CN108335326A - The bearing calibration of lancing system, apparatus and system - Google Patents
The bearing calibration of lancing system, apparatus and system Download PDFInfo
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- CN108335326A CN108335326A CN201810098766.6A CN201810098766A CN108335326A CN 108335326 A CN108335326 A CN 108335326A CN 201810098766 A CN201810098766 A CN 201810098766A CN 108335326 A CN108335326 A CN 108335326A
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G06T5/70—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/12—Edge-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
Abstract
An embodiment of the present invention provides a kind of bearing calibration of lancing system, apparatus and systems.The embodiment of the present invention by adjusting pin by being moved to set spatial position, obtain the space coordinate of the adjusting pin needle point at set spatial position, the exposure of predetermined angle is carried out to adjusting pin at set spatial position, obtain projected image of the adjusting pin at set spatial position, based on image recognition algorithm, adjusting pin needle point is identified from projected image, obtains the image point coordinates of adjusting pin needle point, based on the mapping relations between space coordinate and image point coordinates, lancing system is corrected.In puncturing correction course, the position of adjusting pin needle point is automatically selected based on image recognition algorithm, so that entire correction course automation carries out, so as to shorten processing time, improve treatment effeciency, and the human error in correction is avoided, correction accuracy is improved, solves the problems, such as that the correction course treatment effeciency of lancing system in the prior art is relatively low and correction accuracy is relatively low to a certain extent.
Description
【Technical field】
This programme is related to field of communication technology more particularly to a kind of bearing calibration of lancing system, apparatus and system.
【Background technology】
In current medical domain, medical imaging devices are widely used.In utilization medical imaging devices to detected object
Before carrying out contrast examination, need to inject contrast agent to detected object.The work of injection contrast agent is completed by lancing system.
The moving cell of lancing system can drive puncture needle to execute puncture procedure according to the space coordinate of lesion point.In order to
The accuracy for ensureing puncture procedure, needs to be corrected lancing system before puncture procedure.
In the prior art, it in the correction course to lancing system, whenever adjusting pin is moved to a position, is required for
User manually selects the position of adjusting pin needle point, and it is longer that this so that entire correction course takes, and causes treatment effeciency relatively low.Together
When, since the manual operation in correction course can bring human error, cause correction accuracy relatively low.
【Invention content】
In view of this, this programme embodiment provides a kind of bearing calibration of lancing system, apparatus and system, to solve
The correction course of lancing system takes the problem longer, treatment effeciency is relatively low and correction accuracy is relatively low in the prior art.
In a first aspect, the embodiment of the present invention provides a kind of bearing calibration of lancing system, applied to wearing including adjusting pin
Thorn system, the method includes：
Adjusting pin is moved to set spatial position, and obtains the space of the adjusting pin needle point at the set spatial position
Coordinate；
The exposure for carrying out predetermined angle to the adjusting pin at the set spatial position obtains adjusting pin described pre-
If the projected image at spatial position；
Based on specified image recognition algorithm, adjusting pin needle point is identified from the projected image, obtains adjusting pin needle point
Image point coordinates；
Based on the mapping relations between the space coordinate and described image point coordinates, lancing system is corrected.
The aspect and any possible implementation manners as described above, it is further provided a kind of realization method, based on specified figure
As recognizer, adjusting pin needle point is identified from the projected image, obtains the image point coordinates of adjusting pin needle point, including：
Marginal information is extracted from the projected image, obtains edge image；
Binary conversion treatment is carried out to the edge image, obtains binary image；
According to needle point feature, adjusting pin tip position is identified from the binary image；
The image point coordinates for obtaining the adjusting pin tip position, the image point coordinates as adjusting pin needle point.
The aspect and any possible implementation manners as described above, it is further provided a kind of realization method, from the projection
Before extracting marginal information in image, the method further includes：The projected image is cut, adjusting pin location is obtained
The cutting image in domain；
It is described to extract marginal information from the projected image, including：Marginal information is extracted from the cutting image.
The aspect and any possible implementation manners as described above, it is further provided a kind of realization method, from the projection
Before extracting marginal information in image, the method further includes：
The projected image is filtered, noise-reduced image is obtained；
It is described to extract marginal information from the projected image, including：Marginal information is extracted from the noise-reduced image.
