CN113813170A - Target point conversion method between cameras of multi-camera physiotherapy system - Google Patents
Target point conversion method between cameras of multi-camera physiotherapy system Download PDFInfo
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- 238000000554 physical therapy Methods 0.000 title claims abstract description 150
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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Abstract
The application relates to a method for switching target points among cameras of a multi-camera physiotherapy system, wherein the multi-camera physiotherapy system comprises a physiotherapy bed, a massage mechanical arm, a plurality of cameras and a plurality of physiotherapy devices, wherein the physiotherapy bed is used for lying a physiotherapy person; image points among a plurality of cameras can be converted, and the steps comprise: converting the source two-dimensional coordinates of the source image points into source three-dimensional coordinates of a source camera; converting the source three-dimensional coordinates into intermediate three-dimensional coordinates in a mechanical arm coordinate system; converting the intermediate three-dimensional coordinate into a target three-dimensional coordinate corresponding to the target camera; and converting the target three-dimensional coordinates to obtain two-position target image points corresponding to the target camera. The image points are converted from the source camera to the target camera, so that the final target image information is more comprehensive, the smoothness of the running track of the massage mechanical arm can be improved, and the physiotherapy effect, namely the comfort degree, is improved.
Description
Technical Field
The disclosure relates to the field of physiotherapy equipment, in particular to a target point conversion method between cameras of a multi-camera physiotherapy system.
Background
The meridians and collaterals of the human body are the extensions of the zang-fu organs, and although they do not have the therapeutic effect, they are essential for smooth circulation. The unobstructed meridians mean that qi and blood can flow normally, indicating that the zang-fu organs function normally. Dredging the acupoints of twelve meridians which are easy to be blocked, and keeping the normal operation of the twelve viscera.
The intelligent human body meridian conditioning equipment is intelligent equipment capable of replacing an artificial technique, which is integrally realized by leading-edge artificial intelligence technology, robot technology and combination of precise mechanical control means according to the dredging and adjusting principle of traditional Chinese medicine meridians.
When using intelligent human main and collateral channels to take care of equipment, need the camera to carry out human image and shoot and carry out human acupuncture point location to carry out the control of arm according to the acupuncture point of location, in order to fix a position human acupuncture point more comprehensively, need use a plurality of cameras to carry out the shooting of image. However, in the current technology, the interactivity between the multiple cameras is poor, and the coordinates of points in the common vision field space cannot be exchanged between the multiple cameras, which is not beneficial to the refinement of the movement track of the mechanical arm for human body physical therapy.
Disclosure of Invention
In view of the above, the present disclosure provides a method for converting a target point between cameras of a multi-camera physiotherapy system, so as to realize conversion and sharing of a shooting target point in a common view space between multiple cameras.
The invention discloses a method for switching target points among cameras of a multi-camera physiotherapy system, wherein the multi-camera physiotherapy system comprises a physiotherapy couch, a massage mechanical arm and a plurality of cameras;
the physiotherapy couch is arranged in the middle, the number of the massage mechanical arms is two, the massage mechanical arms are respectively arranged on two sides of the physiotherapy couch, and the plurality of cameras are at least arranged in three directions of the physiotherapy couch and can shoot images within the range of the physiotherapy couch;
before controlling the massage mechanical arm by shooting images through the cameras, calibrating the massage mechanical arm and each camera to obtain a mechanical arm coordinate system and each camera coordinate system;
when one camera in the multiple cameras is used as a source camera and the other camera is used as a target camera, the following steps are adopted to convert a source image point on a human body image on a physiotherapy couch of the source camera into a target image point;
converting the source two-dimensional coordinates of the source image points into source three-dimensional coordinates of a source camera;
converting the source three-dimensional coordinates into intermediate three-dimensional coordinates in a mechanical arm coordinate system through a first conversion matrix;
converting the intermediate three-dimensional coordinate into a target three-dimensional coordinate corresponding to the target camera through a second conversion matrix;
and converting the target three-dimensional coordinates to obtain two-position target image points corresponding to the target camera.
