Ray machine imaging positioning method and system, electronic equipment and medium

Abstract

The invention relates to the technical field of image processing, and discloses a ray machine imaging positioning method and system, electronic equipment and a medium. Image information acquired by a camera is used for converting the projection offset of the center point of a target position on a camera coordinate system relative to the optical center of the camera; the projection offset is compensated according to the relative position relationship between the optical center of the camera and the ray emission point of the ray machine, so that a first position adjustment vector is obtained to perform position adjustment on the ray emission point of the ray machine in the x-axis direction and the y-axis direction on a camera coordinate system; and the ray transillumination limitation of the ray machine is met through the relative distance constraint of the target position and the optimal focal length of the ray machine, so that a second position adjustment vector is determined, the position of a ray emission point in the z-axis direction of a camera coordinate system is adjusted, the shooting position of the ray machine is accurately positioned, and the shooting accuracy of the ray machine is improved. And the imaging quality and shooting efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a method, system, electronic equipment and medium for positioning imaging of a ray machine. Background Art

[0002] The crimping quality of the tension clamps of transmission lines is a key quality control point of transmission lines. If there are problems with the crimping quality, it will leave safety hazards. At present, X-ray imaging of the tension clamps is usually performed to determine whether the power fittings have defects. Since there are risks of ionizing radiation and falling when climbers carry X-ray machines and imaging plates to climb towers, more and more operating machines are used to climb towers, and robot arms are mounted with X-ray machines and imaging plates for shooting.

[0003] This shooting method usually requires the machine operator to remotely and manually adjust the distance between the X-ray machine and the imaging plate, and the horizontal and vertical distances of the X-ray machine on the parallel plane relative to the center point of the shooting target. However, it is difficult to accurately locate and shoot the area where the tension clamp needs to be shot by remote control, resulting in poor imaging quality. In addition, it is necessary to manually "shoot-confirm imaging effect-adjust position-reshoot", and the whole process is time-consuming and labor-intensive, and the shooting efficiency is low. Summary of the invention

[0004] In view of this, the present invention provides a method, system, electronic device and medium for positioning X-ray machine imaging, which solves the technical problem that it is difficult to accurately locate and photograph the area where the tension clamp needs to be photographed by remotely adjusting the shooting position, resulting in poor imaging quality and low shooting efficiency.

[0005] A first aspect of the present invention provides a method for positioning a X-ray machine, comprising:

[0006] Collect image information of the center point of the target position;

[0007] Determine a projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system according to the camera coordinate system where the optical center of the camera is located and image information of the center point of the target position;

[0008] The projection offset is compensated according to the relative position relationship between the optical center of the camera and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is a position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction in the camera coordinate system, and the target position is located in the z-axis direction in the camera coordinate system;

[0009] After the current position of the ray emission point is updated according to the first position adjustment vector, a relative distance constraint between the ray emission point after the current position is updated and the target position and an optimal focal length of the ray machine are determined according to the ray penetration limit of the ray machine;

[0010] Under the relative distance constraint, determining a second position adjustment vector of the ray emission point according to the optimal focal length of the ray machine, wherein the second position adjustment vector is a position adjustment vector of the ray emission point in the z-axis direction on the camera coordinate system;

[0011] The current position of the ray emission point is updated according to the second position adjustment vector, and the target position is photographed by the ray machine at the updated current position of the ray emission point, and a target ray image corresponding to the target position is generated.

[0012] Preferably, the image information of the center point of the target position includes image depth data and pixel coordinates;

[0013] The step of determining the projection offset of the center point of the target position relative to the camera optical center on the camera coordinate system according to the camera coordinate system where the camera optical center is located and the image information of the center point of the target position comprises:

[0014] Determine the pixel distances corresponding to the x-axis direction and the y-axis direction of the center point of the target position and the camera focus in the pixel coordinate system according to the pixel coordinates of the center point of the target position and the pixel coordinates of the camera focus in the pixel coordinate system;

