Device for automatically finding a position to collect pulse waves and method for automatically finding a position to collect pulse waves

Abstract

The invention discloses an automatic positioning pulse wave collection device and an automatic positioning pulse wave collection method, belonging to the technical field of health detection equipment. The device comprises: a pulse diagnosis fixing component, the pulse diagnosis fixing component comprises a pulse diagnosis bottom shell and a pulse pillow support containing a pulse diagnosis cavity; the upper cover of the pulse diagnosis cavity is provided with an opening; a pulse position positioning component, comprising an image acquisition unit and a pulse sensor X-axis and Y-axis horizontal motion module; a pulse wave collection component, comprising a pulse sensor and a pulse sensor Z-axis vertical motion module, the pulse sensor being arranged on the pulse sensor Z-axis vertical motion module; and a central control component, which is electrically connected to the image acquisition unit, the pulse sensor X-axis and Y-axis horizontal motion modules, the pulse sensor and the pulse sensor Z-axis vertical motion module. The invention collects pulse waves by visual image positioning and the pulse sensor automatically adjusting its position and then pressing down, thereby improving the accuracy of the pulse collection position and the sense of automated use experience.

Description

Technical Field

[0001] The invention belongs to the technical field of health detection equipment, and in particular relates to an automatic positioning and pulse wave collection device and an automatic positioning and pulse wave collection method. Background Art

[0002] Pulse diagnosis is a method of palpation by touching the pulse of different parts of the human body to observe the changes in the pulse. It is also called pulse palpation, pulse diagnosis, pulse pressing, and pulse holding. The formation of the pulse is closely related to the qi and blood of the internal organs. If the qi and blood of the internal organs are diseased, the blood circulation will be affected and the pulse will change. In clinical practice, pulse diagnosis can infer the prognosis of the disease. Pulse diagnosis used by ancient Chinese medicine in diagnosing diseases is a unique diagnostic method. It is one of the "four diagnoses" of traditional Chinese medicine (observation, auscultation, questioning, and palpation), and it is also an indispensable objective basis for syndrome differentiation and treatment.

[0003] The pulse diagnosis method of Cunkou in traditional Chinese medicine is to collect the corresponding Cun pulse, Guan pulse and Chi pulse of the three parts of the radial artery of the human body, and feel the pulse image of each part by pressing down with fingers, and infer the physiological and pathological state of the human body according to its regularity and characteristics. Among them, the Guan part is the high bone (radial styloid process) corresponding to the middle finger, which is the boundary of the other two parts. The Cun part is before the Guan part, and the Chi part is after the Guan part. The pulse collection of each part is divided into different finger pressure sections such as "floating, middle, and sinking", so it is called "three parts and nine signs", corresponding to the health information of different internal organs.

[0004] In recent years, pulse diagnosis equipment developed by integrating traditional Chinese medicine pulse theory and computer-assisted analysis technology has gradually gained a place in academia and clinical practice. It simulates the process of manual pulse collection through intelligent sensing equipment and information technology support, quantifies and objectifies pulse information, and provides a variety of options for the inheritance and popularization of traditional Chinese medicine. It is a "unique field of independent innovation in traditional Chinese medicine" recognized and encouraged by the state.

[0005] However, the pulse sampling devices in the prior art are mostly wristband ring pressure type pulse sampling devices and downward pressure type pulse wave collection devices. The wristband ring pressure type pulse sampling devices generally use naked eye observation and manual adjustment to ensure the correct position; for example, after collecting a single part, manual adjustment is still required to re-determine the position of other parts for the full collection of three parts and nine signs. The disassembly, assembly and binding process of the ring pressure device, as well as the time utilization and convenience are greatly reduced, so that most of the current devices of this type are mainly based on single-point, single-part collection.

[0006] In addition, due to factors such as blocked vision or restricted movement, it is difficult to ensure the basic feasibility of the implementation and effectiveness of pulse collection of multifunctional integrated equipment in limited space conditions. Summary of the invention

[0007] In order to solve the above problems, the present invention adopts the following technical solutions:

[0008] An automatic positioning and pulse wave collection device, comprising:

[0009] A pulse diagnosis fixing component, the pulse diagnosis fixing component comprises a pulse diagnosis bottom shell including a pulse diagnosis cavity and a pulse pillow support arranged in the pulse diagnosis cavity, the pulse pillow support is used to fix and support the wrist; the upper cover of the pulse diagnosis cavity is provided with an opening;

[0010] A pulse position locating component, the pulse position locating component comprising an image acquisition unit and X-axis and Y-axis horizontal motion modules of a pulse condition sensor arranged on the upper cover of the pulse diagnosis cavity;

[0011] A pulse wave collection component, the pulse wave collection component includes a pulse sensor and a pulse sensor Z-axis vertical motion module, the pulse sensor is arranged on the pulse sensor Z-axis vertical motion module, the pulse sensor Z-axis vertical motion module is arranged at the upper cover opening of the pulse diagnosis cavity, and is connected to the pulse sensor X-axis and Y-axis horizontal motion modules;

[0012] A central control component, wherein the central control component is electrically connected to the image acquisition unit, the pulse sensor X-axis, Y-axis horizontal motion module, the pulse sensor and the pulse sensor Z-axis vertical motion module;

[0013] Among them, the image acquisition unit acquires images in real time and sends the image information to the central control component. The central control component determines whether the acquisition point of the pulse sensor is at the preset position of the image, and according to the judgment result, the central control component sends a signal to the X-axis and Y-axis horizontal motion modules of the pulse sensor to move to the preset position of the image for pulse collection. Then, the pulse wave acquisition component pressurizes and collects the pulse of the wrist according to the pulse position image judgment and positioning results.