The aspect and any possible implementation manners as described above, it is further provided a kind of realization method, the binaryzation
In image, the value of location point shared by lancing system is 1, and the value of location point shared by background is 0；
According to needle point feature, adjusting pin tip position is identified from the binary image, including：
The pixel that the binary image intermediate value is 1 is searched, alternately pixel；
Determine upper neighborhood, lower neighborhood, left neighborhood and the right neighborhood of the alternate pixel point；
Obtain upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right side of the alternate pixel point
Neighborhood territory pixel point value；
Judge upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right side of the alternate pixel point
Whether be 0, pixel point value it is 1 there are three pixel point value in neighborhood territory pixel point value；
If the upper neighborhood territory pixel point value of the alternate pixel point, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and right neighbour
It is 1 that pixel point value, which is 0, pixel point value, there are three in the pixel point value of domain, determines that the alternate pixel point is adjusting pin needle point
Position.
The aspect and any possible implementation manners as described above, it is further provided a kind of realization method, the binaryzation
In image, the value of location point shared by lancing system is 0, and the value of location point shared by background is 1；
According to needle point feature, adjusting pin tip position is identified from the binary image, including：
The pixel that the binary image intermediate value is 0 is searched, alternately pixel；
Determine upper neighborhood, lower neighborhood, left neighborhood and the right neighborhood of the alternate pixel point；
Obtain upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right side of the alternate pixel point
Neighborhood territory pixel point value；
Judge upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right side of the alternate pixel point
Whether be 1, pixel point value it is 0 there are three pixel point value in neighborhood territory pixel point value；
If the upper neighborhood territory pixel point value of the alternate pixel point, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and right neighbour
It is 0 that pixel point value, which is 1, pixel point value, there are three in the pixel point value of domain, determines that the alternate pixel point is adjusting pin needle point
Position.
The aspect and any possible implementation manners as described above, it is further provided a kind of realization method, described default
The exposure for carrying out predetermined angle at spatial position to the adjusting pin obtains projection of the adjusting pin at the set spatial position
Image, including：
The exposure of positive specified angle is carried out to the adjusting pin at the set spatial position, obtains adjusting pin described
The first projected image at set spatial position, and negative specified angle is carried out to the adjusting pin at the set spatial position
The exposure of degree obtains second projected image of the adjusting pin at the set spatial position.
The aspect and any possible implementation manners as described above, it is further provided a kind of realization method moves adjusting pin
Set spatial position is moved, and obtains the space coordinate of the adjusting pin needle point at the set spatial position, including：
Adjusting pin is moved to four spatial positions, and obtains the adjusting pin needle point at four spatial positions respectively
Four space coordinates；
The mapping relations based between the space coordinate and described image point coordinates carry out school to lancing system
Just, including：
Each spatial position in four spatial positions, based on the corresponding space coordinate in the spatial position and in the sky
Between position obtain image point coordinates between mapping relations, lancing system is corrected.
Second aspect, the embodiment of the present invention provides a kind of means for correcting of lancing system, applied to wearing including adjusting pin
Thorn system, described device include：
Coordinate obtaining module for adjusting pin to be moved to set spatial position, and is obtained in the set spatial position
Locate the space coordinate of adjusting pin needle point；
Image collection module, the exposure for carrying out predetermined angle to the adjusting pin at the set spatial position,
Obtain projected image of the adjusting pin at the set spatial position；
Identification module, for based on specified image recognition algorithm, adjusting pin needle point being identified from the projected image, is obtained
The image point coordinates of adjusting pin needle point；
Correction module, for based on the mapping relations between the space coordinate and described image point coordinates, being to puncturing
System is corrected.
The third aspect, the embodiment of the present invention provide a kind of correction system of lancing system, the system comprises processor with
And memory；The memory for storing instruction, when described instruction is executed by the processor, causes the system to be realized such as
First aspect any one of them method.
The embodiment of the present invention has the advantages that：
The embodiment of the present invention by the way that adjusting pin is moved to set spatial position, and obtains the school at set spatial position
The space coordinate of positive needle needle point, carries out adjusting pin at set spatial position the exposure of predetermined angle, obtains adjusting pin pre-
If the projected image at spatial position, based on specified image recognition algorithm, adjusting pin needle point is identified from projected image, obtains school
The image point coordinates of positive needle needle point carries out school based on the mapping relations between space coordinate and image point coordinates to lancing system
Just, it in the correction course to lancing system, whenever adjusting pin is moved to a position, is selected automatically based on image recognition algorithm
Select the position of adjusting pin needle point so that entire correction course automation carries out, and reduces the manual operation in correction course, to
Processing time is shortened, therefore improves treatment effeciency.Also, entire correction course automation carries out, it is thus also avoided that in correction
Human error, to improve correction accuracy.
