Control method and device of perspective imaging equipment, electronic equipment and storage medium

Abstract

The application discloses a control method and device of a perspective imaging equipment, electronic equipment and a storage medium, and the control method comprises the following steps: acquiring a vector between a cone beam center X of an optical machine and a center point B, the vector being based on a preset three-dimensional coordinate system; generating a vector between the cone beam center X and a center point O and an included angle A between the vector and a target plane S, 0DE≤A≤90DE, the vector being based on the preset three-dimensional coordinate system; and when |A-90DE|≤a preset threshold value, the cone beam center X of the optical machine coincides with the center point O of a detector, wherein the preset threshold value is greater than 0. Thus, the cone beam center of the optical machine in the optical machine and the center point of the detector can be ensured to coincide.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical imaging technology, and in particular to a control method and device for a fluoroscopy imaging apparatus, an electronic device and a storage medium. BACKGROUND

[0002] Digital radiography (DR) is a widely used fluoroscopy imaging technology. As shown in FIG. 1, a device using fluoroscopy imaging technology is generally referred to as a fluoroscopy imaging apparatus, and its structure generally mainly includes a light machine and a detector, with a human body located between the two. Figure 1

[0003] Among them, tomosynthesis (TOMO) based on a flat panel detector is a small-angle projection reconstruction technology, and its main structure is similar to that of DR, but it needs to obtain projection information at different angles. The light machine (usually an X-ray tube) moves at a certain angle to generate rays, and a certain number of projections are obtained (the light machine can also be stationary, the flat panel detector can move, or both can move), and the original three-dimensional slice image is reconstructed according to the projection data and geometric structure information. This kind of device can observe 3D information while having lower dose than conventional CT (Computed Tomography, electronic computed tomography), and has higher image quality and contrast than traditional DR fluoroscopy.

[0004] Whether it is DR imaging or TOMO imaging, the relative position between the light machine and the detector needs to be positioned, so as to ensure that normal projection information is obtained. As shown in FIG. 2, it is necessary to ensure that the light machine cone center coincides with the detector center, or is close to coincidence, that is, the line connecting the light machine cone center and the O point is perpendicular or close to perpendicular to the plane of the detector. In this way, the light beam emitted by the light machine can cover the human body and the imaging surface of the detector, so as to ensure that the photographed image contains sufficient information. Common positioning methods include: (1) as shown in FIG. 3, light beam positioning, the basic principle is: install a calibration light on the light machine, and emit visible light along the center direction of the X-ray machine. When the light machine is moved, the calibration light beam will shine a line or a point on the detector, which is regarded as a reference point. When the reference point is moved to the center of the detector, the position of the light machine is just located at the center of the detector, which can meet the position requirement of imaging; (2) guide rail positioning, the basic principle is: for a device with fixed guide rails, the light source and the detector move on the fixed mechanical device, and their positions can be recorded by the mechanical device, so the mechanical position information can be directly used for positioning. Figure 1 Figure 2

[0005] ​​​In some practical applications, there is a strong demand for portable DR and TOMO devices. These devices have separate optomechanical components and detectors, requiring adjustment of their positions to ensure optimal imaging field of view. One such application scenario is... Figure 3 As shown, the portable DR and TOMO devices need to be pushed into the ward before use, and patients are usually not easy to move. Furthermore, there is no guide rail between the optical engine and the detector, and their positional relationship changes randomly. Therefore, in this application scenario, ensuring that the center of the optical engine cone beam coincides with the center point of the detector becomes a pressing problem to be solved. Summary of the Invention

[0006] In view of this, the main objective of the present invention is to provide a control method, apparatus, electronic device and storage medium for a fluoroscopic imaging device.

[0007] To achieve the above objectives, the technical solution of the present invention is implemented as follows: a control method for a perspective imaging device, the perspective imaging device comprising: an optical engine, a detector, and a second positioning block, wherein the positional relationship between the optical engine and the detector is non-fixed, and the second positioning block is fixed to the side of the detector; in a preset three-dimensional coordinate system, the vector between the center point B of the second positioning block and the center point O of the detector is... The imaging surface of the detector lies in the target plane S; the process includes the following steps: obtaining the vector between the cone beam center X of the optomechanism and the center point B. The vector Based on the aforementioned preset three-dimensional coordinate system; generating cone beam center. Vectors between the center point O = and vectors The vector makes an angle A with the target plane S, where 0° ≤ A ≤ 90°. Based on the preset three-dimensional coordinate system; when |A-90°|≤ preset threshold, the cone beam center X of the optomechanism coincides with the center point O of the detector, wherein the preset threshold>0.

[0008] As an improvement to this embodiment of the invention, a first positioning block is fixedly disposed on the optical engine, and the cone beam center The vector between the first positioning block and the first positioning block is The vector This is based on the preset three-dimensional coordinate system; the step of "obtaining the cone-beam center of the optical engine" is... To center point B vector Specifically, this includes: obtaining the vector between the center point B of the first positioning block and the second positioning block based on a preset method. The vector between the cone beam center X of the light machine and the center point B , the vector is based on the preset three-dimensional coordinate system.

