: identifying the middle point of a connecting line between the big arm and the small arm of the upper limb, marking the middle point as a first positioning point, identifying the middle point of the connecting line between the small arm and the hand, marking the middle point as a second positioning point, connecting the first positioning point and the second positioning point to obtain the position of the pericardium meridian of the hand jueyin, extending the connecting line to the fingertip of the middle finger to obtain the end point of the pericardium meridian of the hand jueyin, extending the connecting line to the connecting part of the big arm and the trunk to obtain the end point of the pericardium meridian of the hand jueyin,
c3: marking another pericardium meridian of hand jueyin at the contralateral upper limb in the same way;
the method for positioning the three-jiao channel of hand shaoyang comprises the following steps:
d1; it is confirmed as a back-side image,
d2: identifying a connecting line of a big arm and a small arm of an upper limb, marking a middle point as a first positioning point, identifying a connecting line of the small arm and a hand, marking the middle point as a second positioning point, connecting the first positioning point and the second positioning point, identifying and marking a contour curve of a shoulder, connecting the lower end of the contour curve with the first positioning point, namely the position of the shaoyang trifoliate meridian of the hand, extending the upper end of the connecting line to the position corresponding to the auricle on the ear along the edge of the neck and the edge of the head, namely the upper end point of the shaoyang trifoliate meridian of the hand, and extending the lower end of the connecting line to a middle finger tip, namely the lower end point of the shaoyang trifoliate meridian of the hand;
d3: marking the other hand shaoyang sanjiao channel on the contralateral upper limb according to the same way;
the method for positioning the heart meridian of hand shaoyin comprises the following steps:
e1: it is confirmed as a front image that,
e2: identifying a cross-connection line of a big arm and a small arm of an upper limb, calculating a sextant part of the cross-connection line, selecting a point closest to the inner side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk as a second positioning point, connecting the first positioning point and the second positioning point, identifying and marking a wrist inner side edge line, connecting the upper end of the edge line with the first positioning point, namely the position of the heart meridian of the hand shaoyin, extending the lower end of the connection line to the fingertip of the little finger as a lower end point of the heart meridian of the hand shaoyin, and using the second positioning point as an upper end point of the heart meridian of the hand shaoyin;
e3: marking the other hand shaoyin heart meridian at the contralateral upper limb in the same way;
the method for positioning the small intestine meridian of hand-Taiyang comprises the following steps:
f1: confirming as a back image;
f2: identifying a cross-connection line of a large arm and a small arm of an upper limb, calculating quartering points of the cross-connection line, selecting a point closest to the inner side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk as a second positioning point, identifying a cross-connection line of the small arm and a hand, calculating quintuple points of the cross-connection line, selecting a point closest to the inner side of the small arm as a third positioning point, connecting the first positioning point with the second positioning point, the first positioning point with the third positioning point, and the third positioning point with the first positioning point, wherein the position of the channel of the small intestine of the sun of the hand is the position of the channel of the small intestine of the sun of the hand, and extending the lower end of the connection line to a fingertip position of a little finger to be the;
f3: marking the small intestine channel of the other hand at the upper limb of the contralateral side according to the same method;
the method for positioning the lung meridian of hand taiyin comprises the following steps;
g1: confirming as a front image;
g2: identifying a cross-connection line of an upper limb big arm and a lower arm, calculating a five-equal division point of the cross-connection line, selecting a point closest to the outer side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk, taking the bifurcation point as a reference, making a parallel line parallel to the cross-connection line of the upper limb big arm and the lower arm on the big arm, enabling the parallel line to pass through the bifurcation point of the upper limb and the trunk, calculating the middle point of the parallel line, marking the parallel line as a second positioning point, connecting the first positioning point and the second positioning point, identifying and marking a wrist outer side edge line, connecting the upper end of the edge line with the first positioning point, namely the position of the taiyin lung meridian, extending the lower end of the connection line to a tip of a thumb, namely the lower end point of the taiyin lung meridian of the hand, and enabling the second positioning point to be the upper end;
