CN115174771B - Child DR photographing auxiliary vehicle and method - Google Patents
Child DR photographing auxiliary vehicle and method Download PDFInfo
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- CN115174771B CN115174771B CN202210723536.0A CN202210723536A CN115174771B CN 115174771 B CN115174771 B CN 115174771B CN 202210723536 A CN202210723536 A CN 202210723536A CN 115174771 B CN115174771 B CN 115174771B
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000006698 induction Effects 0.000 claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000012216 screening Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 7
- 238000012795 verification Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 230000005855 radiation Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 10
- 230000005389 magnetism Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
Abstract
The invention provides a child DR photographing auxiliary vehicle and a method, which belong to the technical field of medical appliances and comprise a vehicle body, a processor, a video display assembly, a magnetic induction assembly, a moving assembly and universal wheels, wherein the moving assembly and the universal wheels are used for driving the video display assembly to move up and down, the vehicle body is of a hollow cuboid structure, the processor is arranged in the vehicle body, the universal wheels are arranged at the bottom of the vehicle body, the magnetic induction assembly is embedded in the middle of the bottom surface of the vehicle body, the moving assembly is arranged at the top end of the vehicle body, the video display assembly is movably connected with the moving assembly, and the processor is respectively connected with the video display assembly, the magnetic induction assembly, the moving assembly and the universal wheels in a circuit manner. The invention has simple implementation, saves the time of medical staff, improves the efficiency of the medical staff, can attract the attention of children, achieves the effect of intelligent assistance, simultaneously, does not need the assistance of family members of the children, liberates the hands of the family members of the children, and reduces the unnecessary radiation of X rays.
Description
Technical Field
The invention mainly relates to the technical field of medical equipment, in particular to a DR photographing auxiliary vehicle and a DR photographing auxiliary method for children.
Background
Most of DR photography of children today is based on a constraint fixing method for children, and a few are based on a method for diverting attention of children, mainly soothing before examination, etc., but such measures are rarely implemented in clinic. The method is mainly characterized in that the method is complicated in implementation, the DR examination workload is large, the work rhythm is urgent, and most technicians for examination can select a simple and rough pressing method; secondly, the clinical effect is limited, and the family members of the children are not willing to take too much time to cooperate because of difficult and time-consuming treatment.
Disclosure of Invention
The invention aims to solve the technical problem of providing a child DR photographing auxiliary vehicle and a method thereof aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a children DR photographic auxiliary vehicle comprises a vehicle body, a processor, a video display component, a magnetic induction component, a moving component and universal wheels, wherein the moving component is used for driving the video display component to move up and down,
the automobile body is of a hollow cuboid structure, the processor is arranged in the automobile body, the universal wheels are arranged at the bottom of the automobile body, the magnetic induction assembly is embedded in the middle of the bottom surface of the automobile body, the moving assembly is arranged at the top end of the automobile body, the video display assembly is movably connected with the moving assembly, and the processor is respectively connected with the video display assembly, the magnetic induction assembly, the moving assembly and the universal wheels in a circuit manner;
The processor is used for importing a control instruction, acquiring a current position from a preset position library, carrying out position update analysis on the current position according to the control instruction, obtaining an updated position and position arrival instruction, and storing the updated position information in the preset position library;
the video display component is used for acquiring infrared induction information according to the position arrival instruction;
the processor is also used for verifying whether the infrared induction information is human body information or not, and if the infrared induction information is verified successfully, a moving instruction is generated;
the moving component is used for controlling the video display component to move up and down from a preset initial position according to the moving instruction and generating a face acquisition instruction;
the video display component is also used for acquiring an environment image according to the face acquisition instruction;
the processor is also used for carrying out face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
the moving component is also used for stopping moving according to the video playing instruction;
the video display component is also used for playing video according to the video playing instruction;
The control instructions include an operation control instruction, the current position includes a working position, a rest position, and a standby position,
in the processor, the process of performing a position update analysis on the current position according to the control instruction to obtain an updated position and a position arrival instruction includes:
s11: judging the current position according to the working control instruction, controlling the universal wheel to move towards a first preset direction when the universal wheel is positioned at the rest position, and executing a step S12;
when the universal wheel is at the standby position, controlling the universal wheel to move towards a first preset direction, and executing step S14;
when in the working position, executing step S16;
s12: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position, and executing step S13;
s13: judging whether the first updated position is the standby position, if so, taking the first updated position as the current position, and executing step S14; if not, returning to the step S12;
s14: performing standby position updating analysis on the current position according to the first preset direction to obtain a second updated position, and executing step S15;
S15: judging whether the second updated position is the working position, if so, taking the second updated position as an updated position, and generating a position arrival instruction; if not, returning to the step S14;
s16: taking the working position as the updated position and generating the position arrival instruction;
in the processor, the process of updating and analyzing the rest position of the current position according to the first preset direction to obtain a first updated position includes:
generating a track induction instruction;
the magnetic induction component is used for acquiring track information from tracks arranged on the ground according to the track induction instruction, and the track information comprises track signals corresponding to each track sensor;
the processor is further configured to detect whether all track signals exist, and if yes, take the current position as a first updated position;
if not, leading in the distances from the track inductors corresponding to the track inductors to the midpoint of the magnetic induction component, screening the maximum value of the distances from the track inductors of all the track inductors with the track signals to the midpoint of the magnetic induction component, and obtaining a maximum distance value after screening;
And calculating the corner angle through a first formula to the maximum distance value to obtain the corner angle, wherein the first formula is as follows:
and the universal wheel is controlled to move along the corner angle to the first preset direction, and the moved position is used as the first updated position.