[0015] Determine the actual distance between the camera light spot and the center point of the target position in the z-axis direction of the camera coordinate system according to the image depth data of the center point of the target position;

[0016] The projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system is determined according to the preset image shooting attribute of the camera, the pixel distance and the actual distance, and the projection offset is:

[0017]

[0018] In the formula, , are the projection offsets of the center point of the target position relative to the optical center of the camera in the x-axis direction and the y-axis direction in the camera coordinate system, respectively. is the actual distance between the camera light spot and the center point of the target position in the z-axis direction of the camera coordinate system, is the focal length of the camera, , are the pixel distances between the center point of the target position and the camera focus in the x-axis direction and the y-axis direction in the pixel coordinate system, is the camera’s imaging width ratio, where

[0019]

[0020] In the formula, is the camera sensor width, The width of the camera's image.

[0021] Preferably, the step of compensating the projection offset according to the relative position relationship between the optical center of the camera and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is a position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction on the camera coordinate system, comprises:

[0022] Determine the offsets of the camera optical center in the x-axis direction and the y-axis direction respectively relative to the ray emission point of the ray machine according to the relative positional relationship between the camera optical center and the ray emission point of the ray machine in the camera coordinate system;

[0023] The projection offset is compensated according to the offsets of the camera optical center in the x-axis direction and the y-axis direction respectively corresponding to the ray emission point of the ray machine to obtain the first position adjustment vector.

[0024] Preferably, the step of determining the relative distance constraint between the ray emission point and the target position after updating the current position according to the ray penetration limit of the ray machine includes:

[0025] The minimum relative distance between the ray emission point and the target position is determined according to the offset between the camera optical center and the ray emission point in the z-axis direction of the camera coordinate system, the focal size of the ray machine and the penetration thickness. The minimum relative distance is:

[0026]

[0027] In the formula, is the minimum relative distance, is the focal size of the X-ray machine, is the target transillumination thickness, is the offset between the camera optical center and the ray emission point in the z-axis direction in the camera coordinate system.

[0028] Preferably, the optimal focal length of the X-ray machine between the ray emission point at the updated current position and the target position is determined according to the X-ray penetration limit of the X-ray machine, and the optimal focal length is:

[0029]

[0030] In the formula, For the best focal length, Inherent unclearness.

[0031] Preferably, the step of updating the current position of the ray emission point according to the second position adjustment vector comprises:

[0032] Determining an actual focal length according to the optimal focal length and a preset safety margin coefficient;

[0033] The offset of the ray emission point in the camera coordinate system in the z-axis direction is determined according to the actual focal length, the actual distance between the camera light spot and the center point of the target position in the camera coordinate system in the z-axis direction, the offset between the camera optical center and the ray emission point in the camera coordinate system in the z-axis direction, and the target transillumination thickness. The offset of the ray emission point in the z-axis direction in the camera coordinate system is:

[0034]

[0035] In the formula, is the offset of the ray emission point in the z-axis direction on the camera coordinate system, is the preset safety margin factor, where ;

[0036] The current position of the ray emission point is updated according to the offset of the ray emission point in the z-axis direction on the camera coordinate system.

[0037] In a second aspect, the present invention further provides a radiographic imaging positioning system, comprising:

[0038] An image acquisition module, used to acquire image information of the center point of the target position;

[0039] A projection offset calculation module, used to determine the projection offset of the center point of the target position relative to the camera optical center on the camera coordinate system according to the camera coordinate system where the camera optical center is located and the image information of the center point of the target position;

[0040] A first vector determination module is used to compensate the projection offset according to the relative position relationship between the camera optical center and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is a position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction in the camera coordinate system, and the target position is located in the z-axis direction in the camera coordinate system;

[0041] A focal length determination module, configured to determine, after updating the current position of the ray emission point according to the first position adjustment vector, a relative distance constraint between the ray emission point after updating the current position and the target position and an optimal focal length of the ray machine according to the ray penetration limit of the ray machine;

[0042] A second vector determination module is used to determine a second position adjustment vector of the ray emission point according to the optimal focal length of the ray machine under the relative distance constraint, wherein the second position adjustment vector is a position adjustment vector of the ray emission point in the z-axis direction of the camera coordinate system;

[0043] The shooting and imaging module is used to update the current position of the ray emission point according to the second position adjustment vector, and shoot the target position through the ray machine at the updated current position of the ray emission point, and generate a target ray image corresponding to the target position.