g3: marking another lung meridian of hand taiyin at the contralateral upper limb according to the same method;
the method for positioning the large intestine meridian of hand yangming comprises the following steps:
h1: confirming as a back image;
h2: identifying a cross-connection line of an upper limb big arm and an upper limb small arm, calculating a quartering point of the cross-connection line, selecting a point closest to the outer side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk, making a parallel line parallel to the cross-connection line of the upper limb big arm and the upper limb small arm on the big arm by taking the bifurcation point as a reference, enabling the parallel line to pass through the bifurcation point of the upper limb and the trunk, calculating the middle point of the parallel line, marking the parallel line as a second positioning point, identifying the bifurcation point of a thumb and an index finger as a third positioning point, connecting the first positioning point with the second positioning point as well as the first positioning point and the third positioning point, namely the position of the Yangming large intestine meridian, extending the lower end of the connection line to the fingertip of the index finger to be the lower end point of the Yangming large intestine meridian, and using the second positioning;
h3: marking another hand yangming large intestine channel at the contralateral upper limb according to the same method;
the method for positioning the stomach meridian of foot yangming comprises the following steps:
i1: confirming as a front image;
i2: identifying the position of a nipple as a first positioning point, calculating the position of a waist line to obtain twelve equi-division points of the nipple, selecting an equi-division point which is closest to the navel and is positioned at the same side as the first positioning point as a second positioning point, respectively taking the first positioning point and the second positioning point as reference, drawing a line vertical to the horizontal direction in an image of the upper trunk part, marking as a first vertical line and a second vertical line, wherein the upper end point of the first vertical line is positioned at the shoulder part, the lower end point of the first vertical line is the first positioning point, the upper end point of the second vertical line is positioned at the intersection point of the vertical line and the connecting line of the two nipples, the lower end point of the second vertical line is positioned at the intersection point of the horizontal line where the bifurcations of the two legs are positioned and the vertical line, and the first vertical;
i3: identifying a connecting line of a thigh and a shank of the lower limb, calculating trisection points of the connecting line, taking a point which is closer to the outer side as a third positioning point, taking the third positioning point as a reference, making a line vertical to the horizontal direction in an image of the lower limb, and marking the line as a third vertical line, wherein the third vertical line is a leg section of the stomach channel of foot-Yang Ming stomach;
i4: marking another trunk segment of the foot yangming stomach channel at the symmetrical position of the trunk part according to the same method;
i5: marking another leg segment of the stomach channel of foot yangming at the contralateral lower limb according to the same method;
the method for positioning the gallbladder meridian of foot shaoyang comprises the following steps:
j1: confirming as a back image;
j2: identifying the outer contour line of the lower limb, and marking the outer contour line as the gallbladder meridian of the foot shaoyang;
j3: marking another gallbladder channel of foot shaoyang at the lower limb of the contralateral side according to the same method;
the method for positioning the spleen meridian of foot taiyin comprises the following steps:
k1: confirming as a front image;
k2: connecting the bifurcation point of the left arm and the trunk with the bifurcation point of the right arm and the trunk, calculating the eight equal division points of the connecting line, marking the equal division point which is closest to the outer side of the trunk as a first fixed point, calculating the position of the waist line to obtain the quartering points, selecting the nearest quartering point which is at the same side with the first positioning point and is closest to the outer side of the trunk as a second positioning point, respectively taking the first positioning point and the second positioning point as references, drawing lines vertical to the horizontal direction in an image of the upper body trunk, marking the lines as a first vertical line and a second vertical line, wherein the upper end point of the first vertical line is positioned at the shoulder, the lower end point of the first vertical line is a first positioning point, the upper end point of the second vertical line is a second positioning point, the lower end point of the second vertical line is positioned at the intersection point of the horizontal line where the two leg bifurcation points are positioned and the vertical line, and the connecting lines of the first vertical line, the second vertical line, the first positioning point and the second positioning point jointly form a body section of the spleen meridian;
k3, identifying the inner contour line of the lower limb, and marking the inner contour line as a leg segment of the spleen meridian of foot taiyin;