The other technical scheme for solving the technical problems is as follows: a child DR photography assisting method comprising:
importing a control instruction, acquiring a current position from a preset position library, performing position update analysis on the current position according to the control instruction, obtaining an updated position and a position arrival instruction, and storing the updated position information in the preset position library;
acquiring infrared induction information according to the position arrival instruction;
verifying whether the infrared induction information is human body information or not, and if the infrared induction information is successful in verification, generating a moving instruction;
controlling the video display assembly to move up and down from a preset initial position according to the movement instruction, and generating a face acquisition instruction;
acquiring an environment image according to the face acquisition instruction;
Performing face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
stopping moving according to the video playing instruction, and playing the video;
the control instructions include an operation control instruction, the current position includes a working position, a rest position, and a standby position,
the process of carrying out position updating analysis on the current position according to the control instruction to obtain updated position and position arrival instruction comprises the following steps:
s11: judging the current position according to the working control instruction, controlling the universal wheel to move towards a first preset direction when the universal wheel is positioned at the rest position, and executing a step S12;
when the universal wheel is at the standby position, controlling the universal wheel to move towards a first preset direction, and executing step S14;
when in the working position, executing step S16;
s12: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position, and executing step S13;
s13: judging whether the first updated position is the standby position, if so, taking the first updated position as the current position, and executing step S14; if not, returning to the step S12;
S14: performing standby position updating analysis on the current position according to the first preset direction to obtain a second updated position, and executing step S15;
s15: judging whether the second updated position is the working position, if so, taking the second updated position as an updated position, and generating a position arrival instruction; if not, returning to the step S14;
s16: taking the working position as the updated position and generating the position arrival instruction;
the process of carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position comprises the following steps:
generating a track induction instruction;
acquiring track information from tracks arranged on the ground according to the track sensing instruction, wherein the track information comprises track signals corresponding to each track sensor;
detecting whether all track signals exist, if so, taking the current position as a first updated position;
if not, leading in the distances from the track inductors corresponding to the track inductors to the midpoint of the magnetic induction component, screening the maximum value of the distances from the track inductors of all the track inductors with the track signals to the midpoint of the magnetic induction component, and obtaining a maximum distance value after screening;
And calculating the corner angle through a first formula to the maximum distance value to obtain the corner angle, wherein the first formula is as follows:
and the universal wheel is controlled to move along the corner angle to the first preset direction, and the moved position is used as the first updated position.
The other technical scheme for solving the technical problems is as follows: a child DR photography assisting vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the computer program when executed by the processor implementing a child DR photography assisting method as described above.
The other technical scheme for solving the technical problems is as follows: a computer readable storage medium storing a computer program which, when executed by a processor, implements a pediatric DR photography assisting method as described above.
The beneficial effects of the invention are as follows: the updated position and position arrival instruction are obtained through the position updating analysis of the current position by the control instruction, the infrared induction information is acquired according to the position arrival instruction, whether the infrared induction information is human body information is verified, if the verification is successful, a moving instruction is generated, the video display assembly is controlled to move from a preset initial position according to the moving instruction, a face acquisition instruction is generated, an environment image is acquired according to the face acquisition instruction, a video playing instruction is obtained through the face identification analysis of the environment image, the movement is stopped according to the video playing instruction, and video playing is carried out.
Drawings
FIG. 1 is a side view of a child DR photography assisting vehicle according to an embodiment of the present invention;
FIG. 2 is a front view of a child DR photography assisting vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of one embodiment of a track layout;
FIG. 4 is a second track layout diagram according to an embodiment of the present invention;
fig. 5 is a flowchart of a child DR photographing assisting method according to an embodiment of the invention.
In the drawings, the names of the components represented by the respective marks are as follows:
1. the automobile body, 2, universal wheel, 3, display screen, 4, the camera, 5, thermal infrared imager, 6, bracing piece, 7, rotary rod, 8, motor protection box body, 9, display screen support frame, 10, placing the piece.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Fig. 1 is a block diagram of a child DR photography assisting vehicle according to an embodiment of the present invention.
As shown in fig. 1 and 2, a child DR photographing auxiliary vehicle comprises a vehicle body 1, a processor, a video display assembly, a magnetic induction assembly, a moving assembly for driving the video display assembly to move up and down and a universal wheel 2,
The automobile body 1 is of a hollow cuboid structure, the processor is arranged in the automobile body 1, the universal wheel 2 is arranged at the bottom of the automobile body 1, the magnetic induction component is embedded in the middle of the bottom surface of the automobile body 1, the moving component is arranged at the top end of the automobile body 1, the video display component is movably connected with the moving component, and the processor is respectively connected with the video display component, the magnetic induction component, the moving component and the universal wheel 2 in a circuit manner;
the processor is used for importing a control instruction, acquiring a current position from a preset position library, carrying out position update analysis on the current position according to the control instruction, obtaining an updated position and position arrival instruction, and storing the updated position information in the preset position library;
the video display component is used for acquiring infrared induction information according to the position arrival instruction;
the processor is also used for verifying whether the infrared induction information is human body information or not, and if the infrared induction information is verified successfully, a moving instruction is generated;
the moving component is used for controlling the video display component to move up and down from a preset initial position according to the moving instruction and generating a face acquisition instruction;
The video display component is also used for acquiring an environment image according to the face acquisition instruction;
the processor is also used for carrying out face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
the moving component is also used for stopping moving according to the video playing instruction;
the video display component is also used for playing video according to the video playing instruction;
the control instructions include an operation control instruction, the current position includes a working position, a rest position, and a standby position,
in the processor, the process of performing a position update analysis on the current position according to the control instruction to obtain an updated position and a position arrival instruction includes:
s11: judging the current position according to the working control instruction, controlling the universal wheel 2 to move towards a first preset direction when the universal wheel is positioned at the rest position, and executing a step S12;
when the universal wheel 2 is at the standby position, controlling the universal wheel 2 to move towards a first preset direction, and executing step S14;
when in the working position, executing step S16;
s12: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position, and executing step S13;
S13: judging whether the first updated position is the standby position, if so, taking the first updated position as the current position, and executing step S14; if not, returning to the step S12;
s14: performing standby position updating analysis on the current position according to the first preset direction to obtain a second updated position, and executing step S15;
s15: judging whether the second updated position is the working position, if so, taking the second updated position as an updated position, and generating a position arrival instruction; if not, returning to the step S14;
s16: taking the working position as the updated position and generating the position arrival instruction;
in the processor, the process of updating and analyzing the rest position of the current position according to the first preset direction to obtain a first updated position includes:
generating a track induction instruction;
the magnetic induction component is used for acquiring track information from tracks arranged on the ground according to the track induction instruction, and the track information comprises track signals corresponding to each track sensor;
the processor is further configured to detect whether all track signals exist, and if yes, take the current position as a first updated position;
If not, leading in the distances from the track inductors corresponding to the track inductors to the midpoint of the magnetic induction component, screening the maximum value of the distances from the track inductors of all the track inductors with the track signals to the midpoint of the magnetic induction component, and obtaining a maximum distance value after screening;
and calculating the corner angle through a first formula to the maximum distance value to obtain the corner angle, wherein the first formula is as follows:
wherein θ is a rotation angle, L is a maximum distance value, V is a moving speed, T is a unit time, and the universal wheel 2 is controlled to move along the rotation angle toward the first preset direction, and the moved position is used as the first updated position.