[0044] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the phase jump fault recovery method of the grid-type inverter as described in the first aspect.

[0045] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the steps of the phase jump fault recovery method of the grid-connected inverter as described in the first aspect are implemented.

[0046] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions, wherein when the program instructions are executed by a computer, the computer executes the steps of the phase jump fault recovery method of the grid-type inverter as described in the first aspect.

[0047] It can be seen from the above technical scheme that the present invention, with the help of the position assistance of the camera, uses the image information obtained by the camera to convert the projection offset of the center point of the target position relative to the camera optical center in the camera coordinate system, and compensates for the projection offset through the relative position relationship between the camera optical center and the ray emission point of the ray machine, thereby obtaining the first position adjustment vector to adjust the position of the ray emission point of the ray machine in the x-axis direction and the y-axis direction of the camera coordinate system, and determines the second position adjustment vector through the relative distance constraint of the target position and the optimal focal length of the ray machine to meet the ray penetration limitation of the ray machine, so as to facilitate the position adjustment of the ray emission point in the z-axis direction of the camera coordinate system, thereby realizing the precise positioning of the shooting position of the ray machine, and being able to better capture the target position area, improving the imaging quality and shooting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 An application environment diagram of a X-ray machine imaging positioning method provided by an embodiment of the present invention;

[0049] Figure 2 A flowchart of a method for positioning a ray machine imaging provided by an embodiment of the present invention;

[0050] Figure 3 A schematic diagram of a camera, a pixel coordinate system and relative positions in the camera coordinate system provided by an embodiment of the present invention;

[0051] Figure 4 A schematic diagram of an X-ray machine provided in an embodiment of the present invention photographing a tension clamp;

[0052] Figure 5 A schematic diagram of the structure of a ray machine imaging positioning system provided by an embodiment of the present invention;

[0053] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The embodiment of the present invention provides a method for positioning a X-ray machine imaging device, which can be applied to Figure 1In the application environment shown. Among them, an X-ray machine is installed using a three-axis motion mechanical arm, which is driven by a motor and can drive the X-ray machine to move along the three axes of x, y, and z respectively. The X-ray machine is set relative to the target position, and an imaging plate is set on the other side of the target position away from the X-ray machine. The X-ray machine images the target on the imaging plate after emitting rays to transmit to the target. Among them, the target can be an object such as a tension clamp. In addition, in order to better image the ray machine, an embodiment of the present invention adds a camera and a controller (such as a monocular RGBD camera) to the mechanical arm. The camera is used to collect image information of the center point of the target position. The camera should be installed in a position not affected by the movement of the mechanical arm. In addition, a new STM32F103C8T6 needs to be added as a controller, which is responsible for the logic control, data processing and communication with external devices of the mechanical arm system. Due to the large amount of image data to be processed, an external DSP module can be responsible for the calculation part of video encoding, decoding and image processing. The controller determines the projection offset of the center point of the target position relative to the camera optical center on the camera coordinate system according to the camera coordinate system where the camera optical center is located and the image information of the center point of the target position; the projection offset is compensated according to the relative position relationship between the camera optical center and the ray emission point of the X-ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is the position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction on the camera coordinate system, and the target position is located in the z-axis direction on the camera coordinate system; after updating the current position of the ray emission point according to the first position adjustment vector, the relative distance constraint between the ray emission point after updating the current position and the target position and the best focal length of the X-ray machine are determined according to the ray penetration restriction of the X-ray machine; under the relative distance constraint, the second position adjustment vector of the ray emission point is determined according to the best focal length of the X-ray machine, and the second position adjustment vector is the position adjustment vector of the ray emission point in the z-axis direction on the camera coordinate system; the current position of the ray emission point is updated according to the second position adjustment vector. The X-ray machine shoots the target position at the current position of the updated ray emission point and generates a target ray image corresponding to the target position.