[0014] Further, the pulse sensor X-axis and Y-axis horizontal motion module comprises a mounting seat, an X-axis sliding member and a Y-axis sliding member, wherein the mounting seat is mounted at the opening of the upper cover of the pulse diagnosis cavity; the X-axis sliding member is mounted on a first movable guide rail and is slidably connected to the mounting seat along the X-axis direction; the Y-axis sliding member is mounted on a second movable guide rail and is slidably connected to the X-axis sliding member along the Y-axis direction;

[0015] The image acquisition unit includes a single-point image sensor, wherein the single-point image sensor is multiple, and the multiple single-point image sensors are evenly arranged and fixed on the inner side of the upper cover of the pulse diagnosis cavity;

[0016] Alternatively, there is one single-point image sensor, which is fixed at the center position below the pulse sensor so that the center acquisition point of the real-time monitored image coincides with the projection of the center position of the pulse sensor on the same plane, thereby completing automatic positioning.

[0017] Furthermore, the pulse sensor X-axis and Y-axis horizontal motion module further comprises an X-axis driving unit and a Y-axis driving unit, wherein the X-axis driving unit is fixedly mounted on the mounting seat and drivingly connected to the X-axis sliding member to drive the X-axis sliding member to slide relative to the mounting seat along the X-axis direction;

[0018] The Y-axis driving part is fixedly mounted on the X-axis sliding member and is drivingly connected to the Y-axis sliding member to drive the Y-axis sliding member to slide relative to the X-axis sliding member along the Y-axis direction.

[0019] Furthermore, the pulse sensor Z-axis vertical motion module also includes a Z-axis component, which is installed on the Y-axis sliding component through a fixing part, and the pulse sensor is arranged at the lower end of the Z-axis component, and the pulse sensor is electrically connected to the amplifier; a central control component is installed on the mounting seat; the amplifier is arranged on the central control component and is electrically connected to the central control component.

[0020] Furthermore, the central control component includes an image acquisition interface, a pulse wave acquisition interface and an operation control unit, as well as X-axis, Y-axis and Z-axis drive control units; the central control component determines whether the projection of the central acquisition point and the center position of the pulse sensor on the same plane coincides based on the image monitored in real time by the single-point image sensor, thereby issuing a motion control instruction to complete automatic positioning.

[0021] Furthermore, the Z-axis assembly includes a Z-axis driving unit, a Z-axis sliding member and a guide column, the Z-axis driving unit is fixedly mounted on the fixing member, the Z-axis sliding member is slidably connected to the guide column along the Z-axis direction, and the guide column is arranged on the fixing member; the Z-axis driving unit is drivingly connected to the Z-axis sliding member to drive the Z-axis sliding member to slide along the guide column arranged in the Z-axis direction; the pulse sensor is arranged at the lower end of the Z-axis sliding member.

[0022] Furthermore, the pulse sensor is a pressure sensor arranged at the lower end of the Z-axis sliding member, and the Z-axis driving unit drives the pressure sensor to pressurize according to the instructions issued by the central control component, so that the pressure sensor acts on the wrist pulse wave collection point to complete multi-pressure segment collection.

[0023] A method for automatically finding a position to collect pulse waves, using any of the above-mentioned devices for automatically finding a position to collect pulse waves, the method comprising the following steps:

[0024] S10, pulse auxiliary positioning, manually find the pulse position to be collected, and stick a red label paper at the position as a red dot;

[0025] S20, putting the hand into the pulse diagnosis cavity of the pulse diagnosis bottom shell and placing it on the pulse pillow, the image acquisition unit takes the image in real time and sends it to the image interface of the central control component, the processor of the central control component recognizes the received image and determines whether the red dot is in the center of the image, and calculates the offset of the X-axis and Y-axis and then sends a signal to the X-axis and Y-axis horizontal motion modules of the pulse sensor;

[0026] The X-axis and Y-axis horizontal motion modules of the pulse condition sensor control the X-axis driving unit and the Y-axis driving unit to respectively drive the X-axis sliding member and the Y-axis sliding member to perform translation positioning, and the translation positioning is performed until the red dot is at the center of the image, that is, the center acquisition point of the real-time monitored image completely coincides with the projection of the center position of the pulse condition sensor on the same plane;

[0027] S30. After the X-axis and Y-axis horizontal motion modules of the pulse sensor are positioned, the central control component initiates a pressurized acquisition instruction to the Z-axis drive unit, and the Z-axis drive unit drives the Z-axis vertical motion module of the pulse sensor to move up and down, so that the pulse sensor on the Z-axis component performs pressurized acquisition of the pulse of the hand.

[0028] Furthermore, the positioning process of the automatic positioning method for collecting pulse waves includes a fuzzy positioning process and a precise positioning process;

[0029] The fuzzy positioning process includes the following steps:

[0030] S210, the central control component processor identifies and determines whether the red dot is at the center of the image based on the real-time image, determines the position of the red dot in the X-axis direction, and controls the X-axis driving unit to drive the X-axis sliding member to move along the positive direction or negative direction of the X-axis according to the determination result; during the movement process, the central control component processor determines the position of the red dot on the X-axis in real time, and stops the X-axis driving unit from moving when the red dot is within a suitable range along the X-axis;