As an implementation manner of the target point switching method between the cameras of the multi-camera physiotherapy system, the method further includes the following steps:
and adding target image points acquired from the source camera to the target image shot by the target camera.
As an implementation manner of the target point switching method between the cameras of the multi-camera physiotherapy system, the method further includes the following steps:
and acquiring all source image points of all source cameras, adding the source image points to the target image, and using the obtained target image as a human body meridian physical therapy initial image with acupuncture points of the multi-camera physical therapy system.
As an implementation manner of the target point switching method between the cameras of the multi-camera physiotherapy system, the method further includes the following steps:
and processing the human body meridian physical therapy initial image to obtain the human body meridian physical therapy image with the running track of the massage mechanical arm.
As an implementable manner of the target point switching method between the cameras of the multi-camera physiotherapy system,
carrying out interpolation processing on the human body meridian physical therapy initial graph, and adding intermediate points among acupuncture point points;
and processing the human body meridian physical therapy preliminary picture by combining the acupuncture points and the intermediate points to obtain the human body meridian physical therapy picture with the running tracks of the massage mechanical arms.
As an implementation manner of a target point conversion method between cameras of a multi-camera physiotherapy system, the camera is an Azure Kinect camera;
and adding corresponding depth information through the Azure Kinect SDK, and converting the source two-dimensional coordinates of the source image point into the source three-dimensional coordinates of the source camera.
As an implementation manner of the target point switching method between the cameras of the multi-camera physiotherapy system, the number of the cameras is three, one is obliquely above the head or tail of the physiotherapy bed, one is obliquely above one side of the physiotherapy bed, and the other is obliquely above the other side of the physiotherapy bed.
As an implementation mode of a target point conversion method among the cameras of the multi-camera physiotherapy system, the cameras arranged at the bed head or the bed tail are target cameras, and the cameras arranged at the two sides of the physiotherapy bed are source cameras.
As an implementation manner of the target point conversion method between the cameras of the multi-camera physiotherapy system, the target image point is a human body acupoint point which is not in the human body image shot by the target camera.
As an implementation manner of the target point conversion method between the cameras of the multi-camera physiotherapy system, the first conversion matrix is a conversion matrix from the source camera coordinate system to the massage mechanical arm coordinate system, and the second conversion matrix is an inverse matrix of a conversion matrix from the target camera coordinate system to the massage mechanical arm.
In order to achieve smoother physiotherapy on human meridians, the target point conversion method among the cameras of the multi-camera physiotherapy system uses the multiple camera systems to identify the running tracks of the human meridians of the operation of the massage mechanical arms, namely human acupuncture points, and further, in order to facilitate the processing of a human meridian graph, image points of the multiple different cameras are converted, and the coordinate system of the middle massage mechanical arm is used as a middle coordinate system, so that the conversion of the image points from the source camera to the target camera is finally achieved, the final target image information is more comprehensive, the images are further processed conveniently, the smoothness of the running tracks of the massage mechanical arms is improved, and the physiotherapy effect, namely the comfort degree is improved.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
FIG. 1 illustrates a block diagram of a multi-camera physiotherapy system in accordance with an embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for switching a target point between cameras of a multi-camera physiotherapy system according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a method for switching a target point between cameras of a multi-camera physiotherapy system according to another embodiment of the present invention;
fig. 4 is a flowchart illustrating a method for switching a target point between cameras of a multi-camera physiotherapy system according to another embodiment of the present invention.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
The scheme of the invention is a method for processing images among multiple cameras in a multi-camera physiotherapy system. As shown in fig. 1, the physiotherapy system 100 includes a physiotherapy couch 110, a massage robot 120, and a plurality of cameras 130. The massage mechanical arm is used for massaging physical therapy personnel and a plurality of cameras, images for acquiring the physical therapy personnel are used for making physical therapy tracks by a system, the massage mechanical arm is used for massaging the physical therapy personnel and the cameras, the images for acquiring the physical therapy personnel are used for making the physical therapy tracks, the physical therapy tracks are made by the system, and the images for acquiring the physical therapy personnel are used for making physical therapy tracks by the system, namely the running tracks of the massage mechanical arm 120. Wherein, the physiotherapy couch 110 can move along the body length direction thereof, and massage mechanical arms 120 are arranged on both sides. One end of the massage mechanical arm 120 is provided with a vibration physiotherapy head 121, and the vibration physiotherapy head 121 can move towards the top surface of the physiotherapy couch 110 and can move along the body length direction and the body width direction of the physiotherapy couch 110 to perform vibration physiotherapy on a human body lying on the physiotherapy couch 110.