[0056] like Figure 2 As shown, an embodiment of the present invention provides a method for positioning a X-ray machine imaging device, comprising steps S1 to S6. Among them:

[0057] Step S1, collecting image information of the center point of the target position.

[0058] The camera is used to collect image information of the center point of the target position, and the image information of the center point of the target position includes image depth data and pixel coordinates.

[0059] like Figure 3 As shown, the camera coordinate system is established with the camera optical center point O as its origin ( , , ), Axis and The axes are parallel to the long and wide sides of the image plane, The axis is the optical axis of the camera, which is perpendicular to the imaging plane. The intersection of the optical axis and the image plane is the image principal point O', OO' is the camera imaging distance, and the camera coordinate system ( , , ) is a Cartesian left-handed coordinate system with the camera optical center as the origin and the camera optical axis as the Z axis. The camera optical center and the ray emission point of the ray machine are located in the x-axis direction of the same camera coordinate system. At the same time, with the principal point O' as the origin, a pixel coordinate system is established ( , , ).

[0060] Among them, the target position and its center point are obtained in the pixel coordinate system ( , , ) pixel coordinates ( , , ).

[0061] Step S2: determining the projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system according to the camera coordinate system where the optical center of the camera is located and the image information of the center point of the target position.

[0062] exist , In order to achieve the best shooting effect, the position of the robot arm needs to be adjusted so that the shooting target is exactly in the camera coordinate system. Axis, therefore, the projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system is required.

[0063] Specifically, the process of determining the projection offset of the center point of the target position relative to the camera optical center on the camera coordinate system according to the camera coordinate system where the camera optical center is located and the image information of the center point of the target position in step S2 includes steps S201 to S203. Among them:

[0064] Step S201, determining the pixel distances corresponding to the x-axis direction and the y-axis direction of the center point of the target position and the camera focus in the pixel coordinate system according to the pixel coordinates of the center point of the target position and the pixel coordinates of the camera focus in the pixel coordinate system.

[0065] The pixel coordinates of the center point of the target position include the pixel coordinates of the center point of the target position in the x-axis direction and the y-axis direction in the pixel coordinate system. The pixel coordinates of the camera focus in the pixel coordinate system include the pixel coordinates of the camera focus in the x-axis direction and the y-axis direction in the pixel coordinate system. The pixel distances corresponding to the center point of the target position and the camera focus in the x-axis direction and the y-axis direction in the pixel coordinate system are determined by the modulus of the pixel coordinates of the center point of the target position and the pixel coordinates of the camera focus in the coaxial direction.

[0066] Step S202: determining the actual distance between the camera light spot and the center point of the target position in the z-axis direction of the camera coordinate system according to the image depth data of the center point of the target position.

[0067] Step S203: Determine the projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system according to the preset image shooting attribute of the camera, the pixel distance and the actual distance. The projection offset is:

[0068]

[0069] In the formula, , are the projection offsets of the center point of the target position relative to the optical center of the camera in the x-axis direction and the y-axis direction in the camera coordinate system, respectively. is the actual distance between the camera light spot and the center point of the target position in the z-axis direction of the camera coordinate system, is the focal length of the camera, , are the pixel distances between the center point of the target position and the camera focus in the x-axis direction and the y-axis direction in the pixel coordinate system, is the camera’s imaging width ratio, where

[0070]

[0071] In the formula, is the camera sensor width, The width of the camera's image.

[0072] Step S3, compensate the projection offset according to the relative position relationship between the optical center of the camera and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is the position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction in the camera coordinate system, and the target position is located in the z-axis direction in the camera coordinate system.

[0073] Specifically, step S3 includes:

[0074] Step S301, determining the offsets of the camera optical center relative to the ray emission point of the ray generator in the x-axis direction and the y-axis direction respectively according to the relative position relationship between the camera optical center and the ray emission point of the ray generator in the camera coordinate system.