【Description of the drawings】
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is the flow example figure of the bearing calibration of lancing system provided in an embodiment of the present invention.
Fig. 2 is the topology example figure of puncture unit provided in an embodiment of the present invention.
Fig. 3 is the topology example figure of rack provided in an embodiment of the present invention.
Fig. 4 is the projected image exemplary plot of adjusting pin provided in an embodiment of the present invention.
Fig. 5 is the topology example figure of the means for correcting of lancing system provided in an embodiment of the present invention.
【Specific implementation mode】
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention below in conjunction with the accompanying drawings
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is the purpose only merely for description specific embodiment, is not intended to be limiting
The present invention.In the embodiment of the present invention and "an" of singulative used in the attached claims, " described " and "the"
It is also intended to including most forms, unless context clearly shows that other meanings.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation of description affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate：Individualism A, exists simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
Embodiment one
An embodiment of the present invention provides a kind of bearing calibration of lancing system, the bearing calibration of the lancing system can be used for
Lancing system in the medical image systems such as breast imaging system is corrected.
Fig. 1 is the flow example figure of the bearing calibration of lancing system provided in an embodiment of the present invention.As shown in Figure 1, this reality
It applies in example, the bearing calibration of lancing system is applied to the lancing system for including adjusting pin, and this method comprises the following steps：
Adjusting pin is moved to set spatial position, and obtains the sky of the adjusting pin needle point at set spatial position by S101
Between coordinate.
S102 carries out adjusting pin at set spatial position the exposure of predetermined angle, obtains adjusting pin in pre-set space
Projected image at position.
S103 is identified adjusting pin needle point from projected image, is obtained adjusting pin needle point based on specified image recognition algorithm
Image point coordinates.
S104 is corrected lancing system based on the mapping relations between space coordinate and image point coordinates.
Wherein, adjusting pin is the adjusting pin in puncture unit.The structure of puncture unit refers to Fig. 2.Fig. 2 is that the present invention is real
The topology example figure of the puncture unit of example offer is provided.Further include movement as shown in Fig. 2, including not only adjusting pin in puncture unit
Unit, needle holder and flat panel detector.Wherein, needle holder is used for fixed correction needle, and moving cell is for driving needle holder to transport
It is dynamic, adjusting pin is moved to set spatial position to realize.Wherein, flat panel detector is used to be in default sky when adjusting pin
Between at position, after bulb carries out adjusting pin the exposure of predetermined angle, perspective view of the acquisition correction needle at set spatial position
Picture.
Wherein, flat panel detector can be direct conversion flat panel detector.Directly conversion flat panel detector can be to details
Higher imaging is carried out, to obtain the image of higher spatial resolution.
For example, flat panel detector can be Amorphous Selenium Flat-Panel Detectors.Amorphous Selenium Flat-Panel Detectors mainly by collection electric matrix,
The compositions such as selenium layer, dielectric layer, top layer electrode and protective layer.Collection electric matrix is made of the thin film transistor (TFT) arranged by array element mode.
Amorphous selenium semi-conducting material generates about 0.5mm thickness, 38mm × 45mm square above thin film transistor (TFT) array by vacuum evaporation
Film, it is very sensitive to x-ray, and has very high image analysis ability.Top layer electrode connects high voltage power supply, when there is x-ray incidence,
Due to the electric field that high voltage power supply is formed on amorphous selenium surface, they can only pass perpendicularly through insulating layer, X-ray along direction of an electric field and partly lead
Body, electrons layer, arrival amorphous selenium is not in lateral run-out to the scattering of light occur.Amorphous selenium array directly penetrates X
Line is transformed into electric signal, remembers in storage, and Pulse Width Control gate circuit makes thin film transistor (TFT) be connected, and memory is being stored
Charge in capacitor is sent to charge amplifier output, completes the conversion of photosignal, then convert through digital quantizer, forms number
Word image input computer, and by computer by the image reduction on the display of acquisition workstation.