Preferably, the magnetic induction component can be of the model PGS-19006.
Preferably, the number of the universal wheels 2 may be 4, and the universal wheels are respectively arranged at four corners of the bottom of the vehicle body 1.
It should be understood that if the verification is successful, the infrared sensing information continues to be collected.
It will be appreciated that the processor is connected to the video display assembly, the magnetic sensing assembly, the movement assembly and the castor 2 via data lines, respectively.
In the above embodiment, the updated position and the position arrival command are obtained by the position update analysis of the current position through the control command, the infrared induction information is collected according to the position arrival command, whether the infrared induction information is human information is verified, if the verification is successful, the movement command is generated, the video display component is controlled to move from the preset initial position according to the movement command, the face acquisition command is generated, the environment image is acquired according to the face acquisition command, the video playing command is obtained by the face identification analysis of the environment image, the movement is stopped according to the video playing command, and the video playing is carried out.
Alternatively, as an embodiment of the present invention, the video display module includes a display 3, a camera 4 and a thermal infrared imager 5,
the camera 4 is embedded at the upper end of one side of the screen of the display screen 3, the thermal infrared imager 5 is arranged at one side of the camera 4 and is embedded on the screen of the display screen 3, the other side of the display screen 3 is movably connected with the moving assembly, and the display screen 3, the camera 4 and the thermal infrared imager 5 are all connected with the processor through lines;
the thermal infrared imager 5 is used for acquiring infrared induction information according to the position arrival instruction;
the processor is also used for verifying whether the infrared induction information is human body information or not, and if the infrared induction information is verified successfully, a moving instruction is generated;
the moving component is used for controlling the video display component to move up and down according to the moving instruction and generating a face acquisition instruction;
the camera 4 is used for acquiring an environment image according to the face acquisition instruction;
the processor is also used for carrying out face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
the moving component is also used for stopping moving according to the video playing instruction;
The display screen 3 is used for playing video according to the video playing instruction.
It should be understood that the display 3, the camera 4 and the thermal infrared imager 5 are all connected to the processor by data lines.
It should be understood that the infrared detection (i.e. the thermal infrared imager 5) is a small module added, not the original function of the development board (i.e. the processor), but can be combined with the screen, the face recognition function is the face recognition function using the development board (i.e. the processor), the authorities provide the related algorithm function call interface, the current liquid crystal screen (i.e. the display screen 3) is also connected with the development board (i.e. the processor), and the video resource exists on the MINI SD card of the development board (i.e. the processor) and needs to be programmed to call the video function to play the video.
In the above embodiment, by verifying whether the infrared sensing information is human body information, if the verification is successful, a movement instruction is generated, the video display assembly is controlled to move up and down from a preset initial position according to the movement instruction, a face acquisition instruction is generated, an environmental image is acquired according to the face acquisition instruction, a video playing instruction is obtained by face recognition analysis of the environmental image, the movement is stopped according to the video playing instruction, video playing is performed, the position of a child can be quickly identified, the time of medical staff is saved, the efficiency of the medical staff is improved, and the attention of the child can be attracted.
Alternatively, as an embodiment of the present invention, the moving assembly includes a support bar 6, a rotating bar 7, a motor protection case 8 and a display screen supporting frame 9,
the bottom of bracing piece 6 sets up the top of automobile body 1, motor protection box body 8 sets up the top of bracing piece 6, be equipped with the motor in the motor protection box body 8, the top of automobile body 1 is equipped with and is used for placing the piece 10 of placing of rotary rod 7, place the piece 10 setting in one side of bracing piece 6, the one end of rotary rod 7 cup joints place on the piece 10, and with place piece 10 swing joint, the one end of rotary rod 7 runs through motor protection box body 8 with the motor is connected, thereby makes the motor drive rotary rod 7 is rotatory, the one end of display screen support frame 9 cup joints on the rotary rod 7, rotary rod 7 drives through the rotation display screen support frame 9 reciprocates, the other end of display screen support frame 9 and the opposite side swing joint of display screen 3, the motor with the processor line connection.
It will be appreciated that the motor is connected to the processor by a data line.
It should be understood that the processor controls the motor to rotate the rotating rod 7, so that the display screen supporting frame 9 moves up and down.
It should be understood that the placement block 10 is for facilitating the rotation of the rotating rod 7.
