CN110840559A - Skin pore identification and positioning depilation system based on computer vision - Google Patents
Skin pore identification and positioning depilation system based on computer vision Download PDFInfo
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- CN110840559A CN110840559A CN201910989845.0A CN201910989845A CN110840559A CN 110840559 A CN110840559 A CN 110840559A CN 201910989845 A CN201910989845 A CN 201910989845A CN 110840559 A CN110840559 A CN 110840559A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00452—Skin
- A61B2018/00476—Hair follicles
Abstract
The invention relates to the field of medical science and beauty, in particular to a skin pore identification and positioning depilation system based on computer vision, which comprises a host system and a treatment handle, wherein the host system comprises a display system, a control system and a power supply system, the treatment handle comprises a semiconductor laser coupling module, a collimation system, an XY scanning galvanometer, a focusing lens, a camera image processing module and an illumination light source, the machine vision image processing technology is applied to the field of semiconductor laser depilation, the traditional high-power semiconductor laser depilation is broken through, and depilation is carried out by adopting a low-power semiconductor laser fiber coupling module; after the camera collects images, a PC (personal computer) is not required to be sent for image processing, after the camera collects the images, digital image processing can be carried out through hardware (FPGA, DSP and DSP + FPGA), the position data of the capillary holes are directly output, a machine vision intelligent identification technology is integrated, targeted treatment can be carried out on skin, the power requirement of a laser is greatly reduced, the area of a treatment area is adjustable, and the load degree of a whole system is greatly reduced.
Description
Technical Field
The invention relates to the field of medical science and beauty, in particular to a skin pore identification and positioning depilating system based on computer vision.
Background
Laser medical cosmetology is an important branch of medicine and is developing at a rapid pace. Laser depilation also becomes an important component of laser medical cosmetology, and the semiconductor laser depilation therapeutic apparatus is a main therapeutic apparatus that can realize human depilation at present, can reach permanent and painless depilation, and safe, no trace, convenient. Laser pulses with proper wavelength range and energy are emitted to generate heat action so as to destroy hair follicles, and the aim of laser depilation is achieved. Machine vision and skin image visual detection analysis have potential application value in the professional medical and beauty fields, and skin pores are effective characteristics when the machine vision image processing assists the skin analysis, so that for medical and beauty, the pore detection is carried out on a user, and more accurate medical and beauty service can be provided for treating and beautifying the user according to the detection result.
The power of a high-power semiconductor laser adopted by the traditional equipment is usually between 300W and 2400W, potential safety hazards exist in generated laser, the higher the laser power is, the larger the heat generation is, a system can stably run only by adopting a refrigerator with higher power, the structure of an adopted treatment handle is complex, the price of the adopted high-power laser is high, the facula of the treatment handle is not adjustable, and the whole system is complex.
Disclosure of Invention
The invention aims to provide a skin pore identification and positioning depilating system based on computer vision so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a skin pore identification and positioning depilating system based on computer vision,
a skin pore identification and positioning depilation system based on computer vision comprises a host system and a treatment handle, wherein the host system comprises a display system, a control system and a power supply system, the power supply system comprises a switching power supply and a laser power supply, the control system comprises an X-axis galvanometer driving control board, a Y-axis galvanometer driving control board and a control module, the display system comprises a touch screen, the treatment handle comprises a semiconductor laser coupling module, a collimation system, an XY scanning galvanometer, a focusing mirror, a camera image processing module and a lighting source, the camera image processing module is positioned on one side of the lighting source, the camera image processing module comprises a camera, the scanning galvanometer is positioned above the lighting source, the XY scanning galvanometer comprises an X-axis galvanometer which is vertically arranged, the Y-axis galvanometer is vertically arranged on one side of the X-axis galvanometer, the semiconductor laser coupling module comprises a laser, the laser power supply is connected with a laser through a wire, the lower end of the laser is provided with a radiator, the laser is connected with a collimation system through optical fiber connection, the collimation system comprises a beam expanding collimation lens, the outer end of the beam expanding collimation lens is over against an X-axis galvanometer, and the laser generates laser through optical fibers and the beam expanding collimation lens;
a display system: the method is mainly used for parameter setting and mode selection;
the control system comprises: the laser control system is used for controlling the switching and the power of the laser;
the galvanometer control system: controlling the deflection angle of the XY galvanometer to realize laser positioning;
a power supply system: supplying power to a control system, supplying power to a laser, supplying power to a motor and supplying power to a camera;
semiconductor laser fiber coupling module: mainly providing a laser light source;
a collimation system: the laser output by the semiconductor coupling module is collimated, and the laser passing through the collimating system is emitted as parallel light;
XY scanning galvanometer: the propagation direction of the laser is mainly changed, so that the laser can reach a designated point in a focal plane;
a focusing mirror: focusing the laser passing through the galvanometer control system;
a camera image processing module: the skin image is collected and subjected to image processing, the pore is detected, identified and positioned, and the position information of the pore is sent to the XY scanning galvanometer, so that the X-axis scanning galvanometer and the Y-axis scanning galvanometer are driven, and the laser beam is controlled to reach the specified position of the skin.