[0031] S211, the central control component processor identifies and determines whether the red dot is at the center of the image based on the real-time image, determines the position of the red dot in the Y-axis direction, and controls the Y-axis driving unit to drive the Y-axis sliding member to move along the positive direction or negative direction of the Y-axis according to the determination result; during the movement process, the central control component processor determines the position of the red dot on the Y-axis in real time, and stops the Y-axis driving unit from moving when the position is within a suitable range along the Y-axis;

[0032] S212, the central control component processor identifies and determines whether the red dot is in the center of the image based on the real-time image, and the position of the red dot is within the appropriate range in the X-axis direction and the Y-axis direction. At this time, the X-axis and Y-axis fuzzy positioning is completed;

[0033] The precise positioning process includes the following steps:

[0034] S220, determine the position of the red dot at the center of the image acquisition unit, and adjust the position in the X-axis direction according to the determination result, and the central control component controls the X-axis driving unit to drive the X-axis sliding member to move along the positive direction or negative direction of the X-axis; after completion, determine the position of the red dot at the center of the image acquisition unit again, adjust the number of moving steps of the X-axis sliding member, and stop the X-axis driving unit from moving when the X-axis is within a reasonable range, that is, the X-axis direction positioning is completed;

[0035] S221. Determine the position of the red dot at the center of the image acquisition unit, and adjust the position in the Y-axis direction according to the determination result. The central control component controls the Y-axis driving unit to drive the Y-axis sliding member to move along the positive direction or negative direction of the Y-axis. After completion, determine the position of the red dot at the center of the image acquisition unit again, adjust the number of moving steps of the Y-axis sliding member, and stop the Y-axis driving unit from moving within a reasonable range along the Y-axis, that is, the Y-axis positioning is completed. At this time, the X-axis and Y-axis precise positioning is completed.

[0036] Furthermore, the working principle of the single-point image sensor for photographing and positioning the red dot is:

[0037] 1) Draw a tangent line through a point P outside the sphere. PA and PB are tangent lines through point P to the sphere. A and B are the tangent points. The lengths of the tangent lines PA and PB are equal, i.e., it is assumed that the image sensor is located at point P.

[0038] 2) A sphere tangent to a horizontal plane is projected as an ellipse under the oblique illumination of a beam of parallel light;

[0039] 3) The plane of the red dot is parallel to the bottom plane of the image sensor or intersects at an angle less than 45°. The image sensor takes a picture of the red dot. The red dot appears as a circle or an ellipse on the picture, and the center point remains unchanged.

[0040] 4) Find the boundary points above, below, left and right of the red dot, and find the center point of the red dot. This center point is the center point of the ellipse, and the enclosed figure is the circumscribed rectangle of the ellipse. At this time, the center of the circumscribed rectangle coincides with the center of the red dot.

[0041] Beneficial effects of the present invention:

[0042] The present invention collects pulse waves by pressing down after image positioning and automatic position adjustment of the pulse sensor, thereby reducing the error rate of the pressing position; the positioning adjustment speed and efficiency of the X-axis and Y-axis are faster than the repeated confirmation of manual adjustment, which is conducive to saving time; the user can maintain a more stable rather than moving state before pulse collection, which is more conducive to the effectiveness of the pulse collection result; image recognition and automatic positioning make it easier and more complete to implement the pulse diagnosis method of multiple-point pulse collection, namely the three-part and nine-phase pulse diagnosis; the automated positioning system improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the structure of the automatic position-finding and pulse wave collection device;

[0044] Figure 2 It is a flow chart of the fuzzy positioning process;

[0045] Figure 3 It is a precise positioning process flow chart;

[0046] Figure 4 It is a schematic diagram of the projection of a sphere tangent to the horizontal plane under the oblique illumination of a beam of parallel light;

[0047] Figure 5 It is a schematic diagram of the perpendicularity between the light ray and the plane where the circle lies;

[0048] Figure 6 It is a schematic diagram of a quasi-circular structure in which any circumscribed rectangle of an ellipse is inscribed in the ellipse;

[0049] Among them, 1. Pulse diagnosis bottom shell; 2. First movable guide rail; 3. Y-axis motor; 4. X-axis sliding member; 5. Second movable guide rail; 6. Y-axis sliding member; 7. Z-axis assembly; 8. Z-axis motor; 9. Z-axis limit switch; 10. Y-axis motor sliding connector; 11. Y-axis limit switch; 12. X-axis limit switch; 13. X-axis motor; 14. Central control assembly; 15. Pulse diagnosis cavity; 16. Mounting seat, 17. Pulse pillow support, 18. Image sensor. DETAILED DESCRIPTION

[0050] Example 1

[0051] refer to Figure 1 , an automatic positioning and pulse wave collection device, comprising:

[0052] The pulse diagnosis fixing component includes a pulse diagnosis bottom shell 1 including a pulse diagnosis cavity 15 and a pulse pillow support arranged in the pulse diagnosis cavity, the pulse pillow support 17 is used to fix and support the wrist; the upper cover of the pulse diagnosis cavity 15 is provided with an opening;

[0053] The pulse location positioning component includes an image acquisition unit and X-axis and Y-axis horizontal motion modules of the pulse sensor arranged on the upper cover of the pulse diagnosis cavity 15;

[0054] The pulse wave collection component includes a pulse sensor and a pulse sensor Z-axis vertical motion module. The pulse sensor is arranged on the pulse sensor Z-axis vertical motion module. The pulse sensor Z-axis vertical motion module is arranged at the upper cover opening of the pulse diagnosis cavity 15 and is connected to the pulse sensor X-axis and Y-axis horizontal motion modules;

[0055] The central control component is electrically connected with the image acquisition unit, the pulse sensor X-axis, Y-axis horizontal motion module, the pulse sensor and the pulse sensor Z-axis vertical motion module;

[0056] Among them, the image acquisition unit acquires images in real time and sends the image information to the central control component. The central control component determines whether the acquisition point of the pulse sensor is at the preset position of the image, and according to the judgment result, the central control component sends a signal to the X-axis and Y-axis horizontal motion modules of the pulse sensor to move to the preset position of the image for pulse collection. Then, the pulse wave acquisition component pressurizes and collects the pulse of the wrist according to the pulse position image judgment and positioning results.