In the embodiment, the display screen can be driven to move up and down, so that the position of the child can be found out more quickly, the time of medical staff is saved, and the efficiency of the medical staff is improved.
Alternatively, as an embodiment of the present invention, as shown in fig. 1 to 3, the control instruction includes an operation control instruction, the current position includes an operation position, a rest position and a standby position,
in the processor, the process of performing a position update analysis on the current position according to the control instruction to obtain an updated position and a position arrival instruction includes:
s11: judging the current position according to the working control instruction, controlling the universal wheel 2 to move towards a first preset direction when the universal wheel is positioned at the rest position, and executing a step S12;
when the universal wheel 2 is at the standby position, controlling the universal wheel 2 to move towards a first preset direction, and executing step S14;
when in the working position, executing step S16;
s12: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position, and executing step S13;
S13: judging whether the first updated position is the standby position, if so, taking the first updated position as the current position, and executing step S14; if not, returning to the step S12;
s14: performing standby position updating analysis on the current position according to the first preset direction to obtain a second updated position, and executing step S15;
s15: judging whether the second updated position is the working position, if so, taking the second updated position as an updated position, and generating a position arrival instruction; if not, returning to the step S14;
s16: and taking the working position as the updated position, and generating the position arrival instruction.
It should be appreciated that the first preset direction may be the forward direction.
Specifically, rest position (i.e. the rest position): the system at the current position is in a shutdown state, and after a user manually turns on a power supply, the system starts to initialize self-checking and automatically moves to a standby position (namely the standby position); or from the standby position (i.e. the standby position) back to the rest position (i.e. the rest position), in a rest state, the power is manually turned off by the user.
Standby position (i.e. the standby position): the system in the current position is in a standby state and waits for a user to send a remote control command to move to a working position (namely the working position) or return to a rest position (namely the rest position).
Work position (i.e. the work position): the current position system is in a working state, and human body infrared detection, sliding rod movement, face recognition and video playing operations are performed; or after the work is finished, waiting for the user to send a remote control instruction for returning to the standby position (namely the standby position).
It should be understood that the data processing steps of step S14 and step S12 are the same, except that the current position of the input is different.
It will be appreciated that in the initial state, the machine is placed in a rest position (i.e. the rest position) upon activation of the system (i.e. the present invention) the default current position is in the rest position (i.e. the rest position).
Specifically, as shown in fig. 3, a is a rest position, B is a standby position, C is a working position, D is a current position of the present invention, and the rest position (i.e., the rest position) is a forward position from the rest position (i.e., the standby position), the working position (i.e., the working position) is a backward position from the working position (i.e., the working position) to the standby position (i.e., the standby position), and the rest position (i.e., the rest position).
When a user sends out a working remote control instruction (namely the working control instruction) and is in a waiting position (namely the standby position), the trolley (namely the invention) moves forwards magnetically along the track, and when the next state position is sensed, the system considers that the system is currently in a working position (namely the working position);
and when the user sends out a working remote control instruction (namely the working control instruction) at the rest position (namely the rest position), the trolley does not need to wait for the remote control instruction to continue to advance to the working position (namely the working position) after passing through the standby position (namely the standby position) from the rest position (namely the rest position).
In the embodiment, the updated position and the updated position arrival instruction are obtained through the position updating analysis of the current position by the control instruction, so that the automatic tracking of the child is realized, the movement of medical staff is not needed, the implementation is simple, the time of the medical staff is saved, the efficiency of the medical staff is improved, and meanwhile, the children's attention is attracted, and the curiosity of the child is brought.
Optionally, as an embodiment of the present invention, as shown in fig. 1 to 4, in the processor, the process of performing rest position update analysis on the current position according to the first preset direction, to obtain a first updated position includes:
Generating a track induction instruction;
the magnetic induction component is used for acquiring track information from tracks arranged on the ground according to the track induction instruction, and the track information comprises track signals corresponding to each track sensor;
the processor is further configured to detect whether all track signals exist, and if yes, take the current position as a first updated position;
if not, leading in the distances from the track inductors corresponding to the track inductors to the midpoint of the magnetic induction component, screening the maximum value of the distances from the track inductors of all the track inductors with the track signals to the midpoint of the magnetic induction component, and obtaining a maximum distance value after screening;
and calculating the corner angle through a first formula to the maximum distance value to obtain the corner angle, wherein the first formula is as follows:
wherein θ is a rotation angle, L is a maximum distance value, V is a moving speed, T is a unit time, and the universal wheel 2 is controlled to move along the rotation angle toward the first preset direction, and the moved position is used as the first updated position.
Preferably, the number of the track sensors may be 8.
It should be understood that the tracks: the use of a track laid on the ground with a magnetic strip for guiding the movement of the device (i.e. the invention) can be understood as attaching a magnetic rail to the ground.
It should be understood that the turning angle is the angle between the speed direction and the advancing track.
It will be appreciated that the speed of movement is constant and therefore a known amount.
It should be understood that the magnetic induction device (i.e. the magnetic induction component) is formed by arranging 8 sensors (i.e. the magnetic track sensors) in a row at a certain distance, and 8 high-low level signal output channels are provided, when a certain sensor (i.e. the magnetic track sensor) senses magnetism, the sensor outputs a low level (i.e. generates a magnetic track signal), otherwise, the sensor outputs a high level.
Specifically, as shown in fig. 3 and 4, the magnetic induction device (i.e. the magnetic induction assembly) is composed of 8 small sensors (i.e. the magnetic track sensor) arranged in a row, and when the sensor device (i.e. the magnetic induction assembly) is 3.5cm away from the magnetic strip, the magnetic strip is attached to the ground, and when the magnetic strip is attached to the ground, the magnetic strip comprises: when the width is more than or equal to 10cm and the distance between the sensing device (namely the magnetic induction component) and the magnetic stripe is 3.5cm, 8 sensors (namely the magnetic track sensor) can sense magnetism at the same time; the width is less than 10cm, then only 1 to 7 sensors (i.e., the track sensors) can sense magnetism at the same time. With the above characteristics, when the track is laid, a magnetic strip with a length greater than 10cm is laid at the position of the state position and is perpendicular to the track, when the trolley device (i.e. the invention) is operated to the state position (i.e. the rest position or the standby position or the working position), the 8 sensors (i.e. the track sensor) sense magnetism, and the system considers that a certain state position (i.e. the rest position or the standby position or the working position) is reached.