k4: marking another trunk section of the spleen meridian of foot taiyin at the symmetrical position of the trunk part according to the same method;
k5: marking another leg segment of the spleen meridian of foot taiyin at the contralateral lower limb according to the same method;
the method for positioning the bladder meridian of the foot taiyang comprises the following steps:
l1, confirming as a back image;
l2, identifying the waist line, calculating the octant of the waist line, taking two equant points close to the midpoint on the same side, marking as a first positioning point and a second positioning point respectively, taking the first positioning point and the second positioning point as references, making a line vertical to the horizontal direction in the image of the upper body trunk, marking as a first vertical line and a second vertical line, wherein the upper end points of the first vertical line and the second vertical line are respectively positioned at the intersection points of the first vertical line and the shoulder contour line, the lower end points of the first vertical line and the second vertical line are respectively positioned at the intersection points of the horizontal line where the two leg bifurcation points are positioned and the vertical line, and the first vertical line and the second vertical line jointly form a trunk section of the bladder meridian of the foot-Taiyang;
l3, identifying the intersection line of thigh and calf of lower limb, and making a line perpendicular to the horizontal direction in the image of lower limb with the midpoint of the intersection line as a third positioning point and the third positioning point as reference, and marking as a third vertical line, wherein the third vertical line is the leg section through which the bladder of foot taiyang passes;
l4 marking the symmetrical position of the trunk part with another trunk part of the bladder channel of foot taiyang according to the same method;
l5 the leg segment of the other foot-solar bladder channel is marked on the contralateral lower limb in the same way.
It should be noted that, in practical applications, for different schemes, only one, two or several meridians may be needed, and at this time, a positioning method of the meridians preset in the system is called, the obtained human body image is identified and positioned, and the positioning information is fed back to the control computer of the robot, so that the robot can act according to the position information, and corresponding therapy and health care functions are realized.
Meanwhile, the invention also discloses the application of the automatic meridian positioning method in the robot so as to realize the full-automatic intelligent meridian positioning of the robot.
By adopting the scheme disclosed by the invention, full-automatic meridian positioning can be realized, and a full-automatic traditional Chinese medicine treatment basis is provided for meridian-based moxibustion, massage and the like. Not only can liberate the Chinese medical teachers from the heavy treatment operation process, but also better concentrate on diagnosis and treatment work. But also can better popularize the traditional Chinese medicine treatment at the basic level, and solve the problem that the traditional Chinese medicine doctors are concentrated and can not be popularized at the basic level at present.
Drawings
Fig. 1 is a schematic view of automatically positioning a governor vessel in embodiment 1.
FIG. 2 is a schematic view showing the automatic positioning of spleen meridian of foot taiyin in example 2.
Detailed Description
In order that the invention may be better understood, we now provide further explanation of the invention with reference to specific examples.
Example 1
The human body is guided to lie at a designated position of the treatment couch, so that the visual recognition apparatus can obtain a complete human body image.
S1: in this embodiment, the vision recognition device selects the camera to obtain the orthographic projection image of the human body to be positioned in the preset direction.
S2: the orthographic projection image obtained in S1 is subjected to color difference analysis processing to obtain an edge line of the human body to be positioned, as shown in fig. 1.
S3: carrying out color difference analysis on the head image, and judging whether the orthographic projection image is a human body front image or a human body back image; in this embodiment, color uniformity is seen at the head position, which is the back image.
S4: and determining whether a required orthographic projection image is obtained or not according to the human body surface where the meridian to be positioned is located and the judgment result in the S3.
In this embodiment, we need to locate the governor vessel, and according to the steps in the governor vessel locating method, it is first confirmed that the orthographic projection image should be the back image, and the required orthographic projection image matches the judgment result in S3 in combination with the judgment result in S3, so the process proceeds to S5.
S5: according to a meridian positioning method preset in the system, positioning points are identified and marked in the orthographic projection image by using a chromatic aberration analysis method, and then all the positioning points are connected to form an image with meridians.