[0075] Step S302: Compensate the projection offset according to the offsets of the camera optical center in the x-axis direction and the y-axis direction respectively corresponding to the ray emission point of the ray machine to obtain a first position adjustment vector.

[0076] It should be noted that since the target position is fixed, the position of the robot arm can swing, and the camera and the ray emission point of the ray machine mounted on the robot arm are not in the same place, it is assumed that the camera light spot is located at O The offset on the surface is , ),in, , A positive value indicates a positive offset to the number axis. , If it is negative, it means the axis is offset in the negative direction. Then the final adjustment result of the robot arm is: the controller outputs the control signal to adjust the robot arm in Move on coordinate system , ) vector.

[0077] Step S4, after the current position of the ray emission point is updated according to the first position adjustment vector, the relative distance constraint between the ray emission point after the current position is updated and the target position and the optimal focal length of the ray machine are determined according to the ray penetration limit of the ray machine.

[0078] It should be noted that the first position adjustment vector is the position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction in the camera coordinate system. The target position is located in the z-axis direction in the camera coordinate system. When the current position of the ray emission point is updated according to the first position adjustment vector, the target position is located in the vertical direction. In addition, it is also necessary to adjust to the appropriate distance to take photos that meet the requirements of the transillumination process.

[0079] When the X-ray is used to penetrate the metal fittings, the quality of the X-ray imaging is related to the type and energy of the X-ray source, focal length, exposure (time) and penetration method. When the object is a transmission line tension clamp, it is assumed that the X-ray machine parameters that we usually use to achieve good imaging effects are selected: energy (tube voltage 270kV), exposure time (about 3s), number of pulses (varies with the thickness of the clamp tube wall, generally 8 to 15 pulses), penetration method (straight seam single wall penetration, as follows Figure 4 As shown), X-ray detection technology level (Grade B).

[0080] According to the current JB / T 4730 standard, in order to meet the radiographic transillumination process and achieve better imaging requirements, it is necessary to control the transillumination distance (the distance from the focus to the tube wall near the X-ray machine side of the wire clamp) With focal size and the thickness of the transillumination target (considered as the outer diameter of the tension clamp) should satisfy the relationship shown in Table 1:

[0081] Table 1

[0082]

[0083] Considering that the X-ray inspection of tension clamps belongs to Class B inspection, the camera and the X-ray machine mounted on the robot arm are located at The sizes on the axis are not the same, there is a deviation ,in A positive value indicates a positive offset to the number axis, and a negative value indicates a negative offset to the number axis, so it is necessary to ensure that the penetration distance satisfies Therefore, it is necessary to determine the relative distance constraint between the ray emission point and the target position after updating the current position according to the ray penetration limit of the ray machine.

[0084] In one example, the minimum relative distance between the ray emission point and the target position is determined according to the offset between the camera optical center and the ray emission point in the z-axis direction on the camera coordinate system, the focal size of the ray machine, and the penetration thickness. The minimum relative distance is:

[0085]

[0086] In the formula, is the minimum relative distance, is the focal size of the X-ray machine, is the target transillumination thickness, It is the offset between the camera optical center and the ray emission point in the z-axis direction in the camera coordinate system.

[0087] The target penetration thickness is the maximum outer diameter of the target.

[0088] At the same time, in order to obtain high-quality X-ray films, it is necessary to minimize the geometric unsharpness when taking pictures. For a given focal size and a wire clamp with a known thickness before shooting, reducing the geometric unsharpness requires increasing the distance from the focal point to the imaging plate. On the other hand, in order to avoid increasing the inherent clarity, it is necessary to maintain a low X-ray machine tube voltage while increasing the exposure time. Therefore, according to the X-ray penetration limit of the X-ray machine, the optimal focal length of the X-ray machine at the target position after updating the current position of the X-ray emission point is determined. The optimal focal length is:

[0089]

[0090] In the formula, For the best focal length, Inherent unclearness.