[0009] As an improvement of the embodiment of the present application, the first positioning block is a camera device; and the "vector between the first positioning block and the center point B of the second positioning block based on the preset method" specifically comprises: controlling the camera device to capture a plurality of images containing the second positioning block, and obtaining the vector between the camera device and the center point B of the second positioning block from the plurality of images based on a visual positioning algorithm. .

[0010] As an improvement of the embodiment of the present application, the target plane S is an XOY plane in the preset three-dimensional coordinate system, and the center point O is an origin point in the XOY plane; and the "vector between the camera device and the center point B of the second positioning block based on the visual positioning algorithm" specifically comprises: obtaining three-dimensional coordinates of three different points P1, P2 and P3 on the outer surface of the second positioning block in the preset three-dimensional coordinate system as , , and ; obtaining three-dimensional coordinates of the three points P1, P2 and P3 in a first temporary three-dimensional coordinate system based on the visual positioning algorithm and the plurality of images as , and ; obtaining a first coordinate transformation from the first temporary three-dimensional coordinate system to the preset three-dimensional coordinate system based on the three-dimensional coordinates and corresponding to the point P1, the three-dimensional coordinates and corresponding to the point P2, and the three-dimensional coordinates and corresponding to the point P3; obtaining the vector between the camera device and the center point B of the second positioning block based on the visual positioning algorithm and the plurality of images as , the vector is based on the first temporary three-dimensional coordinate system; and obtaining the vector in the preset three-dimensional coordinate system based on the first coordinate transformation. .

[0011] As an improvement of the embodiment of the present application, the perspective imaging device further comprises a connecting rod, a side edge of the detector is fixedly connected to a first end of the connecting rod, and a second end of the connecting rod is fixedly connected to the second positioning block, and the first end and the second end are oppositely arranged in the connecting rod. ​

[0012] As a kind of improvement of the embodiment of the application, non-vision sensor is also provided in the perspective imaging device;The "vector between the center point B of the first positioning block and the second positioning block based on the preset method Specifically includes: control the non-vision sensor obtains the vector between the center point B of the first positioning block and the second positioning block .

[0013] As a kind of improvement of the embodiment of the application, the target plane S is the XOY plane in the preset three-dimensional coordinate system, and the center point O is the origin in the XOY plane;Third positioning block and fourth positioning block are also fixed on the side of the detector;The "vector between the camera and the center point B of the second positioning block based on visual positioning algorithm, from the plurality of images Specifically includes: the three-dimensional coordinates of the center point of the second positioning block, the center point of the third positioning block and the center point of the fourth positioning block in the preset three-dimensional coordinate system are respectively 、 And ;The three-dimensional coordinates of the center point of the second positioning block, the center point of the third positioning block and the center point of the fourth positioning block in the second temporary three-dimensional coordinate system based on visual positioning algorithm, from the plurality of images are respectively 、 And ;Based on the three-dimensional coordinates And three-dimensional coordinates Of the center point of the second positioning block, the three-dimensional coordinates And three-dimensional coordinates Of the center point of the third positioning block, and the three-dimensional coordinates And three-dimensional coordinates Of the center point of the fourth positioning block, the second coordinate transformation of the second temporary three-dimensional coordinate system to the preset three-dimensional coordinate system is obtained;The vector between the camera and the center point B of the second positioning block based on visual positioning algorithm, from the plurality of images Vector Is based on the second temporary three-dimensional coordinate system;Based on the second coordinate transformation, the vector In the preset three-dimensional coordinate system, vector .

[0014] The embodiment of the application also provides a control device of perspective imaging device, the perspective imaging device includes: light machine, detector and second positioning block, the positional relationship between the light machine and the detector is not fixed, the second positioning block is fixed on the side of the detector;In preset three-dimensional coordinate system, the vector between the center point B of the second positioning block and the center point O of the detector is , the imaging surface of the detector is in a target plane S; comprising the following modules: an information acquisition module, configured to acquire a vector between a cone beam center X of the optical machine and a center point B , the vector is based on the preset three-dimensional coordinate system; an information processing module, configured to generate a vector between the cone beam center and the center point O = , and an angle A between the vector and the target plane S, 0°≤A≤90°, the vector is based on the preset three-dimensional coordinate system; a judgment module, configured to determine that the cone beam center X of the optical machine coincides with the center point O of the detector when |A-90°|≤a preset threshold, wherein the preset threshold>0.

[0015] The embodiment of the present application also provides an electronic device, comprising: a memory, configured to store executable instructions; and a processor, configured to execute the executable instructions stored in the memory to implement the control method.

[0016] The embodiment of the present application also provides a storage medium, which stores executable instructions and is configured to cause a processor to execute the control method.