Fig. 3 is the topology example figure of rack provided in an embodiment of the present invention.It is shown in Fig. 2 to wear during being corrected
Thorn unit needs to be mounted on the compressing platform of rack shown in Fig. 3, after installation, before correction, is driven by moving cell
Needle holder moves, and adjusting pin is moved to set spatial position, can thus obtain the adjusting pin needle at set spatial position
The space coordinate of point.When adjusting pin is at set spatial position, the exposure of predetermined angle is carried out to adjusting pin by bulb,
Then projected image of the adjusting pin at set spatial position is obtained by flat panel detector.Adjusting pin needle at set spatial position
Designated position that the projected image at set spatial position of space coordinate and adjusting pin of point is transferred in system (for example adopt
Collection work station) and store, the processor of system is based on specified image recognition algorithm, and adjusting pin needle point is identified from projected image,
The image point coordinates of adjusting pin needle point is obtained, then system is right based on the mapping relations between space coordinate and image point coordinates
Lancing system is corrected.
Wherein, step S101, the position that adjusting pin needle point is moved to are the spatial position pre-set, i.e. pre-set space
Position.That is, adjusting pin needle point will be moved to fixed space position known to system.
Wherein, the form of (x, y, z) may be used in space coordinate.
During an illustrative realization, adjusting pin is moved to set spatial position, and obtain in pre-set space
The space coordinate of adjusting pin needle point at position may include：Adjusting pin is moved to four spatial positions, and is obtained respectively at this
Four space coordinates of adjusting pin needle point at four spatial positions；It is closed based on the mapping between space coordinate and image point coordinates
System, is corrected lancing system, including：Each spatial position in four spatial positions is based on the spatial position pair
The space coordinate and the mapping relations between the image point coordinates that the spatial position obtains answered, are corrected lancing system.
For example, adjusting pin is moved to the first spatial position, and obtain the of at the first spatial position adjusting pin needle point
One space coordinate；Adjusting pin is moved to second space position, and obtains second of the adjusting pin needle point at second space position
Space coordinate；Adjusting pin is moved to third spatial position, and the third for obtaining the adjusting pin needle point at third spatial position is empty
Between coordinate；Adjusting pin is moved to the 4th spatial position, and obtains the 4th space of the adjusting pin needle point at the 4th spatial position
Coordinate.In this way, obtaining the space coordinate of adjusting pin needle point respectively four different spatial positions.Correspondingly, step S102~
S104 executes corresponding operation this four different spatial positions respectively, can be obtained in this way in conjunction with multiple and different spatial positions
Space coordinate and picture point coordinate pair lancing system repeatedly corrected, avoid because of the corresponding space coordinate in single spatial position
Correction accuracy is caused to reduce with the individual error of image point coordinates, to help to improve the precision of correction.
Fig. 4 is the projected image exemplary plot of adjusting pin provided in an embodiment of the present invention.Refer to Fig. 4, the projection of adjusting pin
In image, tip position is as shown in Figure 4.In Fig. 4, tip position is in figure with the position irised out.
During an illustrative realization, the exposure of predetermined angle is carried out to adjusting pin at set spatial position,
Projected image of the adjusting pin at set spatial position is obtained, may include：Adjusting pin is carried out just at set spatial position
The exposure of specified angle obtains first projected image of the adjusting pin at set spatial position, and at set spatial position
The exposure that negative specified angle is carried out to adjusting pin obtains second projected image of the adjusting pin at set spatial position.
Wherein, specified angle is determined by system, related with the relative position of each image-forming block designed in rack.It should
Specified angle needs to ensure the effective coverage for projecting to tablet that mammary gland is as big as possible, and without departing from tablet boundary, while as possible
Reduce algorithm for reconstructing complexity.The value of specified angle is all possible in a preset angular interval.
For example, positive 15 degree of exposure can be carried out to adjusting pin at set spatial position, adjusting pin is obtained in default sky
Between the first projected image at position, and minus 15 degree of exposure is carried out to adjusting pin at set spatial position, obtains correction
Second projected image of the needle at set spatial position.
During an illustrative realization, based on specified image recognition algorithm, adjusting pin is identified from projected image
Needle point obtains the image point coordinates of adjusting pin needle point, may include：Marginal information is extracted from projected image, obtains edge graph
Picture；Binary conversion treatment is carried out to edge image, obtains binary image；According to needle point feature, identified from binary image
Adjusting pin tip position；Obtain the image point coordinates of adjusting pin tip position, the image point coordinates as adjusting pin needle point.Originally show
In example, by binary conversion treatment, puncture unit and background area significant difference can be come in projected image, to help
Region where determining adjusting pin needle point.