[0091] Step S5: Under the relative distance constraint, determine the second position adjustment vector of the ray emission point according to the optimal focal length of the ray machine, where the second position adjustment vector is the position adjustment vector of the ray emission point in the z-axis direction on the camera coordinate system.

[0092] The process of updating the current position of the ray emission point according to the second position adjustment vector in step S5 includes steps S501 to S503.

[0093] Step S501: determining the actual focal length according to the optimal focal length and a preset safety margin coefficient.

[0094] In actual applications, in order to avoid too long exposure time, during the actual shooting process, a safety margin coefficient is set to compensate for the optimal focal length. In a general example, the safety margin coefficient may be 0.7.

[0095] Step S502: Determine the offset of the ray emission point in the z-axis direction in the camera coordinate system according to the actual focal length, the actual distance between the camera light spot and the center point of the target position in the z-axis direction in the camera coordinate system, the offset between the camera optical center and the ray emission point in the z-axis direction in the camera coordinate system, and the target penetration thickness. The offset of the ray emission point in the z-axis direction in the camera coordinate system is:

[0096]

[0097] In the formula, is the offset of the ray emission point in the z-axis direction on the camera coordinate system, is the preset safety margin factor, where .

[0098] It should be noted that the offset of the ray emission point in the z-axis direction on the camera coordinate system must satisfy the relative distance constraint ,when < When , the offset of the ray emission point in the z-axis direction on the camera coordinate system should be equal to the minimum relative distance .

[0099] Step S503: Update the current position of the ray emission point according to the offset of the ray emission point in the z-axis direction on the camera coordinate system.

[0100] The position of the ray emission point in the z-axis direction is adjusted according to the offset of the ray emission point in the z-axis direction on the camera coordinate system, so that the controller outputs a control signal to adjust the robot arm in the z-axis direction. Coordinate system movement Vector.

[0101] Step S6: update the current position of the ray emission point according to the second position adjustment vector, and at the updated current position of the ray emission point, shoot the target position through the ray machine, and generate a target ray image corresponding to the target position.

[0102] It should be noted that the present invention, with the aid of camera position assistance, uses the image information acquired by the camera to convert the projection offset of the center point of the target position relative to the camera optical center in the camera coordinate system, and compensates for the projection offset through the relative position relationship between the camera optical center and the ray emission point of the X-ray machine, thereby obtaining a first position adjustment vector to adjust the position of the ray emission point of the X-ray machine in the x-axis and y-axis directions in the camera coordinate system, and determines the second position adjustment vector through the relative distance constraint of the target position and the optimal focal length of the X-ray machine to meet the X-ray penetration limitation of the X-ray machine, so as to facilitate the position adjustment of the ray emission point in the z-axis direction in the camera coordinate system, thereby realizing precise positioning of the shooting position of the X-ray machine, and being able to better capture the target position area, thereby improving imaging quality and shooting efficiency.

[0103] Based on the same inventive concept, an embodiment of the present application also provides a X-ray machine imaging positioning system for implementing the above-mentioned X-ray machine imaging positioning method.

[0104] The solution to the problem provided by the system is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the X-ray machine imaging positioning system provided below can refer to the limitations on the X-ray machine imaging positioning method above and will not be repeated here.

[0105] like Figure 5 As shown, an embodiment of the present invention further provides a radiographic imaging positioning system, comprising:

[0106] An image acquisition module 100 is used to acquire image information of a center point of a target position;

[0107] A projection offset calculation module 200 is used to determine the projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system according to the camera coordinate system where the optical center of the camera is located and the image information of the center point of the target position;

[0108] A first vector determination module 300 is used to compensate for the projection offset according to the relative position relationship between the optical center of the camera and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is a position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction in the camera coordinate system, and the target position is located in the z-axis direction in the camera coordinate system;

[0109] A focal length determination module 400 is used to determine the relative distance constraint between the ray emission point after updating the current position and the target position and the optimal focal length of the ray machine according to the ray penetration limit of the ray machine after updating the current position of the ray emission point according to the first position adjustment vector;

[0110] A second vector determination module 500 is used to determine a second position adjustment vector of the ray emission point according to the optimal focal length of the ray machine under the relative distance constraint, where the second position adjustment vector is a position adjustment vector of the ray emission point in the z-axis direction on the camera coordinate system;

[0111] The shooting and imaging module 600 is used to update the current position of the ray emission point according to the second position adjustment vector, and shoot the target position through the ray machine at the updated current position of the ray emission point, and generate a target ray image corresponding to the target position.