[0017] The control method, device, electronic device and storage medium of the perspective imaging equipment provided by the embodiment of the present application have the following advantages: the control method, device, electronic device and storage medium of the perspective imaging equipment are disclosed, the control method comprises the following steps: acquiring a vector between a cone beam center X of an optical machine and a center point B , the vector is based on the preset three-dimensional coordinate system; generating a vector between the cone beam center and the center point O = , and an angle A between the vector and a target plane S, 0°≤A≤90°, the vector is based on the preset three-dimensional coordinate system; and determining that the cone beam center X of the optical machine coincides with the center point O of the detector when |A-90°|≤a preset threshold, wherein the preset threshold>0. Therefore, the cone beam center of the optical machine in the optical machine can coincide with the center point of the detector. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 , Figure 2 and Figure 3 are principle diagrams of perspective imaging equipment;

[0019] Figure 4 is a principle diagram of the control method of the perspective imaging equipment provided by the embodiment of the present application;

[0020] Figure 5 The flow chart of the control method provided by the embodiment of the present application is shown in the figure.

[0021] Figure 6 The schematic diagram of the control device of the perspective imaging equipment provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0022] The principles and features of the present application are described below in conjunction with the accompanying drawings, and the examples are only used to explain the present application and not to limit the scope of the present application.

[0023] The terms for spatial relative position used herein, such as “upper”, “above”, “lower”, “below”, etc., are used to describe the relationship of one unit or feature relative to another unit or feature as shown in the drawings for the purpose of convenience. The terms for spatial relative position can be intended to include different orientations of the device in use or operation in addition to the orientation shown in the drawings. For example, if the device in the drawings is turned over, the unit described as being “below” or “under” the other unit or feature will be “above” the other unit or feature. Therefore, the exemplary term “below” can encompass both the above and below orientations. The device can be oriented in other ways (rotated 90 degrees or other orientations), and the spatially-related descriptions used herein are interpreted accordingly.

[0024] The embodiment one of the present application provides a control method of perspective imaging equipment, the perspective imaging equipment comprises a light machine 1, a detector 2 and a second positioning block 42, the positional relationship between the light machine 1 and the detector 2 is not fixed, and the second positioning block 42 is fixed to the side edge of the detector 2; in a preset three-dimensional coordinate system, the vector between the center point B of the second positioning block 42 and the center point O of the detector 2 is , and the imaging surface of the detector 2 is in a target plane S; here, the light machine 1 can be a light machine capable of emitting X-rays, the perspective imaging equipment can be a DR equipment or a TOMO equipment, the second positioning block 42 can be a sphere or a cube, etc., and can be made of metal. Here, the positional relationship between the center point B of the second positioning block 42 and the center point O of the detector 2 is fixed, so the vector is also a fixed value.

[0025] As shown in Figure 4 and Figure 5 , the method comprises the following steps:

[0026] Step 501: acquiring the vector between the cone beam center X of the light machine 1 and the center point B, and the vector is based on the preset three-dimensional coordinate system;

[0027] Step 502: Generate the cone-beam center Vectors between the center point O = and vectors The vector makes an angle A with the target plane S, where 0° ≤ A ≤ 90°. It is based on the preset three-dimensional coordinate system;

[0028] Step 503: When |A-90°| ≤ a preset threshold, the cone-beam center X of the optomechanical 1 coincides with the center point O of the detector, where the preset threshold > 0. In practice, due to errors, the cone-beam center X of the optomechanical 1 and the center point O of the detector cannot truly coincide. Therefore, when |A-90°| ≤ the preset threshold, it can be considered that the cone-beam center X of the optomechanical 1 coincides with the center point O of the detector.

[0029] In practical use, since the patient is located above the detector 2 and the second positioning block 42 is located on the side of the detector 2, i.e. it is not blocked by the patient, the angle A between the vector and the target plane S can be obtained by means of the second positioning block 42, thereby indirectly obtaining whether the cone beam center X coincides with the center point O of the detector.

[0030] In this embodiment of the invention, a first positioning block 41 is fixedly disposed on the optical engine 1, and the cone beam center The vector between the first positioning block 41 and the first positioning block 41 is The vector It is based on the preset three-dimensional coordinate system;

[0031] The phrase "obtaining the cone center of the optical engine 1" To center point B vector Specifically, this includes: obtaining the vector between the center point B of the first positioning block 41 and the second positioning block 42 based on a preset method. Then the vector between the cone beam center X and the center point B of the optical engine 1 is... The vector It is based on the preset three-dimensional coordinate system.

[0032] Here, since the first positioning block 41 is fixed to the optical engine 1, the positional relationship between the first positioning block 41 and the optical engine 1 is fixed, and it is related to the center of the cone beam. The relationship is also definite, that is, vectors. It is a constant value.