As a further scheme of the invention: the skin and the pores thereon are aimed below the illumination source.
As a further scheme of the invention: the illumination light source is electrically connected with the camera.
As a further scheme of the invention: the X-axis galvanometer and the Y-axis galvanometer are respectively and electrically connected with the X-axis galvanometer driving control board and the Y-axis galvanometer driving control board.
As a further scheme of the invention: and the X-axis galvanometer driving control board and the Y-axis galvanometer driving control board are both fixed on a switching power supply, and one side of the switching power supply is connected with a laser power supply.
As a further scheme of the invention: the other side of the switching power supply is connected with the control module, and the control module is connected with the touch screen through a wire.
As a still further scheme of the invention: and the control module is respectively connected with the laser power supply, the camera and the X-axis galvanometer driving control board.
Compared with the prior art, the invention has the beneficial effects that: the machine vision image processing technology is applied to the field of semiconductor laser depilation; the traditional high-power semiconductor laser unhairing is broken through, and the unhairing is carried out by adopting a low-power semiconductor laser fiber coupling module; after the camera collects images, a PC (personal computer) is not required to be sent for image processing, after the camera collects the images, digital image processing can be carried out through hardware (FPGA, DSP and DSP + FPGA), the position data of the capillary holes are directly output, a machine vision intelligent identification technology is integrated, targeted treatment can be carried out on skin, the power requirement of a laser is greatly reduced, the area of a treatment area is adjustable, and the load degree of a whole system is greatly reduced.
Drawings
Fig. 1 is a system framework diagram of a skin pore identification and positioning epilation system based on computer vision.
Fig. 2 is a schematic diagram of the operation of a system for identifying and positioning skin pores based on computer vision.
Fig. 3 is a system flow chart of a skin pore identification and positioning epilation system based on computer vision.
The system comprises a 1-X-axis galvanometer, a 2-Y-axis galvanometer, a 3-camera, a 4-illumination light source, 5-pores, 6-skin, 7-laser, 8-beam expanding collimating lens, 9-optical fiber, 10-radiator, 11-laser, 12-switching power supply, 13-laser power supply, 14-Y-axis galvanometer driving control board, 15-X-axis galvanometer driving control board, 16-control module and 17-touch screen.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
Example one
Referring to fig. 1-3, in the embodiment of the present invention, a skin pore identification and positioning depilation system based on computer vision includes a host system and a treatment handle, the host system includes a display system, a control system and a power supply system, the power supply system includes a switching power supply 12 and a laser power supply 13, the control system includes an X-axis galvanometer driving control board 15, a Y-axis galvanometer driving control board 14 and a control module 16, the display system includes a touch screen 17, the treatment handle includes a semiconductor laser coupling module, a collimation system, an XY scanning galvanometer, a focusing mirror, a camera image processing module and an illumination light source 4, the lower part of the illumination light source 4 is aligned with a skin 6 and a pore 5 thereon, the camera image processing module is located at one side of the illumination light source 4 and includes a camera 3, the scanning galvanometer is located above the illumination light source 4, the XY scanning galvanometer comprises an X-axis galvanometer 1 which is vertically arranged, a Y-axis galvanometer is vertically arranged on one side of the X-axis galvanometer 1, a camera 3 is electrically connected with a lighting source 4, the X-axis galvanometer 1 and the Y-axis galvanometer 2 are respectively electrically connected with an X-axis galvanometer driving control board 15 and a Y-axis galvanometer driving control board 14, the X-axis galvanometer driving control board 15 and the Y-axis galvanometer driving control board 14 are both fixed on a switch power supply 12, one side of the switch power supply 12 is connected with a laser power supply 13, the semiconductor laser coupling module comprises a laser 11, the laser power supply 13 is connected with the laser 11 through a lead, a radiator 10 is arranged at the lower end of the laser 11, the laser 11 is connected with a collimation system through an optical fiber 9, the collimation system comprises a beam expanding collimating mirror 8, the outer end of the beam expanding collimating mirror 8 is right opposite to the X-axis galvanometer 1, the laser 11 generates laser 7, the other side of the switching power supply 12 is connected with a control module 16, the control module 16 is connected with a touch screen 17 through a lead, and the control module 16 is respectively connected with a laser power supply 13, the camera 3 and an X-axis galvanometer driving control board 15;
a display system: the method is mainly used for parameter setting and mode selection;
the control system comprises: the laser control system comprises: controlling the switching and power of the laser 11;
the galvanometer control system: controlling the deflection angle of the XY galvanometer to realize laser positioning;
a power supply system: supplying power to a control system, supplying power to the laser 11, supplying power to the motor and supplying power to the camera 3;
semiconductor laser fiber coupling module: mainly providing a laser 7 light source;
a collimation system: the laser 7 output by the semiconductor coupling module is collimated, and the laser 7 passing through the collimation system is emitted as parallel light;
XY scanning galvanometer: the propagation direction of the laser 11 is mainly changed, so that the laser 11 can reach a specified point in a focal plane;
a focusing mirror: focusing the laser 7 passing through the galvanometer control system;
a camera image processing module: the skin 6 image is collected, the skin 6 image is subjected to image processing, the pore 5 is detected, identified and positioned, and the position information of the pore 5 is sent to the XY scanning galvanometer, so that the X-axis scanning galvanometer 1 and the Y-axis scanning galvanometer 2 are driven, and the laser 7 beam is controlled to reach the specified position of the skin 6.