In a specific use process, a human body can lie on the back or the front on the physiotherapy couch 110, and the head and the feet face to the two ends of the physiotherapy couch 110 respectively. It should be noted that the overall tendency of each of the twelve main meridians of the human body is distributed along the length of the human body. The physiotherapy couch 110 can move along the body length direction of the physiotherapy couch 110 to drive the human body to move along the body length direction of the physiotherapy couch 110 as a whole, and compared with the mode that only the massage mechanical arms 120 move along the meridian trend, the physiotherapy couch is beneficial to positioning the acupuncture points by the massage mechanical arms 120, and effectively improves the conditioning effect on the meridians and collaterals of the human body. Each side of the physiotherapy couch 110 is provided with a massage mechanical arm 120, one end of the massage mechanical arm 120 is provided with a vibration physiotherapy head 121, the vibration physiotherapy head 121 can move towards the top surface of the physiotherapy couch 110 and can move along the length direction and the width direction of the physiotherapy couch 110, so that the vibration physiotherapy head 121 can be supported on the human body lying on the back or lying on the stomach on the top surface of the physiotherapy couch 110 and generates vibration to act on one acupoint and another acupoint along the tendency of each kind of meridians. Here, it should be noted that, when the human body meridian conditioning apparatus 100 operates, the vibration part is first positioned on one of the twelve main meridians, and then acts on each acupuncture point of the main meridian along the trend of the main meridian. The vibration physiotherapy head 121 and the physiotherapy couch 110 work cooperatively, so that the effect of conditioning the channels and collaterals of the human body is greatly improved.
In this embodiment, a massage robot 120 is provided above the opposite sides of the physiotherapy couch 110. In the twelve main meridians, two of them are grouped together and are the exterior and interior of each other. The massage mechanical arms 120 on two sides can work in cooperation with each other to act on two meridians, so that the conditioning effect on the meridians of the human body is further improved.
In addition, as shown in fig. 1, three cameras are provided in the system, one camera 130 is provided obliquely above one side of the physiotherapy couch 110, that is, one camera 130 is provided above the left side of the physiotherapy couch 110. When a human body lies on the physiotherapy couch 110 in a supine position, the camera 130 arranged above the left side of the physiotherapy couch 110 is positioned obliquely above the left side surface of the human body, and the meridians of the left side and the inner side of the right leg of the human body can be obtained through the camera 130; when the human body lies prone on the physiotherapy couch 110, the camera 130 arranged above the left side of the physiotherapy couch 110 is positioned obliquely above the right side surface of the human body, and the meridians of the right side and the inner side of the left leg of the human body can be obtained through the camera 130.
In addition to the above-mentioned camera disposed on the left side of the physiotherapy couch 110, a camera 130 is disposed obliquely above the other side of the physiotherapy couch 110, i.e., a camera 130 is disposed above the right side of the physiotherapy couch 110. When a human body lies on the physiotherapy couch 110 in a supine position, the camera 130 arranged above the right side of the physiotherapy couch 110 is positioned obliquely above the right side surface of the human body, and the meridians of the right side and the inner side of the left leg of the human body can be obtained through the camera 130; when the human body lies prone on the physiotherapy couch 110, the camera 130 arranged above the right side of the physiotherapy couch 110 is positioned obliquely above the left side surface of the human body, and the channels on the left side and the inner side of the right leg of the human body can be obtained through the camera 130.