[0033] In this embodiment, the first positioning block 41 is a camera device; the step of "obtaining the vector between the center point B of the first positioning block 41 and the second positioning block 42 based on a preset method" Specifically, the method comprises: controlling the camera to capture a plurality of images containing the second positioning block 42, and obtaining a vector between the camera and the center point B of the second positioning block 42 from the plurality of images based on a visual positioning algorithm .

[0034] Here, the positional relationship between the camera and the center point B of the second positioning block 42 can be determined by using a computer vision method (for example, a visual positioning algorithm, etc.). Since the shape of the second positioning block 42 is known, the position of the shooting point can be determined by the three-dimensional positional relationship of a plurality of feature points on the second positioning block 42 and the positional relationship in the two-dimensional photo, so as to obtain the position of the camera and the second positioning block 42, and thus obtain the vector .

[0035] Here, the camera can be a monocular camera. After obtaining the image, the second positioning block 42 is located from the image by using a visual positioning algorithm, and then the vector .

[0036] Here, the camera can be provided with a multi-camera, which captures a plurality of images containing the second positioning block 42 from different angles. It can be understood that the plurality of images can be regarded as a “stereogram” of the second positioning block 42, so that an image analysis algorithm can be used to obtain the vector between the camera and the center point of the second positioning block 42 .

[0037] In the embodiment, the target plane S is an XOY plane in the preset three-dimensional coordinate system, and the center point O is an origin point in the XOY plane;

[0038] The “obtaining a vector between the camera and the center point B of the second positioning block 42 from the plurality of images based on a visual positioning algorithm ” specifically comprises:

[0039] obtaining three-dimensional coordinates of points P1, P2 and P3 at three different positions on the outer surface of the second positioning block 42 in the preset three-dimensional coordinate system respectively as , and ; here, in practice, the three points P1, P2 and P3 can be coated with different colors respectively, and the camera can capture the three points.

[0040] obtaining three-dimensional coordinates of the three points P1, P2 and P3 in the first temporary three-dimensional coordinate system based on a visual positioning algorithm from the plurality of images respectively as , and Here, it can be understood that the first temporary three-dimensional coordinate system can be based on the perspective of the camera.

[0041] based on the three-dimensional coordinate corresponding to the P1 point and the three-dimensional coordinate corresponding to the P2 point , the three-dimensional coordinate corresponding to the P3 point and the three-dimensional coordinate corresponding to the P4 point , and the three-dimensional coordinate corresponding to the P5 point and the three-dimensional coordinate corresponding to the P6 point , the first coordinate transformation of the first temporary three-dimensional coordinate system to the preset three-dimensional coordinate system is obtained.

[0042] based on the visual positioning algorithm, the vector between the camera and the center point B of the second positioning block 42 is obtained from the plurality of images , the vector is based on the first temporary three-dimensional coordinate system; based on the first coordinate transformation, the vector is obtained in the preset three-dimensional coordinate system.

[0043] Here, assuming that the three-dimensional coordinate of a point P in the preset three-dimensional coordinate system is , the three-dimensional coordinate of the point P in the first temporary three-dimensional coordinate system is , then there is the equation:

[0044] + , wherein R is a rotation matrix, is a translation vector, is a scale factor.

[0045] After that, the three-dimensional coordinate and the three-dimensional coordinate , the three-dimensional coordinate and the three-dimensional coordinate , and the three-dimensional coordinate and the three-dimensional coordinate are brought into the above equation, then R, and can be obtained.

[0046] In the embodiment, the perspective imaging device further comprises a connecting rod 3, the side edge of the detector 2 is fixedly connected to the first end of the connecting rod 3, and the second end of the connecting rod is fixedly connected to the second positioning block 42, and the first and second ends of the connecting rod 3 are oppositely arranged. Here, the connecting rod 3 can make the second positioning block 42 away from the detector 2, so that the possibility of the patient blocking the second positioning block 42 is further reduced.

[0047] In this embodiment, the perspective imaging device is further provided with a non-vision sensor; the "vector between the center point B of the first positioning block 41 and the second positioning block 42 obtained based on the preset method" specifically includes: controlling the non-vision sensor to obtain the vector between the center point B of the first positioning block 41 and the second positioning block 42 . Here, the non-vision sensor can use non-vision information to obtain the vector between the center point B of the first positioning block 41 and the second positioning block 42 , for example, the non-vision sensor can perform the following methods: (1) GPS (Global Positioning System) positioning; (2) magnetic field positioning, (3) ultrasonic positioning and (4) UWB (Ultra Wide Band) positioning.

[0048] Here, in actual use, a non-vision sensor can be temporarily used to perform the preset method, so as to obtain the vector .

[0049] The principle of the magnetic field positioning can be that the surrounding magnetic field is easily disturbed by iron products, and buildings are full of steel bars and various iron pipes, so that the measured magnetic field will have different field strengths and changes at different positions in the room. Since the distribution of steel can be approximately regarded as random and will not change easily in a long time, a unique position can be located according to the change trend of the field strength.