It should be understood that the cart (i.e., the present invention) is assumed to move along a transverse trajectory. Since the 8-channel magnetic sensors (i.e., the track sensors) are arranged in a direction perpendicular to the direction of motion, the magnetic area sensed is small, and only less than 4 sensors (i.e., the track sensors) can sense magnetism. If the vehicle travels to the track crossing point, the 8 sensors (i.e., the track sensor) can sense magnetism due to the increase of the sensing area, and then the vehicle can be judged to reach the machine point (i.e., the rest position or the standby position or the working position).
It should be understood that, as shown in fig. 3, fig. 3 is a track arrangement mode, where a is a rest position, B is a standby position, C is a working position, D is a current position of the present invention, and the track is a straight line, and the angle of rotation may be 0.
As shown in fig. 4, fig. 4 shows another track arrangement, where a 'is a rest position, B' is a standby position, C 'is a working position, D' is a current position of the present invention, and the track is an arc, and the angle of rotation is obtained by the first formula.
Specifically, a coordinate system is established with the center of the trolley (i.e., the present invention) as the origin O, positive on the upper and right, and negative on the lower and left. The bottom of the trolley (namely the invention) is provided with an 8-channel magnetic induction module (namely the magnetic induction assembly), the position of the 8-channel magnetic induction module is positioned on the ordinate, and 4 sensors (namely the track inductors) are positioned on the positive half axle and the negative half axle of the ordinate respectively by taking O as the center. The instantaneous speed direction of the trolley (namely the invention) is consistent with the horizontal coordinate, the included angle between the speed and the advancing track (namely the angle of the rotation angle) in unit time is set as theta, and the displacement is set as s. If the instantaneous orbit is on the negative ordinate, their relationship is expressed by the following formula:
Where T is the unit time. L is the distance from the sensor (i.e. the track sensor) which senses magnetism to the center at the outermost instant (i.e. the maximum distance value), and the distance from each sensor (i.e. the track sensor) to the center is a known parameter and can be directly measured, and the formula is as follows:
in the above embodiment, the first updated position is obtained by updating and analyzing the rest position of the current position according to the first preset direction, so that more diversified tracking modes can be faced, the accuracy of tracking is improved, the intelligent auxiliary effect is achieved, and meanwhile, the hands of the family members of the children are liberated without the help of the family members of the children.
Optionally, as an embodiment of the present invention, in the processor, a process of performing face recognition analysis on the environmental image to obtain a face recognition result includes:
denoising the environment image by using a DoG Gaussian differential filtering algorithm to obtain a denoised image;
and carrying out face recognition on the denoised image by utilizing a YOLO target detection algorithm to obtain a face recognition result.
It should be understood that, in order to reduce image noise and improve the face recognition rate, gaussian differential filtering (DoG) algorithm denoising is added in the preprocessing stage of the face recognition algorithm.
Specifically, the denoising process of the Gaussian differential filter (DoG) algorithm is as follows:
first, the gaussian function representation is defined as:
second, the Gaussian filtering of the two images is expressed as:
finally, subtracting the two images g1 and g2 obtained by the filtering to obtain:
namely: the DOG can be expressed as:
in the disclosure, x and y represent pixel coordinates, and σ1 and σ2 are coefficients between 0 and 1 that can be customized.
It should be understood that in the specific image processing, the gaussian filtering results of two consecutive frames of images under different parameters are subtracted to obtain a DoG-chart, where σ1=0.9 and σ2=0.3 are used. The processed DoG image (i.e. the denoised image) is then input to a YOLO (You On ly Look Once) target detection algorithm provided by the authorities of a development board (i.e. the processor) for face recognition.
It should be appreciated that the model was retrained with acquired face images of 50 asians.
It should be appreciated that the YOLO target detection algorithm, YOLO, is a Convolutional Neural Network (CNN) for target detection in real time. The algorithm applies a single neural network to a complete image, then divides the image into multiple regions, and predicts the bounding box and probability for each region.
In the embodiment, the denoising processing of the environmental image by using the DoG Gaussian differential filtering algorithm is utilized to obtain the denoised image, the face recognition result of the denoised image is utilized to obtain the face recognition result by using the YOLO target detection algorithm, the accuracy of the face recognition can be improved, the face of the child can be automatically aligned, the time of medical staff is saved, the efficiency of the medical staff is improved, the intelligent auxiliary effect is achieved, and meanwhile, the assistance of family members of the child is not needed, and the hands of the family members of the child are liberated.
Optionally, as an embodiment of the present invention, the processor is further configured to:
importing a video closing instruction;
the video display component is used for closing the video according to the video closing instruction;
and the moving component is used for controlling the video display component to move to the preset initial position according to the video closing instruction.
In the above embodiment, the video is turned off according to the video turn-off instruction, and the video display assembly is controlled to move to the preset initial position, so that the video display assembly can be adjusted to the initial position for the next use of the child detection.