For example, in this embodiment, the location of the governor vessel needs to be located, so the method for calling the governor vessel location in the system includes the following steps,
b1: it is confirmed as a back-side image,
b2: identifying a bifurcation point of two legs, marking the bifurcation point as a first positioning point, identifying and connecting a bifurcation point of a left arm and a trunk with a bifurcation point of a right arm and the trunk, taking a middle point on the connecting line to mark as a second positioning point, connecting the first positioning point and the second positioning point to obtain the position of the governor vessel, wherein the first positioning point is a lower end point of the governor vessel, and the upper end of the connecting line is extended to the top of the head to obtain an upper end point of the governor vessel;
and B1, finding a first positioning point A and a second positioning point B according to the method in the step B2, and connecting the first positioning point A and the second positioning point B to obtain the position of the governor vessel. The length of governor vessel is decided according to lower extreme point and upper end endpoint, and wherein first definite position A is the lower extreme point of governor vessel, then prolongs this governor vessel line to top of the head to the governor vessel position has been marked on the orthographic projection image that obtains.
The marked governor vessel position is fed back to the control system of the robot, and the robot can further perform operations such as massage, moxibustion and the like according to the governor vessel position on the orthographic projection image.
Example 2
The human body is guided to lie at a designated position of the treatment couch, so that the visual recognition apparatus can obtain a complete human body image.
S1: in this embodiment, the vision recognition device selects the camera to obtain the orthographic projection image of the human body to be positioned in the preset direction.
S2: the orthographic projection image obtained in S1 is subjected to color difference analysis processing to obtain an edge line of the human body to be positioned, as shown in fig. 1.
S3: carrying out color difference analysis on the head image, and judging whether the orthographic projection image is a human body front image or a human body back image; in this embodiment, the color irregularity is seen at the head position, which is a frontal image.
S4: and determining whether a required orthographic projection image is obtained or not according to the human body surface where the meridian to be positioned is located and the judgment result in the S3.
In this embodiment, it is necessary to locate the spleen meridian of foot taiyin, and according to the steps in the method for locating the spleen meridian of foot taiyin, it is first confirmed that the orthographic projection image should be a frontal image, and the required orthographic projection image matches the judgment result in S3 in combination with the judgment result in S3, so the process proceeds to S5.
S5: according to a meridian positioning method preset in the system, positioning points are identified and marked in the orthographic projection image by using a chromatic aberration analysis method, and then all the positioning points are connected to form an image with meridians.
For example, in this embodiment, the position of spleen meridian of foot taiyin is to be located, so the preset meridian location method in the system is called, which includes the following steps:
k1: confirming as a front image;
k2: connecting a bifurcation point of a left arm and a trunk with a bifurcation point of a right arm and the trunk, calculating an eighth bisector of the connecting line, marking the nearest bisector to the outside of the trunk as a first positioning point, calculating the position of a waist line to obtain a fourth bisector, selecting the nearest bisector to the outside of the trunk and on the same side as the first positioning point as a second positioning point, respectively taking the first positioning point and the second positioning point as references, drawing a line vertical to a vertical line in the horizontal direction in an image of the trunk of the upper body, marking the line as a first vertical line and a second vertical line, locating the upper end point of the first vertical line at the shoulder, locating the lower end point of the first vertical line as the first positioning point, locating the upper end point of the second vertical line at the intersection point of a horizontal line where the bifurcation point of two legs is located and the vertical line, and forming a trunk segment of the spleen meridian of the Pacific Yin spleen together with the connecting line of the first vertical line, the second vertical line and the points A, (ii) a
K3, identifying the inner contour line of the lower limb, and marking the inner contour line as a leg segment of the spleen meridian of foot taiyin;
k4: marking another trunk section of the spleen meridian of foot taiyin at the symmetrical position of the trunk part according to the same method;
k5: another leg segment of the spleen meridian of foot taiyin was marked on the contralateral lower limb in the same way.
The K1 step has been completed and then according to the method described in K2-K5, the bisector point on the line connecting the bifurcation point of the left arm and the trunk located closest to the outside and the bifurcation point of the right arm and the trunk is first found and marked as a first positioning point A and then marked as a second positioning point B at the waist line, as shown in FIG. 2. Then, a line perpendicular to the horizontal direction is made with the first positioning point A and the second positioning point B, and the ends of the first perpendicular line and the second perpendicular line are obtained according to the method in K2, so that a trunk segment of the spleen meridian of the foot taiyin is formed. Then, according to the method in K3, the leg segment of the spleen meridian of foot taiyin is formed by the medial contour of the lower limb. The marked spleen meridian is indicated by a white line segment in fig. 2.