[0050] Ultrasonic positioning refers to using a transmitting probe to emit a sound wave with a frequency greater than 20KHZ and calculating the flight time to detect the distance and perform positioning, so as to obtain the vector .

[0051] UWB (Ultra Wide Band) technology is a new type of wireless communication technology. It modulates pulses with very steep rising and falling times to make the signal have a bandwidth of GHz.

[0052] In this embodiment, the target plane S is the XOY plane in the preset three-dimensional coordinate system, and the center point O is the origin in the XOY plane;

[0053] A third positioning block and a fourth positioning block are further fixed on the side of the detector 2;

[0054] The "vector between the camera and the center point B of the second positioning block 42 obtained based on the visual positioning algorithm from the plurality of images" specifically includes:

[0055] The three-dimensional coordinates of the center points of the second positioning block 42, the third positioning block, and the fourth positioning block in the preset three-dimensional coordinate system are as follows: , and ;

[0056] Based on the visual positioning algorithm, the center points of the second positioning block 42, the third positioning block, and the fourth positioning block are obtained from the aforementioned images. Their three-dimensional coordinates in the second temporary three-dimensional coordinate system are as follows: , and Here, it can be understood that the second temporary three-dimensional coordinate system can be based on the perspective of a non-visual sensor.

[0057] Based on the three-dimensional coordinates of the center point of the second positioning block 42 and three-dimensional coordinates The three-dimensional coordinates corresponding to the center point of the third positioning block and three-dimensional coordinates and the three-dimensional coordinates corresponding to the center point of the fourth positioning block. and three-dimensional coordinates The second coordinate transformation from the second temporary three-dimensional coordinate system to the preset three-dimensional coordinate system is obtained;

[0058] Based on a visual positioning algorithm, the vector between the camera device and the center point B of the second positioning block 42 is obtained from the plurality of images. ,vector It is based on the second temporary three-dimensional coordinate system; based on the second coordinate transformation, a vector is obtained. Vector in the preset three-dimensional coordinate system .

[0059] Here, we assume that there is a point P with the following three-dimensional coordinates in a preset three-dimensional coordinate system: The three-dimensional coordinates of point P in the second temporary three-dimensional coordinate system are: Then we have the equation:

[0060] + Where R is the rotation matrix, It is a translation vector. This is a scaling factor.

[0061] Next, the three-dimensional coordinates and three-dimensional coordinates 3D coordinates and three-dimensional coordinates and three-dimensional coordinates and three-dimensional coordinates Substituting these values ​​into the above equation, we can obtain R. and .

[0062] Embodiment 2 of the present invention provides a control device for a perspective imaging device. The perspective imaging device includes: an optical engine 1, a detector 2, and a second positioning block 42. The positional relationship between the optical engine 1 and the detector 2 is not fixed, and the second positioning block 42 is fixed to the side of the detector 2. In a preset three-dimensional coordinate system, the vector between the center point B of the second positioning block 42 and the center point O of the detector 2 is... The imaging plane of the detector 2 is located in the target plane S; it includes the following modules:

[0063] The information acquisition module is used to acquire the vector between the cone beam center X and the center point B of the optical engine 1. The vector It is based on the preset three-dimensional coordinate system;

[0064] The information processing module is used to generate the cone beam center. Vectors between the center point O = and vectors The vector makes an angle A with the target plane S, where 0° ≤ A ≤ 90°. It is based on the preset three-dimensional coordinate system;

[0065] The judgment module is used to determine that when |A-90°|≤ a preset threshold, the cone beam center X of the optomechanical 1 coincides with the center point O of the detector, wherein the preset threshold>0.

[0066] In this embodiment, a first positioning block 41 is fixedly installed on the optical engine 1, and the cone beam center The vector between the first positioning block 41 and the first positioning block 41 is The vector It is based on the preset three-dimensional coordinate system;

[0067] The information acquisition module is further configured to: acquire the vector between the center point B of the first positioning block 41 and the second positioning block 42 based on a preset method. Then the vector between the cone beam center X and the center point B of the optical engine 1 is... The vector It is based on the preset three-dimensional coordinate system.

[0068] In this embodiment, the first positioning block 41 is a camera device;

[0069] The information acquisition module is further configured to control the camera to capture a plurality of images containing the second positioning block 42, and acquire, based on a visual positioning algorithm, a vector between the camera and a center point B of the second positioning block 42 from the plurality of images .

[0070] In this embodiment, the target plane S is an XOY plane in the preset three-dimensional coordinate system, and the center point O is an origin in the XOY plane.