As shown in FIG. 1, in addition to the above-mentioned cameras provided at both sides of the physiotherapy couch 110, a camera 130 is provided in the system obliquely above one end of the head of the physiotherapy couch 110. The camera 130 provided above the head end of the physiotherapy couch 110 is positioned obliquely above the head of the human body. When the human body lies on the back on the physiotherapy couch 110, the meridians of the top of the head, face and shoulders can be obtained through the camera 130; when the human body lies prone on the physiotherapy couch 110, the meridians of the top of the head, the shoulders and the back can be obtained through the camera 130. In other embodiments, the camera arranged obliquely above the bed head can also be arranged obliquely above one end of the bed tail, and in the aspect of meridian detection, the effect similar to that of the camera arranged at the bed head can also be achieved.
In addition, in other embodiments, a camera 130 may be disposed directly above the couch 110. When the human body lies on the physiotherapy couch 110 on the back, the meridians on the front side of the human body can be obtained through the camera 130; when the human body lies on the physiotherapy couch 110 in the prone position, the meridians on the rear side of the human body can be obtained by the camera 130. It should be noted that the cameras 130 in the present invention all use Azure Kinect cameras, and acquire RGB image information of a human body in a field of view of the cameras, and depth information.
In the using process of the system, when a human body lies on the back or prostrate, the plurality of cameras can carry out all-around identification on the channels of the human body, the main control computer is favorable for controlling the massage mechanical arm 120 to position and search each channel through the signals of the cameras, and the conditioning effect is effectively improved. The multiple cameras 130 are matched with each other to work, and the human body channels are identified in a multi-angle mode in a regional mode, so that the identification precision is effectively improved, the influence of image distortion is reduced, the shielding risk is reduced, and the positioning accuracy of the massage mechanical arm 120 is improved, so that the conditioning effect is improved.
In the implementation process, the acupuncture points and the meridians of the human body need to be positioned through the plurality of cameras, and the massage operation tracks of the massage mechanical arms can be formed in a mode of connecting the acupuncture points needing to be massaged. According to the working mode of the cameras, the view angles shot by the cameras are different, and therefore when images shot by one camera cannot be completely displayed on different acupuncture points in the same region range of a human body (due to the fact that the limitation of the structure of the human body comprises the concave-convex structure, some acupuncture points which cannot be displayed in the human body region shot by one camera) need to be determined through other cameras. In order to make the moving track smoother, the point positions of the moving track are increased at the two point positions in an interpolation mode. However, when two adjacent acupuncture points are provided by two cameras, interpolation processing cannot be performed at the moment, so that the massage mechanical arm runs unsmoothly, and the physiotherapy effect is poor. Therefore, the acupoint point information of other cameras needs to be converted to the main control camera, namely the target camera. So that all the acupoint points are converted into one image by all the cameras.
Specifically, in one embodiment, before the massage mechanical arm is controlled by shooting images through the cameras, the massage mechanical arm and each camera are calibrated to obtain a mechanical arm coordinate system and each camera coordinate system.
When one camera in the multiple cameras is used as a source camera and the other camera is used as a target camera, as shown in fig. 2, the following steps are adopted to convert a source image point on a human body image on a physiotherapy couch of the source camera into a target image point:
and S100, converting the source two-dimensional coordinates of the source image points into source three-dimensional coordinates of the source camera. After one of the target cameras is selected as a target camera, the other target cameras are source cameras, the source cameras provide target image points which are lacked by the target camera to the target camera, generally human acupuncture points which cannot be acquired in the target image, and other target image points except the human acupuncture points can be provided for the target camera (the image of the target camera) according to requirements if necessary. And the cameras arranged at the head of the bed or the tail of the bed can be used as target cameras, and the cameras arranged at the two sides of the physiotherapy bed are used as source cameras.
It should be noted that the camera in the invention can select Azure Kinect to take a picture, the initial image taken by the camera is a two-dimensional image, and the source two-dimensional coordinates corresponding to the human body acupuncture point can be converted into the three-dimensional coordinates of the source camera by adding corresponding depth information through the Azure Kinect SDK.