During an illustrative realization, before extracting marginal information in projected image, the correction of lancing system
Method can also include：Projected image is cut, the cutting image of adjusting pin region is obtained；It is carried from projected image
Marginal information is taken, including：Marginal information is extracted from cutting in image.
Further include other and correction in addition to including adjusting pin region in the preliminary projected image for exposing gained
The unrelated region of pin position.Projected image is cut, the cutting image of adjusting pin region is obtained, it can be by perspective view
Some regions unrelated with correction pin position remove as in, in this way, the data volume of projected image has been reduced by, so as to improve
Processing speed.
During an illustrative realization, before extracting marginal information in projected image, the correction of lancing system
Method can also include：Projected image is filtered, noise-reduced image is obtained；Marginal information is extracted from projected image,
Including：Marginal information is extracted from noise-reduced image.
Projected image is filtered, the noise in projected image can be inhibited, enhances the contrast of image so that
Image is more clear, to help to improve the accuracy of image procossing.
During an illustrative realization, the initial projections image of exposure gained can be cut and be filtered successively
After wave processing, then carry out extraction and the binary conversion treatment of marginal information.
During an illustrative realization, in binary image, the value of location point shared by lancing system is 1, background
The value of shared location point is 0；According to needle point feature, adjusting pin tip position is identified from binary image, including：Search two-value
Change the pixel that image intermediate value is 1, alternately pixel；Determine upper neighborhood, lower neighborhood, left neighborhood and the right side of alternate pixel point
Neighborhood；Obtain upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood territory pixel of alternate pixel point
Point value；Judge upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood territory pixel of alternate pixel point
Whether be 0, pixel point value it is 1 there are three pixel point value in point value；If the upper neighborhood territory pixel point value of alternate pixel point, lower neighbour
It is 1 that pixel point value, which is 0, pixel point value, there are three in domain pixel point value, left neighborhood territory pixel point value and right neighborhood territory pixel point value,
Determine that alternate pixel point is adjusting pin tip position.
According to the features of shape of adjusting pin needle point, it is recognised that in four neighborhoods of adjusting pin needle point, it is there are one neighborhood
What is be connected with needle point belongs to the body sections of adjusting pin, other three neighborhoods are background parts, in this way, figure after binarization
As in, in four neighborhoods of adjusting pin needle point, there are one the image value in neighborhood is identical as the image value of adjusting pin needle point, there is 3
Image value in a neighborhood is different from the image value of adjusting pin needle point.
During an illustrative realization, in binary image, the value of location point shared by lancing system is 0, background
The value of shared location point is 1；According to needle point feature, adjusting pin tip position is identified from binary image, including：Search two-value
Change the pixel that image intermediate value is 0, alternately pixel；Determine upper neighborhood, lower neighborhood, left neighborhood and the right side of alternate pixel point
Neighborhood；Obtain upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood territory pixel of alternate pixel point
Point value；Judge upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood territory pixel of alternate pixel point
Whether be 1, pixel point value it is 0 there are three pixel point value in point value；If the upper neighborhood territory pixel point value of alternate pixel point, lower neighbour
It is 0 that pixel point value, which is 1, pixel point value, there are three in domain pixel point value, left neighborhood territory pixel point value and right neighborhood territory pixel point value,
Determine that alternate pixel point is adjusting pin tip position.
In the correction course to lancing system, the space coordinate and image point coordinates of adjusting pin needle point be it is known, can
With according to both mapping relations go to adjust one in conversion algorithm or fitting algorithm by way of directly converting or be fitted
A little parameters.Generally pass through four groups of corresponding space coordinates and image point coordinates, so that it may to correct spatial point to perspective view picture point
Correct mapping.
The bearing calibration of lancing system provided in an embodiment of the present invention, by the way that adjusting pin is moved to set spatial position,
And the space coordinate of the adjusting pin needle point at set spatial position is obtained, preset angle is carried out to adjusting pin at set spatial position
The exposure of degree obtains projected image of the adjusting pin at set spatial position, based on specified image recognition algorithm, from projected image
Middle identification adjusting pin needle point, obtains the image point coordinates of adjusting pin needle point, based on reflecting between space coordinate and image point coordinates
Relationship is penetrated, lancing system is corrected, in the correction course to lancing system, whenever adjusting pin is moved to a position
It sets, the position of adjusting pin needle point is automatically selected based on image recognition algorithm so that entire correction course automation carries out, and reduces
Manual operation in correction course so as to shorten processing time, therefore improves treatment effeciency.Also, entire correction course
Automation carries out, it is thus also avoided that the human error in correction, to improve correction accuracy.