[0071] The information acquisition module is further configured to acquire three-dimensional coordinates of points P1, P2 and P3 at three different positions on the outer surface of the second positioning block 42 in the preset three-dimensional coordinate system , and , acquire, based on a visual positioning algorithm, three-dimensional coordinates of the three points P1, P2 and P3 in the first temporary three-dimensional coordinate system from the plurality of images , and , obtain a first coordinate transformation from the first temporary three-dimensional coordinate system to the preset three-dimensional coordinate system based on the three-dimensional coordinates and of the P1 point, the three-dimensional coordinates and of the P2 point, and the three-dimensional coordinates and of the P3 point, acquire, based on a visual positioning algorithm, a vector between the camera and the center point B of the second positioning block 42 from the plurality of images , the vector is based on the first temporary three-dimensional coordinate system, and obtain, based on the first coordinate transformation, the vector in the preset three-dimensional coordinate system .

[0072] In this embodiment, the perspective imaging device further comprises a connecting rod 3, a side edge of the detector 2 is fixedly connected to a first end of the connecting rod 3, and a second end of the connecting rod is fixedly connected to the second positioning block 42. In the connecting rod 3, the first and second ends are oppositely arranged.

[0073] In this embodiment, the preset method at least comprises one of GPS positioning, magnetic field positioning, ultrasonic positioning and ultra-wideband positioning.

[0074] In this embodiment, the target plane S is an XOY plane in the preset three-dimensional coordinate system, and the center point O is an origin in the XOY plane. A third positioning block and a fourth positioning block are further fixed to the side edge of the detector 2.

[0075] The information acquisition module is further configured to: acquire the three-dimensional coordinates of the center point of the second positioning block 42, the center point of the third positioning block, and the center point of the fourth positioning block in the preset three-dimensional coordinate system, respectively. , and Based on the visual positioning algorithm, the center points of the second positioning block 42, the third positioning block, and the fourth positioning block are obtained from the plurality of images. Their three-dimensional coordinates in the second temporary three-dimensional coordinate system are as follows: , and Based on the three-dimensional coordinates corresponding to the center point of the second positioning block 42 and three-dimensional coordinates The three-dimensional coordinates corresponding to the center point of the third positioning block and three-dimensional coordinates and the three-dimensional coordinates corresponding to the center point of the fourth positioning block. and three-dimensional coordinates The second coordinate transformation from the second temporary three-dimensional coordinate system to the preset three-dimensional coordinate system is obtained; based on the visual positioning algorithm, the vector between the camera device and the center point B of the second positioning block 42 is obtained from the plurality of images. ,vector It is based on the second temporary three-dimensional coordinate system; based on the second coordinate transformation, a vector is obtained. Vector in the preset three-dimensional coordinate system .

[0076] Embodiment 3 of the present invention provides an electronic device, including: a memory for storing executable instructions; and a processor for implementing the control method in Embodiment 1 when executing the executable instructions stored in the memory.

[0077] Embodiment 4 of the present invention provides a storage medium storing executable instructions, which are used to implement the control method in Embodiment 1 when the processor executes them.

[0078] Figure 6 This is a schematic diagram of another neural network generation device for ultra-short-term load forecasting provided in an embodiment of the present invention. A structural schematic diagram applied to a certain electronic device is also shown. Figure 5 The illustrated electronic device 700 includes at least one processor 701, a memory 702, at least one network interface 704, and other user interfaces 703. The various components in the electronic device 700 are coupled together via a bus system 705. It is understood that the bus system 705 is used to implement communication between these components. In addition to a data bus, the bus system 705 also includes a power bus, a control bus, and a status signal bus. However, for clarity, ... Figure 5 The general labeled all buses as Bus System 705.

[0079] The user interface 703 can include a display, a keyboard, or a pointing device (e.g., a mouse, a trackball, a touchpad, or a touchscreen).

[0080] It can be understood that the memory 702 in the embodiments of the present application can be a volatile memory or a nonvolatile memory, or can include both volatile and nonvolatile memory. The nonvolatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM) used as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synch link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 702 described herein is intended to include, without being limited to, these and any other suitable types of memory.

[0081] In some embodiments, the memory 702 stores the following elements, executable units or data structures, or a subset of them, or an extended set of them: an operating system 7021 and an application program 7022.

[0082] The operating system 7021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application program 7022 includes various application programs, such as a Media Player, a Browser, etc., for implementing various application services. The program for implementing the method of the embodiments of the present application can be included in the application program 7022.

[0083] In the embodiments of the present application, the processor 701 is configured to execute programs or instructions stored in the memory 702, in particular, programs or instructions stored in the application program 7022,

[0084] When applied to the host computer, the processor 701 is configured to execute the method steps provided by the method embodiments, for example, including:

[0085] receiving a target data set sent by a sensor and / or a PLC;

[0086] sending the target data set to a server; and performing corresponding operations according to the target data set by the server;

[0087] The target data set includes at least one of the following: detection data, a type symbol corresponding to the detection data, and a tag symbol describing a device for collecting the detection data.