[0057] Specifically, the pulse collection point is preferentially located at the pulse position on the inner side of the radial styloid process at the wrist (Guan acupoint).

[0058] In this embodiment, the X-axis and Y-axis horizontal motion modules of the pulse sensor include a mounting seat 16, an X-axis sliding member 4, and a Y-axis sliding member 6. The mounting seat 16 is installed at the opening of the pulse diagnosis bottom shell 1; the X-axis sliding member 4 is slidably connected to the first movable guide rail 2, and the first movable guide rail 2 is fixedly installed on the mounting seat 16 to realize that the X-axis sliding member 4 is slidably connected to the mounting seat 16 along the X-axis direction; the Y-axis sliding member 6 is slidably connected to the second movable guide rail 5, and the second movable guide rail 5 is fixedly installed on the X-axis sliding member 4 to realize that the Y-axis sliding member 6 is slidably connected to the X-axis sliding member 4 along the Y-axis direction.

[0059] In this embodiment, the pulse sensor X-axis and Y-axis horizontal motion modules further include an X-axis driving unit and a Y-axis driving unit, wherein the X-axis driving unit is fixedly mounted on the mounting seat 16 and is drivingly connected to the X-axis sliding member 4 to drive the X-axis sliding member 4 to slide relative to the mounting seat 16 along the X-axis direction;

[0060] The Y-axis driving part is fixedly mounted on the X-axis sliding member 4 and is drivingly connected to the Y-axis sliding member 6 to drive the Y-axis sliding member 6 to slide relative to the X-axis sliding member 4 along the Y-axis direction.

[0061] Specifically, the X-axis driving part is an X-axis motor 13, a first lead screw, a first lead screw nut, and a first driving plate, wherein the first lead screw is fixedly connected to the output shaft of the X-axis motor 13, the X-axis motor 13 is fixedly mounted on the mounting seat 16, the first driving plate is fixedly mounted on the X-axis sliding member 4, the first lead screw nut is fixedly mounted on the first driving plate, and the first lead screw cooperates with the first lead screw nut;

[0062] The mounting seat 16 is provided with a first movable guide rail 2 extending along the X-axis direction, and the X-axis sliding member 4 is provided with a first slide seat slidably matched with the first movable guide rail 2 .

[0063] The Y-axis driving part is a Y-axis motor 3, a second lead screw, a second lead screw nut, and a Y-axis motor sliding connection 10, wherein the second lead screw is fixedly connected to the output shaft of the Y-axis motor 3, the Y-axis motor 3 is fixedly mounted on the X-axis sliding member 4, the Y-axis motor sliding connection 10 is fixedly mounted on the Y-axis sliding member 6, the second lead screw nut is fixedly mounted on the Y-axis motor sliding connection 10, and the second lead screw cooperates with the second lead screw nut;

[0064] The Y-axis sliding member 6 is provided with a second movable guide rail 5 , which extends along the Y-axis direction. The X-axis sliding member 4 is provided with a second slide seat which is slidably matched with the second movable guide rail 5 .

[0065] In this embodiment, the pulse sensor Z-axis vertical motion module includes a Z-axis component 7, which is installed on the Y-axis sliding component 6 through a fixing part. The pulse sensor is arranged at the lower end of the Z-axis component 7, and the pulse sensor is electrically connected to the amplifier; a central control component is installed on the mounting seat 16; the amplifier is arranged on the central control component and is electrically connected to the central control component.

[0066] In this embodiment, the Z-axis assembly 7 includes a Z-axis driving unit, a Z-axis sliding member and a guide column. The Z-axis driving unit is fixedly mounted on the fixing member, the Z-axis sliding member is slidably connected to the guide column along the Z-axis direction, and the guide column is arranged on the fixing member; the Z-axis driving unit is drivingly connected to the Z-axis sliding member to drive the Z-axis sliding member to slide along the guide column arranged in the Z-axis direction; the pulse sensor is arranged at the lower end of the Z-axis sliding member.

[0067] The Z-axis driving part is composed of a Z-axis motor 8, a third lead screw, a third lead screw nut, and a third driving plate, wherein the Z-axis motor 8 is fixedly mounted on a fixing member, the third lead screw is fixedly connected to an output shaft of the Z-axis motor 8, the third driving plate is fixedly mounted on a Z-axis sliding member, the third lead screw nut is fixedly mounted on the third driving plate, and the third lead screw cooperates with the third lead screw nut; the guide column passes through the third driving plate and is slidingly connected to the third driving plate.

[0068] In this embodiment, the mounting seat 16 is provided with an X-axis limit switch 12, the X-axis slide 4 is provided with a Y-axis limit switch 11, and the Y-axis slide 6 is provided with a Z-axis limit switch 9 to control the sliding distances of the X-axis slide 4, the Y-axis slide 6 and the Z-axis slide.

[0069] According to actual usage, the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit can also be an X-axis cylinder, a Y-axis cylinder and a Z-axis cylinder; or, the X-axis driving unit, the Y-axis driving unit and the Z-axis driving unit can be an X-axis hydraulic cylinder, a Y-axis hydraulic cylinder and a Z-axis hydraulic cylinder.