Cleaning skin 6, namely, firstly, shaving long hair in the treatment area of the user to the residual 0.5mm by using a hair shaving knife, and cleaning the surrounding skin 6;
after the skin 6 is cleaned, corresponding treatment parameters are set through the touch screen according to the state of the skin 6 of the user: energy density, laser power and other parameters, and click preparation is carried out after the setting is finished;
after the click preparation is completed, the camera 3 and the illumination light source 4 are powered on, the illumination light source 4 provides a light source for image acquisition of the camera 3, the camera 3 acquires an image of the surface of the skin 6 in real time, and the acquired image of the surface of the skin 6 is transmitted to an image processing module FPGA, a DSP and an FPGA + DSP inside the camera 3;
after the camera 3 acquires the skin 6 image through the detector, algorithm processing such as perspective correction, filtering and denoising is carried out on the image by using a related image processing algorithm through a computer vision processing technology, the position data of a hair follicle target is extracted, the hair follicle position data is transmitted to the control module 16 in real time, and the XY scanning galvanometer and the laser power supply are controlled through the control module 16;
when the user is ready for treatment, the user presses the handle button switch or the foot switch to provide a switch signal to the control module 16;
after receiving the switching signal, the control module 16 processes the image to obtain hair follicle position data, transmits the control signal to the X-axis galvanometer driving control board 15 and the Y-axis galvanometer driving control board 14, simultaneously outputs the switching signal of the laser power supply by the control module 16 to control the start and stop of the laser 11, the output laser 7 is reflected by the X-axis galvanometer 1 and the Y-axis galvanometer 2 through the collimation system and then is focused through the focusing lens, and the laser 7 travels to a high-energy-density laser spot;
the X-axis galvanometer 1 and the Y-axis galvanometer 2 with the reflectors change the directions of the reflectors under the control of the galvanometer driving control board, so that the positions of the laser 7 projected on the skin 6 are controlled, the positions are consistent with hair follicle position data obtained after image processing, and meanwhile, the focused laser 7 is projected on the hair follicle positions, so that the hair follicles can absorb enough energy of the laser 7, and the purpose of accurate hair removal is achieved.
The machine vision image processing technology is applied to the field of semiconductor laser depilation; the traditional high-power semiconductor laser depilation is broken through, and the depilation is carried out by adopting the low-power semiconductor laser fiber 9 coupling module; after the camera 3 collects images, a PC (personal computer) is not required to be sent for image processing, after the camera 3 collects images, digital image processing can be carried out through hardware (FPGA, DSP and DSP + FPGA), pore 5 position data are directly output, a machine vision intelligent recognition technology is integrated, targeted treatment can be carried out on skin 6, the power requirement of a laser 11 is greatly reduced, the area of a treatment area is adjustable, and the load degree of a whole system is greatly reduced.