And S200, converting the source three-dimensional coordinates into middle three-dimensional coordinates in a mechanical arm coordinate system through a first conversion matrix. And acquiring a conversion matrix (A) from the source camera to the mechanical arm and a conversion matrix (B) from the target camera to the mechanical arm through calibration of the cameras. In this step, the three-dimensional coordinates of the source camera are converted into three-dimensional coordinates of a robot arm coordinate system (intermediate coordinate system) by dot-multiplying the three-dimensional coordinates of the source camera by a conversion matrix (a) from the source camera to the robot arm.
And S300, converting the intermediate three-dimensional coordinate into a target three-dimensional coordinate corresponding to the target camera through a second conversion matrix. And acquiring a conversion matrix (A) from a source camera to the mechanical arm and a conversion matrix (B) from a target camera to the mechanical arm by calibrating the cameras. In this step, the inverse (B) of the conversion matrix from the target camera to the robot is dot-multiplied by the middle three-dimensional coordinate of the robot coordinate system (middle coordinate system)-1) And converting the middle three-dimensional coordinates of the mechanical arm coordinate system (middle coordinate system) of the source image point into the target three-dimensional coordinates of the target camera.
And S400, converting the target three-dimensional coordinates to obtain two-position target image points corresponding to the target camera. In this embodiment, the target camera is also an Azure Kinect camera, and in this step, the three-dimensional coordinates of the target camera are converted into two-dimensional coordinates of the target camera through the Azure Kinect SDK. And completing the conversion of the source image point of the source camera to the image point of the target camera.
The method for converting target points between the cameras of the multi-camera physiotherapy system in the embodiment is to perform physiotherapy on meridians of a human body more smoothly, the multi-camera system is used for identifying the running tracks of meridians of the human body, namely acupuncture points of the human body, of the operation of the massage mechanical arms, and further, in order to facilitate the processing of meridian diagrams of the human body, image points of different cameras are converted, the coordinate system of the middle massage mechanical arm is used as a middle coordinate system, the conversion of the image points from the source camera to the target camera is finally realized, so that the final target image information is more comprehensive, the images are further processed conveniently, the smoothness and other aspects of the running tracks of the massage mechanical arms are improved, and the physiotherapy effect, namely the comfort degree, is improved.
Further, as shown in fig. 3, in an embodiment, a step of processing the target image is further included, and in S500, a target image point acquired from the source camera is added to the target image captured by the target camera. After the step S400 is completed, the source image points that are not included in the target camera are acquired, and then the target image points are further added to the image shot by the target camera, so that the acupuncture points of the human body on the new target image are more complete. It should be noted that, the initial image captured by the target camera may be processed before adding the target image point, the mark of the acupoint of the human body is performed on the image, and after the mark, the target image point may be added on the target image which already has the mark of most of the acupoint. Or after the analyzed and converted target image is added to the target image, the acupuncture point points which can be shown in the original shooting image of the target image can be marked on the target image added with the target image points.
As shown in fig. 3, after repeating step S500, all source image points of all source cameras can be obtained and added to the target image, so as to obtain the final physiotherapeutic map. Namely, after the source image points of all the acupuncture points in the source camera which are not in the target image are added to the target image, the original image is used as the human body meridian physical therapy image with the acupuncture points of the multi-camera physical therapy system, the step S600 is completed, and the human body meridian physical therapy image with all the acupuncture points is obtained. At this time, the initial meridian physical therapy chart comprises all the acupuncture points required to be used in the whole physical therapy process.
Further, step S700 is continuously executed to process the preliminary human meridian physical therapy map to obtain the human meridian physical therapy map with the motion trajectory of the massage mechanical arm. So that the operation of the massage mechanical arm can be controlled subsequently according to the determined operation track of the massage mechanical arm.