[0070] In this embodiment, the central control component 14 includes an image acquisition interface, a pulse wave acquisition interface and an operation control unit, as well as an X-axis, Y-axis, and Z-axis drive control unit. The central control component 14 determines whether the projection of the central acquisition point and the center position of the pulse sensor on the same plane coincides based on the image monitored in real time by the single-point image sensor, thereby issuing a motion control instruction to complete automatic positioning.

[0071] Specifically, the X-axis, Y-axis, and Z-axis drive control units of the central control component 14 are electrically connected to the X-axis motor 13 , the Y-axis motor 3 , and the Z-axis motor 8 , respectively.

[0072] In this embodiment, the image acquisition unit includes a single-point image sensor 18 , wherein there are multiple single-point image sensors 18 , and the multiple single-point image sensors 18 are evenly arranged and fixed on the inner side of the upper cover of the pulse diagnosis cavity.

[0073] According to the actual use, the single-point image sensor 18 can also be set to one, and the single-point image sensor 18 is fixed to the center position below the pulse sensor, so that the center acquisition point of the image monitored in real time coincides with the projection of the center position of the pulse sensor on the same plane, and the automatic positioning is completed, that is, the image sensor 18 in the image acquisition unit is set at the center position below the pulse sensor in the Z-axis assembly 7. The Z-axis assembly 7 is installed on the Y-axis sliding member 6 through a fixing member, and the image sensor is electrically connected to the central control assembly.

[0074] In this embodiment, the single-point image sensor 18 is preferably a camera.

[0075] In this embodiment, the pulse sensor is a plurality of pressure sensors arranged at the lower end of the Z-axis slide. The Z-axis drive unit drives the pressure sensor to pressurize according to the instruction issued by the central control component 14, so that the pressure sensor acts on the wrist pulse wave collection point to complete multi-pressure segment collection.

[0076] Example 2

[0077] refer to Figure 2 - Figure 3 A method for automatically finding a position to collect pulse waves, using the automatic finding a position to collect pulse waves device provided in Example 1, the method comprises the following steps:

[0078] A method for automatically finding a position to collect pulse waves, using any of the above-mentioned devices for automatically finding a position to collect pulse waves, the method comprising the following steps:

[0079] S10, pulse auxiliary positioning, manually find the pulse position to be collected, and stick a red label paper at the position as a red dot;

[0080] S20, put the hand into the pulse diagnosis cavity of the pulse diagnosis bottom shell and place it on the pulse pillow. The image acquisition unit takes the image in real time and sends it to the image interface of the central control component. The central control component processor recognizes the image and determines whether the red dot is in the center of the image; and calculates the offset of the X and Y axes and sends the signal to the X-axis and Y-axis horizontal motion modules of the pulse sensor.

[0081] Then, the X-axis and Y-axis horizontal motion modules of the pulse sensor control the X-axis driving unit and the Y-axis driving unit to respectively drive the X-axis sliding member and the Y-axis sliding member to perform translational positioning until the red dot is at the center of the image, that is, the center acquisition point of the real-time monitored image completely coincides with the projection of the center position of the pulse sensor on the same plane.

[0082] In this embodiment, the process of finding acupoints in the automatic location-finding and pulse wave collection method includes a fuzzy location process and a precise location process;

[0083] The fuzzy positioning process includes the following steps:

[0084] S210, the central control component processor identifies and determines whether the red dot is at the center of the image based on the real-time image, determines the position of the red dot in the X-axis direction, and controls the X-axis driving unit to drive the X-axis sliding member to move along the positive direction or negative direction of the X-axis according to the determination result; during the movement process, the central control component processor determines the position of the red dot on the X-axis in real time, and stops the X-axis driving unit from moving when the red dot is within a suitable range along the X-axis;

[0085] S211, the central control component processor identifies and determines whether the red dot is at the center of the image based on the real-time image, determines the position of the red dot in the Y-axis direction, and controls the Y-axis driving unit to drive the Y-axis sliding member to move along the positive direction or negative direction of the Y-axis according to the determination result; during the movement process, the central control component processor determines the position of the red dot on the Y-axis in real time, and stops the Y-axis driving unit from moving when the position is within a suitable range along the Y-axis;

[0086] S212, the central control component processor identifies and determines whether the red dot is in the center of the image based on the real-time image, and the position of the red dot is within the appropriate range in the X-axis direction and the Y-axis direction. At this time, the X-axis and Y-axis fuzzy positioning is completed;

[0087] Specifically, the appropriate range in steps S210, S211, and S212 refers to a range that complies with a preset tolerance range.

[0088] The precise positioning process includes the following steps:

[0089] S220, determine the position of the red dot at the center of the image acquisition unit, and adjust the position in the X-axis direction according to the determination result, and the central control component controls the X-axis driving unit to drive the X-axis sliding member to move along the positive direction or negative direction of the X-axis; after completion, determine the position of the red dot at the center of the image acquisition unit again, adjust the number of moving steps of the X-axis sliding member, and stop the X-axis driving unit from moving when the X-axis is within a reasonable range, that is, the X-axis direction positioning is completed;

[0090] S221. Determine the position of the red dot at the center of the image acquisition unit, and adjust the position in the Y-axis direction according to the determination result. The central control component controls the Y-axis driving unit to drive the Y-axis sliding member to move along the positive direction or negative direction of the Y-axis. After completion, determine the position of the red dot at the center of the image acquisition unit again, adjust the number of moving steps of the Y-axis sliding member, and stop the Y-axis driving unit from moving within a reasonable range along the Y-axis, that is, the Y-axis positioning is completed. At this time, the X-axis and Y-axis precise positioning is completed.