Embodiment two
The embodiment of the present invention provides a kind of means for correcting of lancing system, and the means for correcting is for implementing previous embodiment one
The bearing calibration of the lancing system of kind.
Fig. 5 is the topology example figure of the means for correcting of lancing system provided in an embodiment of the present invention.As shown in figure 5, this reality
It applies in example, applied to the lancing system for including adjusting pin, which includes the means for correcting of lancing system：
Coordinate obtaining module 510 for adjusting pin to be moved to set spatial position, and obtains at set spatial position
The space coordinate of adjusting pin needle point.
Image collection module 520, the exposure for carrying out predetermined angle to adjusting pin at set spatial position obtain school
Positive projected image of the needle at set spatial position.
Identification module 530, for based on specified image recognition algorithm, adjusting pin needle point being identified from projected image, is obtained
The image point coordinates of adjusting pin needle point.
Correction module 540, for based on the mapping relations between space coordinate and image point coordinates, being carried out to lancing system
Correction.
One it is illustrative realize during, identification module 530 is for being based on specified image recognition algorithm, from projection
Identify that adjusting pin needle point is specifically used for when obtaining the image point coordinates of adjusting pin needle point in image：Side is extracted from projected image
Edge information, obtains edge image；Binary conversion treatment is carried out to edge image, obtains binary image；According to needle point feature, from two
Adjusting pin tip position is identified in value image；The image point coordinates for obtaining adjusting pin tip position, as adjusting pin needle point
Image point coordinates.
During an illustrative realization, the means for correcting of lancing system can also include：Cut module, for pair
Projected image is cut, and the cutting image of adjusting pin region is obtained；Identification module 530 from projected image for carrying
When taking marginal information, it is specifically used for：Marginal information is extracted from cutting in image.
During an illustrative realization, the means for correcting of lancing system can also include：Filter module, for pair
Projected image is filtered, and obtains noise-reduced image；Identification module 530 from projected image for extracting marginal information
When, it is specifically used for：Marginal information is extracted from noise-reduced image.
During an illustrative realization, in binary image, the value of location point shared by lancing system is 1, background
The value of shared location point is 0；Identification module 530 is for according to needle point feature, adjusting pin to be identified from the binary image
When tip position, it is specifically used for：The pixel that binary image intermediate value is 1 is searched, alternately pixel；Determine alternate pixel
Upper neighborhood, lower neighborhood, left neighborhood and the right neighborhood of point；Obtain upper neighborhood territory pixel point value, the lower neighborhood territory pixel point of alternate pixel point
Value, left neighborhood territory pixel point value and right neighborhood territory pixel point value；Judge upper neighborhood territory pixel point value, the lower neighborhood territory pixel point of alternate pixel point
Whether be 0, pixel point value it is 1 there are three pixel point value in value, left neighborhood territory pixel point value and right neighborhood territory pixel point value；If standby
Selecting in upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood territory pixel point value of pixel has three
A pixel point value is that 0, pixel point value is 1, determines that alternate pixel point is adjusting pin tip position.
During an illustrative realization, in binary image, the value of location point shared by lancing system is 0, background
The value of shared location point is 1；Identification module 530 is for according to needle point feature, adjusting pin to be identified from the binary image
When tip position, it is specifically used for：The pixel that binary image intermediate value is 0 is searched, alternately pixel；Determine alternate pixel
Upper neighborhood, lower neighborhood, left neighborhood and the right neighborhood of point；Obtain upper neighborhood territory pixel point value, the lower neighborhood territory pixel point of alternate pixel point
Value, left neighborhood territory pixel point value and right neighborhood territory pixel point value；Judge upper neighborhood territory pixel point value, the lower neighborhood territory pixel point of alternate pixel point
Whether be 1, pixel point value it is 0 there are three pixel point value in value, left neighborhood territory pixel point value and right neighborhood territory pixel point value；If standby
Selecting in upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood territory pixel point value of pixel has three
A pixel point value is that 1, pixel point value is 0, determines that alternate pixel point is adjusting pin tip position.
One it is illustrative realize during, image collection module 520 at set spatial position to correction
Needle carries out the exposure of predetermined angle, when obtaining projected image of the adjusting pin at set spatial position, can be specifically used for：Pre-
If carrying out the exposure of positive specified angle at spatial position to adjusting pin, first projection of the adjusting pin at set spatial position is obtained
Image, and the exposure of negative specified angle is carried out at set spatial position to adjusting pin, adjusting pin is obtained in pre-set space position
Set second projected image at place.