[0088] When applied to the server, the processor 701 is configured to execute the method steps provided by the method embodiments, for example, including:

[0089] receiving a data set sent by the host computer;

[0090] analyzing the data set, and performing different operations on data in the data set according to the analysis result;

[0091] The data set includes at least one of the following: detection data, a type symbol corresponding to the detection data, and a tag symbol describing a device for collecting the detection data.

[0092] The method disclosed by the embodiments of the present application can be applied to the processor 701 or implemented by the processor 701. The processor 701 can be an integrated circuit chip having a signal processing capability. In the implementation process, the steps of the method can be completed by the integrated logic electric circuit in the hardware of the processor 701 or the instruction of the software form. The processor 701 described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software units in the code processor for execution. The software unit can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory 702, and the processor 701 reads the information in the memory 702 and combines the hardware to complete the steps of the method described above.

[0093] It can be understood that the embodiments described herein can be realized by hardware, software, firmware, middleware, microcode or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units for executing the functions described in the present application or a combination thereof.

[0094] For software implementation, the technology described herein can be implemented by units performing the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0095] The electronic device provided by the embodiment can be the electronic device described above, can execute all steps of the optimization method described above, and further realize the technical effects of the optimization method described above. For brevity, the related description is not repeated here.

[0096] The embodiment of the application further provides a storage medium (computer readable storage medium). The storage medium stores one or more programs. The storage medium can include a volatile memory such as a random access memory, and can also include a non-volatile memory such as a read-only memory, a flash memory, a hard disk or a solid state disk, and can also include a combination of the above kinds of memories.

[0097] When the one or more programs in the storage medium are executed by the one or more processors, the optimization method executed by the operation and maintenance monitoring device described above can be implemented.

[0098] When applied to the host computer, the processor is configured to execute the operation and maintenance monitoring program stored in the memory to implement the following steps of the optimization method executed on the host computer side:

[0099] Receiving a target data set sent by a sensor and / or a programmable logic controller (PLC);

[0100] Sending the target data set to a server, and performing corresponding operations on the target data set by the server;

[0101] The target data set includes at least one of the following: detection data, a type symbol corresponding to the detection data, and a tag symbol describing a device collecting the detection data.

[0102] When applied to the server, the processor is configured to execute the operation and maintenance monitoring program stored in the memory to implement the following steps of the optimization method executed on the server side:

[0103] Receiving a data set sent by the host computer;

[0104] Analyzing the data set, and performing different operations on the data in the data set according to the analysis result;

[0105] The data set includes at least one of the following: detection data, a type symbol corresponding to the detection data, and a tag symbol describing a device collecting the detection data.

[0106] Those skilled in the art should further appreciate that the elements and algorithms described in connection with the examples disclosed herein can be embodied in electronic hardware, computer software, or in combinations of both. To clearly illustrate this interchangeability of hardware and software, various examples have been described herein in terms of their general functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0107] The steps of a method or algorithm described in connection with the examples disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in random access memory (RAM), flash memory, read-only memory (ROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0108] The specific implementation described above is further to the purposes, technical solutions, and beneficial effects of the present application. It should be understood that the above description is merely a specific implementation of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a fluoroscopic imaging device, the fluoroscopic imaging device comprising: The optical engine (1), detector (2), and second positioning block (42) are provided. The positional relationship between the optical engine (1) and detector (2) is not fixed, and the second positioning block (42) is fixed to the side of detector (2). In a preset three-dimensional coordinate system, the vector between the center point B of the second positioning block (42) and the center point O of detector (2) is given by... The imaging surface of the detector (2) is located in the target plane S; a first positioning block (41) is fixedly installed on the optomechanical unit (1), and the center of the cone beam... The vector between the first positioning block (41) and the first positioning block is The vector It is based on the preset three-dimensional coordinate system; its characteristic is that it includes the following steps: The vector between the center point B of the first positioning block (41) and the second positioning block (42) is obtained based on a preset method. Then the vector between the cone beam center X and the center point B of the optical engine (1) The vector It is based on the preset three-dimensional coordinate system, the vector It is based on the preset three-dimensional coordinate system; Generate cone beam center Vectors between the center point O = and vectors The vector makes an angle A with the target plane S, where 0° ≤ A ≤ 90°. It is based on the preset three-dimensional coordinate system; When |A-90°|≤ preset threshold, the cone beam center X of the optomechanical (1) coincides with the center point O of the detector, wherein the preset threshold>0.

2. The control method according to claim 1, characterized in that, The first positioning block (41) is a camera device; The "vector between the center point B of the first positioning block (41) and the second positioning block (42) is obtained based on a preset method" Specifically, it includes: The camera device is controlled to capture several images containing the second positioning block (42). Based on a visual positioning algorithm, the vector between the camera device and the center point B of the second positioning block (42) is obtained from the several images. .