Corresponding spleen meridians can be found in the left trunk and lower limbs of fig. 2 according to the method of the drawing, and are not described herein again.
What has been described above is a specific embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (3)
1. The automatic meridian positioning method by the robot is characterized by comprising the following steps:
s1: obtaining an orthographic projection image of a human body to be positioned in the set direction through a visual recognition device;
s2: carrying out color difference analysis processing on the orthographic projection image obtained in the S1 to obtain a margin line of the human body to be positioned;
s3: carrying out color difference analysis on the head image, and judging whether the orthographic projection image is a human body front image or a human body back image;
s4: according to the human face where the meridian to be positioned is located, in combination with the judgment result in the S3, whether a required orthographic projection image is obtained is determined,
if the required orthographic projection image coincides with the judgment result in S3, the next step is proceeded to,
if the required orthographic projection image is inconsistent with the judgment result in the S3, a prompt is sent to prompt the person to be positioned to turn over, S1-S4 is executed again, if the judgment result is consistent, the next step is carried out, and if the judgment result is still inconsistent, manual intervention is carried out to the next step;
s5: according to a meridian positioning method preset in the system, positioning points are identified and marked in the orthographic projection image by using a chromatic aberration analysis method, and then all the positioning points are connected to form an image with meridians.
2. The method for automatically positioning meridians by using a robot as claimed in claim 1, wherein the meridian positioning method preset in step S5 includes any one or more of the following positioning methods:
(1) the positioning method of the conception vessel comprises the following steps,
a1: it is confirmed as a front image that,
a2: identifying a bifurcation point of two legs, marking the bifurcation point as a first positioning point, identifying and connecting a bifurcation point of a left arm and a trunk with a bifurcation point of a right arm and the trunk, taking a middle point on the connecting line as a second positioning point, connecting the first positioning point and the second positioning point to obtain a position where the conception vessel is located, wherein the first positioning point is a lower end point of the conception vessel, and extending the upper end of the connecting line to a neck part to obtain an upper end point of the conception vessel;
(2) the governor vessel positioning method comprises the following steps,
b1: it is confirmed as a back-side image,
b2: identifying a bifurcation point of two legs, marking the bifurcation point as a first positioning point, identifying and connecting a bifurcation point of a left arm and a trunk with a bifurcation point of a right arm and the trunk, taking a middle point on the connecting line to mark as a second positioning point, connecting the first positioning point and the second positioning point to obtain the position of the governor vessel, wherein the first positioning point is a lower end point of the governor vessel, and the upper end of the connecting line is extended to the top of the head to obtain an upper end point of the governor vessel;
(3) the method for positioning the pericardium channel of hand jueyin comprises the following steps,
c1: it is confirmed as a front image that,
c2: identifying the middle point of a connecting line between the big arm and the small arm of the upper limb, marking the middle point as a first positioning point, identifying the middle point of the connecting line between the small arm and the hand, marking the middle point as a second positioning point, connecting the first positioning point and the second positioning point to obtain the position of the pericardium meridian of the hand jueyin, extending the connecting line to the fingertip of the middle finger to obtain the end point of the pericardium meridian of the hand jueyin, extending the connecting line to the connecting part of the big arm and the trunk to obtain the end point of the pericardium meridian of the hand jueyin,
c3: marking another pericardium meridian of hand jueyin at the contralateral upper limb in the same way;
(4) the method for positioning the three-jiao channel of hand shaoyang comprises the following steps:
d1; it is confirmed as a back-side image,
d2: identifying a connecting line of a big arm and a small arm of an upper limb, marking a middle point as a first positioning point, identifying a connecting line of the small arm and a hand, marking the middle point as a second positioning point, connecting the first positioning point and the second positioning point, identifying and marking a contour curve of a shoulder, connecting the lower end of the contour curve with the first positioning point, namely the position of the shaoyang trifoliate meridian of the hand, extending the upper end of the connecting line to the position corresponding to the auricle on the ear along the edge of the neck and the edge of the head, namely the upper end point of the shaoyang trifoliate meridian of the hand, and extending the lower end of the connecting line to a middle finger tip, namely the lower end point of the shaoyang trifoliate meridian of the hand;
d3: marking the other hand shaoyang sanjiao channel on the contralateral upper limb according to the same way;