During an illustrative realization, coordinate obtaining module 510 by adjusting pin for being moved to pre-set space
Position, and obtain and when the space coordinate of adjusting pin needle point, be specifically used at the set spatial position：Adjusting pin is moved to
Four spatial positions, and four space coordinates of the adjusting pin needle point at four spatial positions are obtained respectively.Correction module 540
For based on the mapping relations between space coordinate and image point coordinates, when being corrected to lancing system, being specifically used for：
Each spatial position in four spatial positions is obtained based on the corresponding space coordinate in the spatial position and in the spatial position
Image point coordinates between mapping relations, lancing system is corrected.
Specifically, correction module 540 is sat in first spatial position based on the corresponding space in first spatial position
Mark and the mapping relations between the image point coordinates that the first spatial position obtains carry out first time correction to lancing system.
Correction module 540 in the second space position, based on the corresponding space coordinate in the second space position and
Mapping relations between the image point coordinates that first spatial position obtains carry out second-order correction to lancing system.
Correction module 540 in the third spatial position, based on the corresponding space coordinate in the third spatial position and
Mapping relations between the image point coordinates that third spatial position obtains carry out third time correction to lancing system.
Correction module 540 in the 4th spatial position, based on the corresponding space coordinate in the 4th spatial position and
Mapping relations between the image point coordinates that 4th spatial position obtains carry out the 4th correction to lancing system.Due to this reality
The means for correcting for applying the lancing system in example is able to carry out the bearing calibration of the lancing system in previous embodiment one, the present embodiment
The part not being described in detail can refer to the related description to the bearing calibration of lancing system in previous embodiment one.
The means for correcting of lancing system provided in an embodiment of the present invention, by the way that adjusting pin is moved to set spatial position,
And the space coordinate of the adjusting pin needle point at set spatial position is obtained, preset angle is carried out to adjusting pin at set spatial position
The exposure of degree obtains projected image of the adjusting pin at set spatial position, based on specified image recognition algorithm, from projected image
Middle identification adjusting pin needle point, obtains the image point coordinates of adjusting pin needle point, based on reflecting between space coordinate and image point coordinates
Relationship is penetrated, lancing system is corrected, in the correction course to lancing system, whenever adjusting pin is moved to a position
It sets, the position of adjusting pin needle point is automatically selected based on image recognition algorithm so that entire correction course automation carries out, and reduces
Manual operation in correction course so as to shorten processing time, therefore improves treatment effeciency.Also, entire correction course
Automation carries out, it is thus also avoided that the human error in correction, to improve correction accuracy.
Embodiment three
The embodiment of the present invention provides a kind of correction system of lancing system, which includes processor and memory；Its
In, memory for storing instruction, when which is executed by processor, causes system to realize any in previous embodiment one wear
The bearing calibration of thorn system.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the module
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, for example, multiple modules or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be by some interfaces, device or module it is indirect
Coupling or communication connection can be electrical, machinery or other forms.
The module illustrated as separating component may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, you can be located at a place, or may be distributed over multiple
In network element.Some or all of module therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each function module in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that modules physically exist alone, it can also be during two or more modules be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that device (can be personal computer, server or network equipment etc.) or processor (Processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (10)
1. a kind of bearing calibration of lancing system, which is characterized in that applied to the lancing system for including adjusting pin, the method packet
It includes：
Adjusting pin is moved to set spatial position, and the space for obtaining the adjusting pin needle point at the set spatial position is sat
Mark；
The exposure for carrying out predetermined angle to the adjusting pin at the set spatial position obtains adjusting pin in the default sky
Between projected image at position；
Based on specified image recognition algorithm, adjusting pin needle point is identified from the projected image, obtains the image of adjusting pin needle point
Point coordinates；
Based on the mapping relations between the space coordinate and described image point coordinates, lancing system is corrected.
2. according to the method described in claim 1, it is characterized in that, based on specified image recognition algorithm, from the projected image
Middle identification adjusting pin needle point obtains the image point coordinates of adjusting pin needle point, including：
Marginal information is extracted from the projected image, obtains edge image；
Binary conversion treatment is carried out to the edge image, obtains binary image；
According to needle point feature, adjusting pin tip position is identified from the binary image；
The image point coordinates for obtaining the adjusting pin tip position, the image point coordinates as adjusting pin needle point.