As shown in fig. 4, in another embodiment, before the planning process of the operation track of the massage mechanical arm, a step S006 is further included, in which an interpolation process is performed on the initial meridian physical therapy map of the human body, and intermediate points are added between the acupuncture points. After the step S006 is performed, the final movement trajectory and the human meridian physical therapy map are performed. S700', the preliminary human meridian physical therapy map is processed by combining the acupuncture points and the intermediate points to obtain the human meridian physical therapy map with the running tracks of the massage mechanical arms. Through step S005, on the basis of original acupuncture point, interpolation processing is carried out, after interpolation processing, intermediate points and acupuncture points after interpolation are connected together to form the running track of the massage mechanical arm, after the intermediate points are added, the running track can be smoother, the physiotherapy effect is better, a person receiving physiotherapy is more comfortable, and the phenomenon that the massage mechanical arm jumps to cause the person receiving physiotherapy to feel uncomfortable is avoided.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method for switching target points among cameras of a multi-camera physiotherapy system is characterized in that the multi-camera physiotherapy system comprises a physiotherapy couch, a massage mechanical arm and a plurality of cameras;
the physiotherapy couch is arranged in the middle, the number of the massage mechanical arms is two, the massage mechanical arms are respectively arranged on two sides of the physiotherapy couch, and the plurality of cameras are at least arranged in three directions of the physiotherapy couch and can shoot images within the range of the physiotherapy couch;
before controlling the massage mechanical arm by shooting images through the cameras, calibrating the massage mechanical arm and each camera to obtain a mechanical arm coordinate system and each camera coordinate system;
when one camera in the multiple cameras is used as a source camera and the other camera is used as a target camera, the following steps are adopted to convert a source image point on a human body image on a physiotherapy couch of the source camera into a target image point;
converting the source two-dimensional coordinates of the source image points into source three-dimensional coordinates of a source camera;
converting the source three-dimensional coordinates into intermediate three-dimensional coordinates in a mechanical arm coordinate system through a first conversion matrix;
converting the intermediate three-dimensional coordinate into a target three-dimensional coordinate corresponding to the target camera through a second conversion matrix;
and converting the target three-dimensional coordinates to obtain two-position target image points corresponding to the target camera.
2. The method for transitioning between target points of cameras of a multi-camera physiotherapy system of claim 1, further comprising the steps of:
and adding target image points acquired from the source camera to the target image shot by the target camera.
3. The method for transitioning between target points of cameras of a multi-camera physiotherapy system according to claim 2, further comprising the steps of:
and acquiring all source image points of all source cameras, adding the source image points to the target image, and using the obtained target image as a human body meridian physical therapy initial image with acupuncture points of the multi-camera physical therapy system.
4. The method for transitioning between target points among cameras of a multi-camera physiotherapy system according to claim 3, further comprising the steps of:
and processing the human body meridian physical therapy initial image to obtain the human body meridian physical therapy image with the running track of the massage mechanical arm.
5. The method for switching target points between cameras of a multi-camera physiotherapy system according to claim 3,
carrying out interpolation processing on the human body meridian physical therapy initial graph, and adding intermediate points among acupuncture point points;
and processing the human body meridian physical therapy preliminary picture by combining the acupuncture points and the intermediate points to obtain the human body meridian physical therapy picture with the running tracks of the massage mechanical arms.
6. The method for switching the target point between the cameras of the multi-camera physiotherapy system according to any one of claims 1 to 5, wherein the camera is an Azure Kinect camera;
and adding corresponding depth information through the Azure Kinect SDK, and converting the source two-dimensional coordinates of the source image point into the source three-dimensional coordinates of the source camera.
7. The method for switching the target point between the cameras of the multi-camera physiotherapy system according to claim 1, wherein the number of the cameras is three, one is obliquely arranged above the head or tail of the physiotherapy couch, one is obliquely arranged above one side of the physiotherapy couch, and the other is obliquely arranged above the other side of the physiotherapy couch.
8. The method for transitioning between target points between cameras of a multi-camera physiotherapy system of claim 7,
the camera that sets up at head of a bed or tailstock is the target camera, sets up the camera of physiotherapy bed both sides is the source camera.
9. The method for switching target points between cameras of a multi-camera physiotherapy system according to claim 1,
the target image point is a human body acupoint which is not in the human body image shot by the target camera.
10. The method of claim 6, wherein the first transformation matrix is a transformation matrix from the source camera coordinate system to the massage robot arm coordinate system, and the second transformation matrix is an inverse transformation matrix from the target camera coordinate system to the massage robot arm coordinate system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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