[0091] Specifically, the reasonable range in steps S220, S221, and S222 refers to a range that conforms to a predetermined tolerance and can meet usage requirements.

[0092] S30. After the X-axis and Y-axis horizontal motion modules of the pulse sensor are positioned, the central control component initiates a pressurized acquisition instruction to the Z-axis drive unit. The Z-axis drive unit drives the Z-axis vertical motion module of the pulse sensor to move up and down, so that the pulse sensor on the Z-axis component performs pressurized acquisition of the hand's pulse.

[0093] Note: Figure 2 and Figure 3 In the horizontal and vertical system, horizontal refers to the X-axis direction and vertical refers to the Y-axis direction. Taking the center of the picture as the origin, the right side is the positive X-axis direction, the left side is the negative X-axis direction, the top side is the positive Y-axis direction, and the bottom side is the negative Y-axis direction.

[0094] Specifically, the working principle of the single-point image sensor for photographing and locating the red dot is:

[0095] 1) Draw a tangent line through a point P outside the sphere. PA and PB are tangent lines through point P to the sphere. A and B are the tangent points. The lengths of the tangent lines PA and PB are equal, i.e., it is assumed that the image sensor is located at point P.

[0096] Specifically, it is known that P is a point outside the sphere O, PA and PB are tangents through point P to the sphere, and A and B are the tangent points.

[0097] Verification: PA = PB

[0098] Proof: Connect OA, OB, and OP, then OA⊥PA, OB⊥PB. In △PAO and △PBO, OA=OB, OP=OP, ∴△PAO≌△PBO, ∴PA=PB.

[0099] 2) A sphere tangent to a horizontal plane is projected as an ellipse under the oblique illumination of a beam of parallel light;

[0100] Specifically, it is known that the sphere O is tangent to the horizontal plane α, the tangent point is F1, the longest chord length of the projection of the sphere O on the plane α under the illumination of oblique parallel light is 2a, and the projection of point O is O′.

[0101] Prove that the projection of the sphere O on the plane α is an ellipsoid (e.g. Figure 4 )

[0102] Proof: On the large circular surface β of the sphere O perpendicular to the parallel rays, let the farthest point and the closest point to the plane α be N and M respectively, then MN is the diameter of the large circular surface, let the parallel rays passing through points M and N be MA and NB, M and N are cuts A, B∈α, then AB=2a, from the symmetry of the sphere we know that AB passes through points F1 and O′, from MA∥OO′∥NB, and O and O′ are the midpoints of MN and AB respectively, we get From Lemma 1, we can get BF1=BN, AF1=AM, so Suppose the projection of any point S on the circumference of the large circle β onto the plane α is S′, then SS′∥OO′, and planes through SS′ and OO′ intersect with planes β and α at SR and S′R′ respectively. Then the projection of point R on the circumference of the large circle β onto the plane α is R′, and RR′∥SS′ holds and both are tangents to the sphere O. When RS∥plane α, the quadrilateral RSS′R′ is a parallelogram; when RS is not parallel to plane α, the quadrilateral PSS′R′ is a trapezoid; so SS′+RR′=2OO′=2a. Take point F on AB 2， Let F1O′=O′F 2， Connect S′F1 and S′F2. Since R′O′=O′S′, △O′S′F2≌△O′R′F1, we can conclude that S′F2=R′F1. Since R′R, R′F1; S′S, S′F1 are all tangents to the ball O, Lemma 1 shows that R′F1=R′R, S′S=S′F 1， Therefore, S'F1+S'F2=S'F1+R'F1=S'S+R'R=2O'O=2a.

[0103] According to the definition of an ellipse, we know that S′ is on the ellipse with AB as the major axis. And because S is any point on the circumference of the great circular surface β, the projection of the sphere O on the plane α is an elliptical surface.

[0104] Therefore, the projection of a circle on a plane that is oblique to the plane where the circle lies when illuminated by parallel light is an ellipse.

[0105] Specifically, when the light is perpendicular to the plane where the circle lies

[0106] It is known that the plane where ⊙O is located is obliquely intersecting with plane α, and the parallel light is perpendicular to the plane where ⊙O is located (such as Figure 5 )

[0107] Prove that: The projection of ⊙O on plane α is an ellipse

[0108] Proof: Take ⊙O as the great circle and make a plane β parallel to plane α and tangent to sphere O. According to Lemma 2, the projection of sphere O on plane β is an ellipse. Since parallel rays are perpendicular to the plane where ⊙O is located, the edge of the ellipse is generated by the circumference of ⊙O, that is, the projection of ⊙O on plane β is an ellipse. Since α∥β, the projection of ⊙O on plane α is an ellipse.

[0109] It can be seen that parallel light rays passing through the circumference of a circle form a cylindrical surface, and the section obtained by intersecting it with a plane that intersects the cylindrical surface obliquely is an ellipse.

[0110] When the parallel light rays and the plane where the circle is located are not perpendicular, a cylindrical surface is formed by the circle and the parallel light rays. Since the projection plane and the plane where the circle is located are not parallel, the projection on the projection plane is of course an ellipse.

[0111] 3) The plane of the red dots is parallel to the bottom plane of the image sensor or intersects at an angle less than 45°. The image sensor is used to take a picture of the area of ​​the red dots. The red dots appear as dots or ellipses on the picture, and the center point remains unchanged.