3. according to the method described in claim 2, it is characterized in that, from the projected image extract marginal information before, institute
The method of stating further includes：The projected image is cut, the cutting image of adjusting pin region is obtained；
It is described to extract marginal information from the projected image, including：Marginal information is extracted from the cutting image.
4. according to the method described in claim 2, it is characterized in that, from the projected image extract marginal information before, institute
The method of stating further includes：
The projected image is filtered, noise-reduced image is obtained；
It is described to extract marginal information from the projected image, including：Marginal information is extracted from the noise-reduced image.
5. according to the method described in claim 2, it is characterized in that, in the binary image, location point shared by lancing system
Value be 1, the value of location point shared by background is 0；
According to needle point feature, adjusting pin tip position is identified from the binary image, including：
The pixel that the binary image intermediate value is 1 is searched, alternately pixel；
Determine upper neighborhood, lower neighborhood, left neighborhood and the right neighborhood of the alternate pixel point；
Obtain upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood of the alternate pixel point
Pixel point value；
Judge upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood of the alternate pixel point
Whether be 0, pixel point value it is 1 there are three pixel point value in pixel point value；
If the upper neighborhood territory pixel point value of the alternate pixel point, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and right neighborhood picture
It is 1 that pixel point value, which is 0, pixel point value, there are three in vegetarian refreshments value, determines that the alternate pixel point is adjusting pin tip position.
6. according to the method described in claim 2, it is characterized in that, in the binary image, location point shared by lancing system
Value be 0, the value of location point shared by background is 1；
According to needle point feature, adjusting pin tip position is identified from the binary image, including：
The pixel that the binary image intermediate value is 0 is searched, alternately pixel；
Determine upper neighborhood, lower neighborhood, left neighborhood and the right neighborhood of the alternate pixel point；
Obtain upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood of the alternate pixel point
Pixel point value；
Judge upper neighborhood territory pixel point value, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and the right neighborhood of the alternate pixel point
Whether be 1, pixel point value it is 0 there are three pixel point value in pixel point value；
If the upper neighborhood territory pixel point value of the alternate pixel point, lower neighborhood territory pixel point value, left neighborhood territory pixel point value and right neighborhood picture
It is 0 that pixel point value, which is 1, pixel point value, there are three in vegetarian refreshments value, determines that the alternate pixel point is adjusting pin tip position.
7. according to the method described in claim 1, it is characterized in that, being carried out to the adjusting pin at the set spatial position
The exposure of predetermined angle obtains projected image of the adjusting pin at the set spatial position, including：
The exposure of positive specified angle is carried out to the adjusting pin at the set spatial position, obtains adjusting pin described default
The first projected image at spatial position, and negative specified angle is carried out to the adjusting pin at the set spatial position
Exposure obtains second projected image of the adjusting pin at the set spatial position.
8. according to the method described in claim 1, it is characterized in that, adjusting pin is moved to set spatial position, and obtaining and existing
The space coordinate of adjusting pin needle point at the set spatial position, including：
Adjusting pin is moved to four spatial positions, and obtains four of the adjusting pin needle point at four spatial positions respectively
Space coordinate；
The mapping relations based between the space coordinate and described image point coordinates, are corrected lancing system, packet
It includes：
Each spatial position in four spatial positions, based on the corresponding space coordinate in the spatial position and in the space bit
The mapping relations between the image point coordinates of acquisition are set, lancing system is corrected.
9. a kind of means for correcting of lancing system, which is characterized in that applied to the lancing system for including adjusting pin, described device packet
It includes：
Coordinate obtaining module for adjusting pin to be moved to set spatial position, and obtains the school at the set spatial position
The space coordinate of positive needle needle point；
Image collection module, the exposure for carrying out predetermined angle to the adjusting pin at the set spatial position obtain
Projected image of the adjusting pin at the set spatial position；
Identification module, for based on specified image recognition algorithm, adjusting pin needle point being identified from the projected image, is corrected
The image point coordinates of needle needle point；
Correction module, for based on the mapping relations between the space coordinate and described image point coordinates, to lancing system into
Row correction.
10. a kind of correction system of lancing system, which is characterized in that the system comprises processor and memories；It is described to deposit
Reservoir for storing instruction, when described instruction is executed by the processor, causes the system to realize such as claim 1~8 times
Method described in one.
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