Example two
On the basis of the first embodiment, the power supply of the power supply system is independently controlled, so that the laser 11 is powered by the laser power supply 13, the switching power supply 12 supplies power to the control module 16, the X-axis galvanometer driving control board 15 and the Y-axis galvanometer driving control board 14, the power consumption stability of a control element is realized, and the stable operation of the device is ensured.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A skin pore identification and positioning depilation system based on computer vision comprises a host system and a treatment handle, wherein the host system comprises a display system, a control system and a power supply system, the power supply system comprises a switching power supply (12) and a laser power supply (13), the control system comprises an X-axis galvanometer driving control board (15), a Y-axis galvanometer driving control board (14) and a control module (16), the display system comprises a touch screen (17), the treatment handle comprises a semiconductor laser coupling module, a collimation system, an XY scanning galvanometer, a focusing mirror, a camera image processing module and an illumination light source (4), the skin pore identification and positioning depilation system is characterized in that the camera image processing module is positioned at one side of the illumination light source (4), the camera image processing module comprises a camera (3), the scanning galvanometer is positioned above the illumination light source (4), the XY scanning galvanometer comprises a vertically arranged X-axis galvanometer (1), one side of the X-axis galvanometer (1) is vertically provided with a Y-axis galvanometer, the semiconductor laser coupling module comprises a laser (11), a laser power supply (13) is connected with the laser (11) through a wire, the lower end of the laser (11) is provided with a radiator (10), the laser (11) is connected with a collimation system through an optical fiber (9), the collimation system comprises a beam expanding collimation lens (8), the outer end of the beam expanding collimation lens (8) is right opposite to the X-axis galvanometer (1), and the laser (11) generates laser (7) through the optical fiber (9) and the beam expanding collimation lens (8);
a display system: the method is mainly used for parameter setting and mode selection;
the control system comprises: the laser control system is used for controlling the switching and the power of the laser (11);
the galvanometer control system: controlling the deflection angle of the XY galvanometer, changing the propagation direction of the laser and realizing laser positioning;
a power supply system: the power supply is provided for the control system, the laser (11), the motor and the camera (3);
semiconductor laser fiber coupling module: mainly providing a laser (7) light source;
a collimation system: the laser (7) output by the semiconductor coupling module is collimated, and the laser (7) passing through the collimation system is emitted as parallel light;
XY scanning galvanometer: the propagation direction of the laser (11) is mainly changed, so that the laser (11) can reach a specified point in a focal plane;
a focusing mirror: focusing the laser (7) passing through the galvanometer control system;
a camera image processing module: the skin (6) image is collected, the image processing is carried out on the skin (6) image, the pore (5) is detected, identified and positioned, the position information of the pore (5) is sent to the XY scanning galvanometer, so that the X-axis scanning galvanometer (1) and the Y-axis scanning galvanometer (2) are driven, and the laser beam (7) is controlled to reach the designated position of the skin (6).
2. A computer vision based skin pore identification and localization epilation system according to claim 1, characterized in that the illumination light source (4) is aimed below the skin (6) and the pores (5) above it.
3. A computer vision based skin pore identification and localization hair removal system according to claim 1 or 2, characterized in that the illumination light source (4) and the camera (3) are electrically connected.
4. The system for identifying, positioning and depilating skin pores based on computer vision is characterized in that the X-axis galvanometer (1) and the Y-axis galvanometer (2) are respectively electrically connected with an X-axis galvanometer driving control board (15) and a Y-axis galvanometer driving control board (14).
5. The system for skin pore identification and location based on computer vision as claimed in claim 1 or 4, characterized in that, the X-axis galvanometer driving control board (15) and the Y-axis galvanometer driving control board (14) are both fixed on the switch power supply (12), and one side of the switch power supply (12) is connected with the laser power supply (13).
6. The system for skin pore identification and positioning hair removal based on computer vision as claimed in claim 5, characterized in that the other side of the switching power supply (12) is connected with the control module (16), and the control module (16) is connected with the touch screen (17) through a wire.
7. The system for skin pore identification and positioning hair removal based on computer vision as claimed in claim 6, wherein said control module (16) is connected with a laser power supply (13), a camera (3) and an X-axis galvanometer driving control board (15) respectively.
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| CN201910989845.0A CN110840559A (en) | 2019-10-17 | 2019-10-17 | Skin pore identification and positioning depilation system based on computer vision |
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| CN111166469A (en) * | 2020-03-04 | 2020-05-19 | 广州华智智业科技有限公司 | Semiconductor laser scanning unhairing system |
| CN112221020A (en) * | 2020-10-14 | 2021-01-15 | 武汉博激世纪科技有限公司 | Semiconductor laser galvanometer treatment system |
| CN112307904A (en) * | 2020-09-29 | 2021-02-02 | 北京兴科高智科技有限公司 | Parameter setting method and device based on deep learning |
| CN113796955A (en) * | 2021-09-16 | 2021-12-17 | 广东省登科医疗器械科技有限公司 | Semiconductor laser scanning unhairing system and method |
| CN114209422A (en) * | 2021-11-19 | 2022-03-22 | 赵佳峰 | Depilatory instrument capable of adjusting local skin state |
| CN114488434A (en) * | 2022-02-14 | 2022-05-13 | 清华大学 | Optical fiber automatic coupling system and method |
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