(5) the method for positioning the heart meridian of hand shaoyin comprises the following steps:
e1: it is confirmed as a front image that,
e2: identifying a cross-connection line of a big arm and a small arm of an upper limb, calculating a sextant part of the cross-connection line, selecting a point closest to the inner side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk as a second positioning point, connecting the first positioning point and the second positioning point, identifying and marking a wrist inner side edge line, connecting the upper end of the edge line with the first positioning point, namely the position of the heart meridian of the hand shaoyin, extending the lower end of the connection line to the fingertip of the little finger as a lower end point of the heart meridian of the hand shaoyin, and using the second positioning point as an upper end point of the heart meridian of the hand shaoyin;
e3: marking the other hand shaoyin heart meridian at the contralateral upper limb in the same way;
(6) the method for positioning the small intestine meridian of hand-Taiyang comprises the following steps:
f1: confirming as a back image;
f2: identifying a cross-connection line of a large arm and a small arm of an upper limb, calculating quartering points of the cross-connection line, selecting a point closest to the inner side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk as a second positioning point, identifying a cross-connection line of the small arm and a hand, calculating quintuple points of the cross-connection line, selecting a point closest to the inner side of the small arm as a third positioning point, connecting the first positioning point with the second positioning point, the first positioning point with the third positioning point, and the third positioning point with the first positioning point, wherein the position of the channel of the small intestine of the sun of the hand is the position of the channel of the small intestine of the sun of the hand, and extending the lower end of the connection line to a fingertip position of a little finger to be the;
f3: marking the small intestine channel of the other hand at the upper limb of the contralateral side according to the same method;
(7) the method for positioning the lung meridian of hand taiyin comprises the following steps;
g1: confirming as a front image;
g2: identifying a cross-connection line of an upper limb big arm and a lower arm, calculating a five-equal division point of the cross-connection line, selecting a point closest to the outer side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk, taking the bifurcation point as a reference, making a parallel line parallel to the cross-connection line of the upper limb big arm and the lower arm on the big arm, enabling the parallel line to pass through the bifurcation point of the upper limb and the trunk, calculating the middle point of the parallel line, marking the parallel line as a second positioning point, connecting the first positioning point and the second positioning point, identifying and marking a wrist outer side edge line, connecting the upper end of the edge line with the first positioning point, namely the position of the taiyin lung meridian, extending the lower end of the connection line to a tip of a thumb, namely the lower end point of the taiyin lung meridian of the hand, and enabling the second positioning point to be the upper end;
g3: marking another lung meridian of hand taiyin at the contralateral upper limb according to the same method;
(8) the method for positioning the large intestine meridian of hand yangming comprises the following steps:
h1: confirming as a back image;
h2: identifying a cross-connection line of an upper limb big arm and an upper limb small arm, calculating a quartering point of the cross-connection line, selecting a point closest to the outer side of the upper limb as a first positioning point, identifying a bifurcation point of the upper limb and a trunk, making a parallel line parallel to the cross-connection line of the upper limb big arm and the upper limb small arm on the big arm by taking the bifurcation point as a reference, enabling the parallel line to pass through the bifurcation point of the upper limb and the trunk, calculating the middle point of the parallel line, marking the parallel line as a second positioning point, identifying the bifurcation point of a thumb and an index finger as a third positioning point, connecting the first positioning point with the second positioning point as well as the first positioning point and the third positioning point, namely the position of the Yangming large intestine meridian, extending the lower end of the connection line to the fingertip of the index finger to be the lower end point of the Yangming large intestine meridian, and using the second positioning;
h3: marking another hand yangming large intestine channel at the contralateral upper limb according to the same method;
(9) the method for positioning the stomach meridian of foot yangming comprises the following steps:
i1: confirming as a front image;