3. The control method according to claim 2, characterized in that, The target plane S is the XOY plane in the preset three-dimensional coordinate system, and the center point O is the origin of the XOY plane; The "vector between the camera device and the center point B of the second positioning block (42) is obtained from the plurality of images based on the visual positioning algorithm" Specifically, it includes: The three-dimensional coordinates of points P1, P2, and P3 at three different positions on the outer surface of the second positioning block (42) in the preset three-dimensional coordinate system are respectively... , and ; Based on the visual positioning algorithm, the three-dimensional coordinates of three points P1, P2, and P3 in the first temporary three-dimensional coordinate system are obtained from the aforementioned images. , and ; Based on the three-dimensional coordinates of point P1 and three-dimensional coordinates The three-dimensional coordinates of point P2 and three-dimensional coordinates And the three-dimensional coordinates corresponding to point P3. and three-dimensional coordinates The first coordinate transformation from the first temporary three-dimensional coordinate system to the preset three-dimensional coordinate system is obtained; Based on a visual positioning algorithm, the vector between the camera device and the center point B of the second positioning block (42) is obtained from the plurality of images. ,vector It is based on the first temporary three-dimensional coordinate system; based on the first coordinate transformation, a vector is obtained. Vector in the preset three-dimensional coordinate system .

4. The control method according to claim 2, characterized in that, The fluoroscopic imaging device also includes: The first end of the connecting rod (3) is fixedly connected to the side of the detector (2), and the second end of the connecting rod is fixedly connected to the second positioning block (42). The first and second ends of the connecting rod (3) are arranged opposite to each other.

5. The control method according to claim 1, characterized in that, The perspective imaging device is also equipped with a non-visual sensor; The "vector between the center point B of the first positioning block (41) and the second positioning block (42) is obtained based on a preset method" Specifically, this includes controlling the non-visual sensor to acquire the vector between the center point B of the first positioning block (41) and the second positioning block (42). .

6. The control method according to claim 2, characterized in that: The target plane S is the XOY plane in the preset three-dimensional coordinate system, and the center point O is the origin of the XOY plane; A third positioning block and a fourth positioning block are also fixed on the side of the detector (2); The "vector between the camera device and the center point B of the second positioning block (42) is obtained from the plurality of images based on the visual positioning algorithm" Specifically, it includes: The three-dimensional coordinates of the center points of the second positioning block (42), the third positioning block, and the fourth positioning block in the preset three-dimensional coordinate system are as follows: , and ; Based on the visual positioning algorithm, the center points of the second positioning block (42), the third positioning block, and the fourth positioning block are obtained from the images. Their three-dimensional coordinates in the second temporary three-dimensional coordinate system are as follows: , and ; Based on the three-dimensional coordinates corresponding to the center point of the second positioning block (42) and three-dimensional coordinates The three-dimensional coordinates corresponding to the center point of the third positioning block and three-dimensional coordinates and the three-dimensional coordinates corresponding to the center point of the fourth positioning block. and three-dimensional coordinates The second coordinate transformation from the second temporary three-dimensional coordinate system to the preset three-dimensional coordinate system is obtained; Based on a visual positioning algorithm, the vector between the camera device and the center point B of the second positioning block (42) is obtained from the plurality of images. ,vector It is based on the second temporary three-dimensional coordinate system; based on the second coordinate transformation, a vector is obtained. Vector in the preset three-dimensional coordinate system .

7. A control device for a fluoroscopic imaging apparatus, the fluoroscopic imaging apparatus comprising: The optical engine (1), detector (2), and second positioning block (42) are provided. The positional relationship between the optical engine (1) and detector (2) is not fixed, and the second positioning block (42) is fixed to the side of detector (2). In a preset three-dimensional coordinate system, the vector between the center point B of the second positioning block (42) and the center point O of detector (2) is given by... The imaging surface of the detector (2) is located in the target plane S; a first positioning block (41) is fixedly installed on the optomechanical unit (1), and the center of the cone beam... The vector between the first positioning block (41) and the first positioning block is The vector It is based on the preset three-dimensional coordinate system; its characteristic is that it includes the following modules: The information acquisition module is used to acquire the vector between the center point B of the first positioning block (41) and the second positioning block (42) based on a preset method. Then the vector between the cone beam center X and the center point B of the optical engine (1) The vector It is based on the preset three-dimensional coordinate system, the vector It is based on the preset three-dimensional coordinate system; The information processing module is used to generate the cone beam center. Vectors between the center point O = and vectors The vector makes an angle A with the target plane S, where 0° ≤ A ≤ 90°. It is based on the preset three-dimensional coordinate system; The judgment module is used to determine that when |A-90°|≤ a preset threshold, the cone beam center X of the optomechanical (1) coincides with the center point O of the detector, wherein the preset threshold>0.

8. An electronic device, characterized in that, include: Memory, used to store executable instructions; A processor, when executing executable instructions stored in the memory, implements the control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that, It stores executable instructions for causing the processor to execute, thereby implementing the control method according to any one of claims 1 to 6.

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