[0112] The principle of quickly determining the center of the red dot:

[0113] 4) Find the upper, lower, left and right boundary points of the red dot, and find the center point of the red dot. This center point is the center point of the ellipse, and the enclosed figure is the circumscribed rectangle of the ellipse. At this time, the center of the circumscribed rectangle coincides with the center of the red dot.

[0114] Specifically, Figure 6 As shown, suppose quadrilateral ABCD is an ellipse For any circumscribed rectangle, whose side AB is tangent to the ellipse at point P (a cosθ, b cosθ), the equation of line AB can be set to (b cosθ)x+(a sinθ)y-ab=0, and the equation of line BC to (a sinθ)x-(b cosθ)y+k=0.

[0115] Simultaneous Line BC and Ellipse Equation

[0116]

[0117] Eliminate y and get

[0118] (a 4 (sinθ) 2 +b 4 (cosθ)2 )x 2 +(2a 3 k sinθ)x+a 2 k 2 -a 2 b 4 (cosθ) 2 = 0, since the line BC is tangent to the ellipse, then

[0119] Δ=(2a 3 ksinθ) 2 -4×(a 4 (sinθ) 2 +b 4 (cosθ) 2 )·(a 2 k 2 -a 2 b 4 (cosθ) 2 )=0,

[0120] Solve for k 2 =a 4 (sinθ) 2 +b 4 (cosθ) 2 .

[0121] The equation of the simultaneous lines AB and BC

[0122]

[0123] Solved

[0124] That is, the coordinates of point B are

[0125] but

[0126]

[0127] According to the definition of quasi-circle, the quasi-circle equation of the ellipse is x 2 +y 2 =a 2 +b 2 , thus knowing that point B is on the quasi-circle.

[0128] By the same token, it can be proved that points A, C, and D are also on the quasi-circle, that is, any circumscribed rectangle of an ellipse is inscribed in the quasi-circle of the ellipse, so the center of the circumscribed rectangle coincides with the center of the red dot.