i2: identifying the position of a nipple as a first positioning point, calculating the position of a waist line to obtain twelve equi-division points of the nipple, selecting an equi-division point which is closest to the navel and is positioned at the same side as the first positioning point as a second positioning point, respectively taking the first positioning point and the second positioning point as reference, drawing a line vertical to the horizontal direction in an image of the upper trunk part, marking as a first vertical line and a second vertical line, wherein the upper end point of the first vertical line is positioned at the shoulder part, the lower end point of the first vertical line is the first positioning point, the upper end point of the second vertical line is positioned at the intersection point of the vertical line and the connecting line of the two nipples, the lower end point of the second vertical line is positioned at the intersection point of the horizontal line where the bifurcations of the two legs are positioned and the vertical line, and the first vertical;
i3: identifying a connecting line of a thigh and a shank of the lower limb, calculating trisection points of the connecting line, taking a point which is closer to the outer side as a third positioning point, taking the third positioning point as a reference, making a line vertical to the horizontal direction in an image of the lower limb, and marking the line as a third vertical line, wherein the third vertical line is a leg section of the stomach channel of foot-Yang Ming stomach;
i4: marking another trunk segment of the foot yangming stomach channel at the symmetrical position of the trunk part according to the same method;
i5: marking another leg segment of the stomach channel of foot yangming at the contralateral lower limb according to the same method;
(10) the method for positioning the gallbladder meridian of foot shaoyang comprises the following steps:
j1: confirming as a back image;
j2: identifying the outer contour line of the lower limb, and marking the outer contour line as the gallbladder meridian of the foot shaoyang;
j3: marking another gallbladder channel of foot shaoyang at the lower limb of the contralateral side according to the same method;
(11) the method for positioning the spleen meridian of foot taiyin comprises the following steps:
k1: confirming as a front image;
k2: connecting the bifurcation point of the left arm and the trunk with the bifurcation point of the right arm and the trunk, calculating the eight equal division points of the connecting line, marking the equal division point which is closest to the outer side of the trunk as a first fixed point, calculating the position of the waist line to obtain the quartering points, selecting the nearest quartering point which is at the same side with the first positioning point and is closest to the outer side of the trunk as a second positioning point, respectively taking the first positioning point and the second positioning point as references, drawing lines vertical to the horizontal direction in an image of the upper body trunk, marking the lines as a first vertical line and a second vertical line, wherein the upper end point of the first vertical line is positioned at the shoulder, the lower end point of the first vertical line is a first positioning point, the upper end point of the second vertical line is a second positioning point, the lower end point of the second vertical line is positioned at the intersection point of the horizontal line where the two leg bifurcation points are positioned and the vertical line, and the first vertical line and the second vertical line jointly form a body section of the spleen meridian of foot taiyin;
k3, identifying the inner contour line of the lower limb, and marking the inner contour line as a leg segment of the spleen meridian of foot taiyin;
k4: marking another trunk section of the spleen meridian of foot taiyin at the symmetrical position of the trunk part according to the same method;
k5: marking another leg segment of the spleen meridian of foot taiyin at the contralateral lower limb according to the same method;
(12) the method for positioning the bladder meridian of the foot taiyang comprises the following steps:
l1, confirming as a back image;
l2, identifying the waist line, calculating the octant of the waist line, taking two equant points close to the midpoint on the same side, marking as a first positioning point and a second positioning point respectively, taking the first positioning point and the second positioning point as references, making a line vertical to the horizontal direction in the image of the upper body trunk, marking as a first vertical line and a second vertical line, wherein the upper end points of the first vertical line and the second vertical line are respectively positioned at the intersection points of the first vertical line and the shoulder contour line, the lower end points of the first vertical line and the second vertical line are respectively positioned at the intersection points of the horizontal line where the two leg bifurcation points are positioned and the vertical line, and the first vertical line and the second vertical line jointly form a trunk section of the bladder meridian of the foot-Taiyang;
l3, identifying the intersection line of thigh and calf of lower limb, and making a line perpendicular to the horizontal direction in the image of lower limb with the midpoint of the intersection line as a third positioning point and the third positioning point as reference, and marking as a third vertical line, wherein the third vertical line is the leg section through which the bladder of foot taiyang passes;
l4 marking the symmetrical position of the trunk part with another trunk part of the bladder channel of foot taiyang according to the same method;
l5 the leg segment of the other foot-solar bladder channel is marked on the contralateral lower limb in the same way.
3. Use of the method of automatically locating a meridian as claimed in claim 1 or 2 in a robot.
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