Optionally, as an embodiment of the present invention, the control instruction further includes a standby control instruction, and the processor is further configured to:
S17: judging the current position according to the standby control instruction, controlling the universal wheel 2 to move towards the first preset direction when the current position is at the rest position, and executing step S18;
when the universal wheel 2 is at the working position, controlling the universal wheel 2 to move towards a second preset direction, and executing step S110;
when in the standby position, executing step S112;
s18: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a third updated position, and executing step S19;
s19: judging whether the third updated position is the standby position, if so, taking the third updated position as the updated position; if not, returning to the step S18;
s110: performing working position updating analysis on the current position according to the second preset direction to obtain a fourth updated position, and executing step S111;
s111: judging whether the fourth updated position is the standby position, if so, taking the fourth updated position as the updated position; if not, returning to the step S110;
s112: and taking the standby position as the updated position.
It should be understood that the first preset direction may be a forward direction and the second preset direction may be a backward direction.
It should be understood that, in step S18, the rest position update analysis of the current position according to the first preset direction is the same as the data processing step of step S12, except that the input current position is different.
It should be understood that in step S110, the operation position update analysis of the current position according to the second preset direction is the same as the data processing step of step S12, except that the input current position and direction are different.
Specifically, when a user sends a standby remote control instruction (i.e. the standby control instruction) and is in a rest position (i.e. the rest position), the trolley (i.e. the invention) moves forwards magnetically along the track, and when the next state position is sensed, the system considers that the trolley is currently in the standby position (i.e. the standby position);
when the user sends a standby remote control instruction (namely the standby control instruction) and is in a working position (namely the working position), the trolley (namely the invention) moves backwards along the track magnetically, and when the next state position is sensed, the system considers that the trolley is currently in the standby position (namely the standby position).
In the embodiment, the current position is judged according to the standby control instruction, so that the intelligent processing of the invention can be realized to the greatest extent, the time of medical staff is saved, the efficiency of the medical staff is improved, and the operation is simple.
Optionally, as an embodiment of the present invention, the control instruction further includes a rest control instruction, and the processor further includes:
s113: judging the current position according to the rest control instruction, controlling the universal wheel 2 to move towards a second preset direction when the current position is at the working position, and executing step S114;
when the universal wheel 2 is at the standby position, controlling the universal wheel 2 to move towards a second preset direction, and executing step S116;
when in the rest position, then step S118 is performed;
s114: performing working position updating analysis on the current position according to the second preset direction to obtain a fifth updated position, and executing step S115;
s115: judging whether the fifth updated position is the standby position, if so, taking the fifth updated position as the current position, and executing step S116; if not, returning to the step S114;
S116: performing standby position updating analysis on the current position according to the second preset direction to obtain a sixth updated position, and executing step S117;
s117: judging whether the sixth updated position is the rest position, if so, taking the sixth updated position as an updated position; if not, returning to the step S116;
s118: and taking the rest position as the updated position.
It should be understood that the second preset direction may be a backward direction.
It should be understood that in step S114, the operation position update analysis of the current position according to the second preset direction is the same as the data processing step of step S12, except that the input current position and direction are different.
It should be understood that, in step S116, the standby position update analysis of the current position according to the second preset direction is the same as the data processing step of step S12, except that the input current position and direction are different.
Specifically, when a user sends a rest remote control instruction (i.e. the rest control instruction) and is in a standby position (i.e. the standby position), the trolley (i.e. the invention) moves back along the track magnetically, and when the next state position is sensed, the system considers that the vehicle is currently in the rest position (i.e. the rest position);
The user can also send out a rest remote control instruction (i.e. the rest control instruction) at the working position (i.e. the working position), and the trolley (i.e. the invention) does not need to wait for the remote control instruction (i.e. the rest control instruction) to continue to advance to the rest position (i.e. the rest position) after going from the working position (i.e. the working position) to the standby position (i.e. the standby position).
It will be appreciated that when the user issues a rest remote control instruction (i.e. the rest control instruction) and is in a rest position (i.e. the rest position), the present invention will turn off the power supply.
In the embodiment, the current position is judged according to the rest control instruction, so that the intelligent processing of the invention can be realized to the greatest extent, the time of medical staff is saved, the efficiency of the medical staff is improved, the operation is simple, and the electric quantity can be saved.
Fig. 5 is a flowchart of a child DR photographing assisting method according to an embodiment of the invention.
Alternatively, as another embodiment of the present invention, as shown in fig. 5, a child DR photographing assisting method includes:
importing a control instruction, acquiring a current position from a preset position library, performing position update analysis on the current position according to the control instruction, obtaining an updated position and a position arrival instruction, and storing the updated position information in the preset position library;
Acquiring infrared induction information according to the position arrival instruction;
verifying whether the infrared induction information is human body information or not, and if the infrared induction information is successful in verification, generating a moving instruction;
controlling the video display assembly to move up and down from a preset initial position according to the movement instruction, and generating a face acquisition instruction;
acquiring an environment image according to the face acquisition instruction;
performing face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
stopping moving according to the video playing instruction, and playing the video;
the control instructions include an operation control instruction, the current position includes a working position, a rest position, and a standby position,
the process of carrying out position updating analysis on the current position according to the control instruction to obtain updated position and position arrival instruction comprises the following steps:
s11: judging the current position according to the working control instruction, controlling the universal wheel 2 to move towards a first preset direction when the universal wheel is at the rest position, and executing a step S12;
when the universal wheel 2 is at the standby position, controlling the universal wheel 2 to move towards a first preset direction, and executing step S14;
When in the working position, executing step S16;
s12: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position, and executing step S13;
s13: judging whether the first updated position is the standby position, if so, taking the first updated position as the current position, and executing step S14; if not, returning to the step S12;
s14: performing standby position updating analysis on the current position according to the first preset direction to obtain a second updated position, and executing step S15;
s15: judging whether the second updated position is the working position, if so, taking the second updated position as an updated position, and generating a position arrival instruction; if not, returning to the step S14;
s16: taking the working position as the updated position and generating the position arrival instruction;
the process of carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position comprises the following steps:
generating a track induction instruction;
acquiring track information from tracks arranged on the ground according to the track sensing instruction, wherein the track information comprises track signals corresponding to each track sensor;
Detecting whether all track signals exist, if so, taking the current position as a first updated position;
if not, leading in the distances from the track inductors corresponding to the track inductors to the midpoint of the magnetic induction component, screening the maximum value of the distances from the track inductors of all the track inductors with the track signals to the midpoint of the magnetic induction component, and obtaining a maximum distance value after screening;
and calculating the corner angle through a first formula to the maximum distance value to obtain the corner angle, wherein the first formula is as follows:
wherein θ is a rotation angle, L is a maximum distance value, V is a moving speed, T is a unit time, and the universal wheel 2 is controlled to move along the rotation angle toward the first preset direction, and the moved position is used as the first updated position.