[0112] like Figure 6 As shown, an embodiment of the present invention further provides an electronic device, the electronic device 10 includes a memory 20 and a processor 30, the memory 20 stores a computer program, and when the computer program is executed by the processor 30, the processor 30 executes the steps of the phase jump fault recovery method of the grid-type inverter in any of the above embodiments.

[0113] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the steps of the phase jump fault recovery method of the grid-type inverter in any of the above embodiments are implemented.

[0114] An embodiment of the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes the steps of the phase jump fault recovery method of the grid-type inverter in any of the above embodiments.

[0115] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, electronic devices, computer storage media and computer program products can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0116] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0117] In several embodiments provided by the present invention, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and a part of a module, a program segment or a code includes one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0118] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, electronic devices, computer storage media, computer program products and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0119] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0121] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for executing all or part of the steps of the method described in each embodiment of the present invention through a computer device (which can be a personal computer, server, or network device, etc.). The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (full name in English: Read-Only Memory, English abbreviation: ROM), random access memory (full name in English: Random Access Memory, English abbreviation: RAM), disk or optical disk and other media that can store program codes.

[0122] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for positioning an imaging device of a radiographic machine, characterized in that: include: Collect image information of the center point of the target position; Determine a projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system according to the camera coordinate system where the optical center of the camera is located and image information of the center point of the target position; The projection offset is compensated according to the relative position relationship between the optical center of the camera and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is a position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction in the camera coordinate system, and the target position is located in the z-axis direction in the camera coordinate system; After the current position of the ray emission point is updated according to the first position adjustment vector, a relative distance constraint between the ray emission point after the current position is updated and the target position and an optimal focal length of the ray machine are determined according to the ray penetration limit of the ray machine; Under the relative distance constraint, determining a second position adjustment vector of the ray emission point according to the optimal focal length of the ray machine, wherein the second position adjustment vector is a position adjustment vector of the ray emission point in the z-axis direction on the camera coordinate system; The current position of the ray emission point is updated according to the second position adjustment vector, and the target position is photographed by the ray machine at the updated current position of the ray emission point, and a target ray image corresponding to the target position is generated.

2. The method for positioning the X-ray machine according to claim 1, characterized in that: The image information of the center point of the target position includes image depth data and pixel coordinates; The step of determining the projection offset of the center point of the target position relative to the camera optical center on the camera coordinate system according to the camera coordinate system where the camera optical center is located and the image information of the center point of the target position comprises: Determine the pixel distances corresponding to the x-axis direction and the y-axis direction of the center point of the target position and the camera focus in the pixel coordinate system according to the pixel coordinates of the center point of the target position and the pixel coordinates of the camera focus in the pixel coordinate system; Determine the actual distance between the camera light spot and the center point of the target position in the z-axis direction of the camera coordinate system according to the image depth data of the center point of the target position; The projection offset of the center point of the target position relative to the optical center of the camera on the camera coordinate system is determined according to the preset image shooting attribute of the camera, the pixel distance and the actual distance, and the projection offset is: In the formula, , are the projection offsets of the center point of the target position relative to the optical center of the camera in the x-axis direction and the y-axis direction in the camera coordinate system, respectively. is the actual distance between the camera light spot and the center point of the target position in the z-axis direction of the camera coordinate system, is the focal length of the camera, , are the pixel distances between the center point of the target position and the camera focus in the x-axis direction and the y-axis direction in the pixel coordinate system, is the camera’s imaging width ratio, where In the formula, is the camera sensor width, The width of the camera's image.