[0129] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A method for automatically locating and collecting pulse waves, characterized in that: The automatic positioning and pulse wave collection device used includes: A pulse diagnosis fixing component, the pulse diagnosis fixing component comprises a pulse diagnosis bottom shell including a pulse diagnosis cavity and a pulse pillow support arranged in the pulse diagnosis cavity, the pulse pillow support is used to fix and support the wrist; the upper cover of the pulse diagnosis cavity is provided with an opening; A pulse position locating component, the pulse position locating component comprising an image acquisition unit and X-axis and Y-axis horizontal motion modules of a pulse condition sensor arranged on the upper cover of the pulse diagnosis cavity; A pulse wave collection component, the pulse wave collection component includes a pulse sensor and a pulse sensor Z-axis vertical motion module, the pulse sensor is arranged on the pulse sensor Z-axis vertical motion module, the pulse sensor Z-axis vertical motion module is arranged at the upper cover opening of the pulse diagnosis cavity, and is connected to the pulse sensor X-axis and Y-axis horizontal motion modules; A central control component, wherein the central control component is electrically connected to the image acquisition unit, the pulse sensor X-axis, Y-axis horizontal motion module, the pulse sensor and the pulse sensor Z-axis vertical motion module; Wherein, the image acquisition unit acquires images in real time and sends the image information to the central control component, the central control component determines whether the acquisition point of the pulse sensor is at the preset position of the image, and according to the judgment result, the central control component sends a signal to the X-axis and Y-axis horizontal motion modules of the pulse sensor to move to the preset position of the image for pulse acquisition, and then the pulse wave acquisition component performs pressurized acquisition of the wrist pulse according to the pulse position image judgment and positioning results; The pulse sensor X-axis and Y-axis horizontal motion modules include a mounting seat, an X-axis sliding member and a Y-axis sliding member, wherein the mounting seat is mounted at the opening of the upper cover of the pulse diagnosis cavity; the X-axis sliding member is mounted on a first movable guide rail and is slidably connected to the mounting seat along the X-axis direction; the Y-axis sliding member is mounted on a second movable guide rail and is slidably connected to the X-axis sliding member along the Y-axis direction; The image acquisition unit includes a single-point image sensor, wherein the single-point image sensor is multiple, and the multiple single-point image sensors are evenly arranged and fixed on the inner side of the upper cover of the pulse diagnosis cavity; Or, there is one single-point image sensor, which is fixed at the center position below the pulse condition sensor, so that the center acquisition point of the real-time monitored image coincides with the projection of the center position of the pulse condition sensor on the same plane, thereby completing automatic positioning; The pulse sensor X-axis and Y-axis horizontal motion module also includes an X-axis driving unit and a Y-axis driving unit, wherein the X-axis driving unit is fixedly mounted on the mounting seat and drivingly connected to the X-axis sliding member to drive the X-axis sliding member to slide relative to the mounting seat along the X-axis direction; The Y-axis driving part is fixedly mounted on the X-axis sliding member and is drivingly connected to the Y-axis sliding member to drive the Y-axis sliding member to slide relative to the X-axis sliding member along the Y-axis direction; The pulse sensor Z-axis vertical motion module includes a Z-axis assembly, which is mounted on the Y-axis sliding member through a fixing member, the pulse sensor is arranged at the lower end of the Z-axis assembly, and the pulse sensor is electrically connected to an amplifier; a central control assembly is mounted on the mounting seat; the amplifier is arranged on the central control assembly and is electrically connected to the central control assembly; The central control component comprises an image acquisition interface, a pulse wave acquisition interface and an operation control unit, as well as an X-axis, Y-axis and Z-axis drive control unit; the central control component determines whether the projection of the central acquisition point and the center position of the pulse sensor on the same plane coincides according to the image monitored in real time by the single-point image sensor, thereby issuing a motion control instruction to complete automatic positioning; The Z-axis assembly comprises a Z-axis driving part, a Z-axis sliding part and a guide column, wherein the Z-axis driving part is fixedly mounted on the fixing part, the Z-axis sliding part is slidably connected to the guide column along the Z-axis direction, and the guide column is arranged on the fixing part; the Z-axis driving part is drivingly connected to the Z-axis sliding part to drive the Z-axis sliding part to slide along the guide column arranged in the Z-axis direction; the pulse sensor is arranged at the lower end of the Z-axis sliding part; The pulse sensor is a pressure sensor arranged at the lower end of the Z-axis sliding member, and the Z-axis driving unit drives the pressure sensor to pressurize according to the instruction issued by the central control component, so that the pressure sensor acts on the wrist pulse wave collection point to complete multi-pressure segment collection; The method for automatically finding a position to collect pulse waves comprises the following steps: S10, pulse auxiliary positioning, manually find the pulse position to be collected, and stick a red label paper at the position as a red dot; S20, putting the hand into the pulse diagnosis cavity of the pulse diagnosis bottom shell and placing it on the pulse pillow, the image acquisition unit takes the image in real time and sends it to the image interface of the central control component, the processor of the central control component recognizes the received image and determines whether the red dot is in the center of the image, and calculates the offset of the X-axis and Y-axis and then sends a signal to the X-axis and Y-axis horizontal motion modules of the pulse sensor; The X-axis and Y-axis horizontal motion modules of the pulse condition sensor control the X-axis driving unit and the Y-axis driving unit to respectively drive the X-axis sliding member and the Y-axis sliding member to perform translation positioning, and the translation positioning is performed until the red dot is at the center of the image, that is, the center acquisition point of the real-time monitored image completely coincides with the projection of the center position of the pulse condition sensor on the same plane; S30, after the X-axis and Y-axis horizontal motion modules of the pulse sensor are positioned, the central control component initiates a pressurized acquisition instruction to the Z-axis drive unit, and the Z-axis drive unit drives the Z-axis vertical motion module of the pulse sensor to move up and down, so that the pulse sensor on the Z-axis assembly performs pressurized acquisition of the pulse of the hand; The positioning process of the automatic positioning method for collecting pulse waves includes a fuzzy positioning process and a precise positioning process; The fuzzy positioning process includes the following steps: S210, the central control component processor identifies and determines whether the red dot is at the center of the image based on the real-time image, determines the position of the red dot in the X-axis direction, and controls the X-axis driving unit to drive the X-axis sliding member to move along the positive direction or negative direction of the X-axis according to the determination result; during the movement process, the central control component processor determines the position of the red dot on the X-axis in real time, and stops the X-axis driving unit from moving when the red dot is within a suitable range along the X-axis; S211, the central control component processor identifies and determines whether the red dot is at the center of the image based on the real-time image, determines the position of the red dot in the Y-axis direction, and controls the Y-axis driving unit to drive the Y-axis sliding member to move along the positive direction or negative direction of the Y-axis according to the determination result; during the movement process, the central control component processor determines the position of the red dot on the Y-axis in real time, and stops the Y-axis driving unit from moving when the position is within a suitable range along the Y-axis; S212, the central control component processor identifies and determines whether the red dot is in the center of the image based on the real-time image, and the position of the red dot is within the appropriate range in the X-axis direction and the Y-axis direction. At this time, the X-axis and Y-axis fuzzy positioning is completed; The precise positioning process includes the following steps: S220, determine the position of the red dot at the center of the image acquisition unit, and adjust the position in the X-axis direction according to the determination result, and the central control component controls the X-axis driving unit to drive the X-axis sliding member to move along the positive direction or negative direction of the X-axis; after completion, determine the position of the red dot at the center of the image acquisition unit again, adjust the number of moving steps of the X-axis sliding member, and stop the X-axis driving unit from moving when the X-axis is within a reasonable range, that is, the X-axis direction positioning is completed; S221. Determine the position of the red dot at the center of the image acquisition unit, and adjust the position in the Y-axis direction according to the determination result. The central control component controls the Y-axis driving unit to drive the Y-axis sliding member to move along the positive direction or negative direction of the Y-axis. After completion, determine the position of the red dot at the center of the image acquisition unit again, adjust the number of moving steps of the Y-axis sliding member, and stop the Y-axis driving unit from moving within a reasonable range along the Y-axis, that is, the Y-axis positioning is completed. At this time, the X-axis and Y-axis precise positioning is completed.

2. The method for automatically positioning and collecting pulse waves according to claim 1, characterized in that: The working principle of the single-point image sensor for photographing and positioning the red dot is: 1) Draw a tangent line through a point P outside the sphere. PA and PB are tangent lines through point P to the sphere. A and B are the tangent points. The lengths of the tangent lines PA and PB are equal, i.e., it is assumed that the image sensor is located at point P. 2) A sphere tangent to a horizontal plane is projected as an ellipse under the oblique illumination of a beam of parallel light; 3) The plane of the red dot is parallel to the bottom plane of the image sensor or intersects at an angle less than 45°. The image sensor takes a picture of the red dot. The red dot appears as a circle or an ellipse on the picture, and the center point remains unchanged. 4) Find the boundary points above, below, left and right of the red dot, and find the center point of the red dot. This center point is the center point of the ellipse, and the enclosed figure is the circumscribed rectangle of the ellipse. At this time, the center of the circumscribed rectangle coincides with the center of the red dot.

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