Alternatively, another embodiment of the present invention provides a child DR photography assisting vehicle including a memory, a processor, and a computer program stored in the memory and executable on the processor, which when executed by the processor, implements the child DR photography assisting method as described above. The device may be a computer or the like.
Alternatively, another embodiment of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the child DR photography assisting method as described above.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the apparatus and units described above may refer to corresponding procedures in the foregoing method embodiments, which are not described herein again.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. For such understanding, the technical solution of the present invention is essentially or part of what contributes to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the various embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and these modifications and substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. The DR photographing auxiliary vehicle for children is characterized by comprising a vehicle body (1), a processor, a video display component, a magnetic induction component, a moving component and universal wheels (2) for driving the video display component to move up and down,
the automobile body (1) is of a hollow cuboid structure, the processor is arranged in the automobile body (1), the universal wheel (2) is arranged at the bottom of the automobile body (1), the magnetic induction component is embedded in the middle of the bottom surface of the automobile body (1), the moving component is arranged at the top end of the automobile body (1), the video display component is movably connected with the moving component, and the processor is respectively connected with the video display component, the magnetic induction component, the moving component and the universal wheel (2) in a circuit manner;
The processor is used for importing a control instruction, acquiring a current position from a preset position library, carrying out position update analysis on the current position according to the control instruction, obtaining an updated position and position arrival instruction, and storing the updated position information in the preset position library;
the video display component is used for acquiring infrared induction information according to the position arrival instruction;
the processor is also used for verifying whether the infrared induction information is human body information or not, and if the infrared induction information is verified successfully, a moving instruction is generated;
the moving component is used for controlling the video display component to move up and down from a preset initial position according to the moving instruction and generating a face acquisition instruction;
the video display component is also used for acquiring an environment image according to the face acquisition instruction;
the processor is also used for carrying out face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
the moving component is also used for stopping moving according to the video playing instruction;
the video display component is also used for playing video according to the video playing instruction;
The control instructions include an operation control instruction, the current position includes a working position, a rest position, and a standby position,
in the processor, the process of performing a position update analysis on the current position according to the control instruction to obtain an updated position and a position arrival instruction includes:
s11: judging the current position according to the working control instruction, controlling the universal wheel (2) to move towards a first preset direction when the universal wheel is positioned at the rest position, and executing a step S12;
when the universal wheel (2) is at the standby position, controlling the universal wheel (2) to move towards a first preset direction, and executing a step S14;
when in the working position, executing step S16;
s12: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position, and executing step S13;
s13: judging whether the first updated position is the standby position, if so, taking the first updated position as the current position, and executing step S14; if not, returning to the step S12;
s14: performing standby position updating analysis on the current position according to the first preset direction to obtain a second updated position, and executing step S15;
S15: judging whether the second updated position is the working position, if so, taking the second updated position as an updated position, and generating a position arrival instruction; if not, returning to the step S14;
s16: taking the working position as the updated position and generating the position arrival instruction;
in the processor, the process of updating and analyzing the rest position of the current position according to the first preset direction to obtain a first updated position includes:
generating a track induction instruction;
the magnetic induction component is used for acquiring track information from tracks arranged on the ground according to the track induction instruction, and the track information comprises track signals corresponding to each track sensor;
the processor is further configured to detect whether all track signals exist, and if yes, take the current position as a first updated position;
if not, leading in the distances from the track inductors corresponding to the track inductors to the midpoint of the magnetic induction component, screening the maximum value of the distances from the track inductors of all the track inductors with the track signals to the midpoint of the magnetic induction component, and obtaining a maximum distance value after screening;
And calculating the corner angle through a first formula to the maximum distance value to obtain the corner angle, wherein the first formula is as follows:
and the universal wheel (2) is controlled to move along the corner angle to the first preset direction, and the moved position is used as the first updated position.
2. The children's DR photography assisting vehicle according to claim 1, wherein the video display assembly comprises a display screen (3), a camera (4) and a thermal infrared imager (5),
the camera (4) is embedded at the upper end of one side of the screen of the display screen (3), the thermal infrared imager (5) is arranged at one side of the camera (4) and embedded on the screen of the display screen (3), the other side of the display screen (3) is movably connected with the moving assembly, and the display screen (3), the camera (4) and the thermal infrared imager (5) are all connected with the processor through lines;
the thermal infrared imager (5) is used for acquiring infrared induction information according to the position arrival instruction;
the processor is also used for verifying whether the infrared induction information is human body information or not, and if the infrared induction information is verified successfully, a moving instruction is generated;
The moving component is used for controlling the video display component to move up and down according to the moving instruction and generating a face acquisition instruction;
the camera (4) is used for acquiring an environment image according to the face acquisition instruction;
the processor is also used for carrying out face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
the moving component is also used for stopping moving according to the video playing instruction;
the display screen (3) is used for playing video according to the video playing instruction.