3. The method for positioning the X-ray machine imaging according to claim 1, characterized in that: The step of compensating the projection offset according to the relative position relationship between the camera optical center and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is a position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction on the camera coordinate system, comprises: Determine the offsets of the camera optical center in the x-axis direction and the y-axis direction respectively relative to the ray emission point of the ray machine according to the relative positional relationship between the camera optical center and the ray emission point of the ray machine in the camera coordinate system; The projection offset is compensated according to the offsets of the camera optical center in the x-axis direction and the y-axis direction respectively corresponding to the ray emission point of the ray machine to obtain the first position adjustment vector.

4. The method for positioning the X-ray machine imaging according to claim 1, characterized in that: The step of determining the relative distance constraint between the ray emission point and the target position after updating the current position according to the ray penetration limit of the ray machine comprises: The minimum relative distance between the ray emission point and the target position is determined according to the offset between the camera optical center and the ray emission point in the z-axis direction of the camera coordinate system, the focal size of the ray machine and the penetration thickness. The minimum relative distance is: In the formula, is the minimum relative distance, is the focal size of the X-ray machine, is the target transillumination thickness, is the offset between the camera optical center and the ray emission point in the z-axis direction in the camera coordinate system.

5. The method for positioning the X-ray machine imaging according to claim 4, characterized in that: The optimal focal length of the ray machine between the ray emission point after updating the current position and the target position is determined according to the ray penetration limit of the ray machine, and the optimal focal length is: In the formula, For the best focal length, Inherent unclearness.

6. The method for positioning the X-ray machine imaging according to claim 5, characterized in that: The step of updating the current position of the ray emission point according to the second position adjustment vector comprises: Determining an actual focal length according to the optimal focal length and a preset safety margin coefficient; The offset of the ray emission point in the camera coordinate system in the z-axis direction is determined according to the actual focal length, the actual distance between the camera light spot and the center point of the target position in the camera coordinate system in the z-axis direction, the offset between the camera optical center and the ray emission point in the camera coordinate system in the z-axis direction, and the target transillumination thickness. The offset of the ray emission point in the z-axis direction in the camera coordinate system is: In the formula, is the offset of the ray emission point in the z-axis direction on the camera coordinate system, is the preset safety margin factor, where ; The current position of the ray emission point is updated according to the offset of the ray emission point in the z-axis direction on the camera coordinate system.

7. A radiographic imaging positioning system, characterized in that: include: An image acquisition module, used to acquire image information of the center point of the target position; A projection offset calculation module, used to determine the projection offset of the center point of the target position relative to the camera optical center on the camera coordinate system according to the camera coordinate system where the camera optical center is located and the image information of the center point of the target position; A first vector determination module is used to compensate the projection offset according to the relative position relationship between the camera optical center and the ray emission point of the ray machine to obtain a first position adjustment vector, wherein the first position adjustment vector is a position adjustment vector of the ray emission point in the x-axis direction and the y-axis direction in the camera coordinate system, and the target position is located in the z-axis direction in the camera coordinate system; A focal length determination module, configured to determine, after updating the current position of the ray emission point according to the first position adjustment vector, a relative distance constraint between the ray emission point after updating the current position and the target position and an optimal focal length of the ray machine according to the ray penetration limit of the ray machine; A second vector determination module is used to determine a second position adjustment vector of the ray emission point according to the optimal focal length of the ray machine under the relative distance constraint, wherein the second position adjustment vector is a position adjustment vector of the ray emission point in the z-axis direction of the camera coordinate system; The shooting and imaging module is used to update the current position of the ray emission point according to the second position adjustment vector, and shoot the target position through the ray machine at the updated current position of the ray emission point, and generate a target ray image corresponding to the target position.

8. An electronic device, characterized in that: The electronic device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the phase jump fault recovery method of the grid-type inverter as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the steps of the phase jump fault recovery method of the grid-type inverter as described in any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes the steps of the phase jump fault recovery method of the grid-type inverter as described in any one of claims 1 to 6.

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