3. The children's DR photographic aid of claim 2, wherein the moving assembly comprises a support bar (6), a rotating bar (7), a motor protection box (8) and a display screen support frame (9),
the bottom of bracing piece (6) sets up the top of automobile body (1), motor protection box body (8) set up the top of bracing piece (6), be equipped with the motor in motor protection box body (8), the top of automobile body (1) is equipped with and is used for placing place piece (10) of rotary rod (7), place piece (10) setting in one side of bracing piece (6), the one end of rotary rod (7) cup joints place on piece (10) and with place piece (10) swing joint, the one end of rotary rod (7) runs through motor protection box body (8) with the motor is connected, thereby makes the motor drive rotary rod (7) are rotatory, the one end of display screen support frame (9) cup joints on rotary rod (7), rotary rod (7) are through rotatory drive display screen support frame (9) reciprocate, the other end of display screen support frame (9) is with the opposite side swing joint of display screen (3), the motor with the treater circuit is connected.
4. The DR assisted vehicle of claim 1, wherein the process of performing face recognition analysis on the environmental image in the processor to obtain a face recognition result comprises:
denoising the environment image by using a DoG Gaussian differential filtering algorithm to obtain a denoised image;
and carrying out face recognition on the denoised image by utilizing a YOLO target detection algorithm to obtain a face recognition result.
5. The child DR photography assisting vehicle as claimed in claim 1, wherein the processor is further configured to:
importing a video closing instruction;
the video display component is used for closing the video according to the video closing instruction;
and the moving component is used for controlling the video display component to move to the preset initial position according to the video closing instruction.
6. The child DR photography assisting vehicle as claimed in claim 1, wherein the control instructions further comprise standby control instructions, the processor further being configured to:
s17: judging the current position according to the standby control instruction, controlling the universal wheel (2) to move towards the first preset direction when the current position is at the rest position, and executing step S18;
When the universal wheel (2) is at the working position, controlling the universal wheel (2) to move towards a second preset direction, and executing step S110;
when in the standby position, executing step S112;
s18: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a third updated position, and executing step S19;
s19: judging whether the third updated position is the standby position, if so, taking the third updated position as the updated position; if not, returning to the step S18;
s110: performing working position updating analysis on the current position according to the second preset direction to obtain a fourth updated position, and executing step S111;
s111: judging whether the fourth updated position is the standby position, if so, taking the fourth updated position as the updated position; if not, returning to the step S110;
s112: and taking the standby position as the updated position.
7. The child DR photography assisting vehicle as claimed in claim 1, wherein the control instructions further comprise rest control instructions, the processor further comprising:
S113: judging the current position according to the rest control instruction, controlling the universal wheel (2) to move towards a second preset direction when the current position is at the working position, and executing step S114;
when the universal wheel (2) is at the standby position, controlling the universal wheel (2) to move towards a second preset direction, and executing step S116;
when in the rest position, then step S118 is performed;
s114: performing working position updating analysis on the current position according to the second preset direction to obtain a fifth updated position, and executing step S115;
s115: judging whether the fifth updated position is the standby position, if so, taking the fifth updated position as the current position, and executing step S116; if not, returning to the step S114;
s116: performing standby position updating analysis on the current position according to the second preset direction to obtain a sixth updated position, and executing step S117;
s117: judging whether the sixth updated position is the rest position, if so, taking the sixth updated position as an updated position; if not, returning to the step S116;
S118: and taking the rest position as the updated position.
8. A child DR photography assisting method, comprising:
importing a control instruction, acquiring a current position from a preset position library, performing position update analysis on the current position according to the control instruction, obtaining an updated position and a position arrival instruction, and storing the updated position information in the preset position library;
acquiring infrared induction information according to the position arrival instruction;
verifying whether the infrared induction information is human body information or not, and if the infrared induction information is successful in verification, generating a moving instruction;
controlling the video display assembly to move up and down from a preset initial position according to the movement instruction, and generating a face acquisition instruction;
acquiring an environment image according to the face acquisition instruction;
performing face recognition analysis on the environment image to obtain a face recognition result, and generating a video playing instruction according to the face recognition result;
stopping moving according to the video playing instruction, and playing the video;
the control instructions include an operation control instruction, the current position includes a working position, a rest position, and a standby position,
The process of carrying out position updating analysis on the current position according to the control instruction to obtain updated position and position arrival instruction comprises the following steps:
s11: judging the current position according to the working control instruction, controlling the universal wheel (2) to move towards a first preset direction when the universal wheel is positioned at the rest position, and executing a step S12;
when the universal wheel (2) is at the standby position, controlling the universal wheel (2) to move towards a first preset direction, and executing a step S14;
when in the working position, executing step S16;
s12: carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position, and executing step S13;
s13: judging whether the first updated position is the standby position, if so, taking the first updated position as the current position, and executing step S14; if not, returning to the step S12;
s14: performing standby position updating analysis on the current position according to the first preset direction to obtain a second updated position, and executing step S15;
s15: judging whether the second updated position is the working position, if so, taking the second updated position as an updated position, and generating a position arrival instruction; if not, returning to the step S14;
S16: taking the working position as the updated position and generating the position arrival instruction;
the process of carrying out rest position updating analysis on the current position according to the first preset direction to obtain a first updated position comprises the following steps:
generating a track induction instruction;
acquiring track information from tracks arranged on the ground according to the track sensing instruction, wherein the track information comprises track signals corresponding to each track sensor;
detecting whether all track signals exist, if so, taking the current position as a first updated position;
if not, leading in the distances from the track inductors corresponding to the track inductors to the midpoint of the magnetic induction component, screening the maximum value of the distances from the track inductors of all the track inductors with the track signals to the midpoint of the magnetic induction component, and obtaining a maximum distance value after screening;
and calculating the corner angle through a first formula to the maximum distance value to obtain the corner angle, wherein the first formula is as follows:
and the universal wheel (2) is controlled to move along the corner angle to the first preset direction, and the moved position is used as the first updated position.
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