Plain film process-oriented positioning guide method and system, and related equipment

Abstract

The embodiment of the invention provides a positioning guiding method and system for a plain film process, and related equipment, and belongs to the field of positioning image guiding and the technical field of robots. The method comprises the following steps: playing target guide information through a guide robot to guide a target object to enter a detection area of an observation room, and generating body position contour prompt information according to a detection item of the target object. Then, image acquisition is conducted on the observation room through a camera, an indoor image is obtained, projection correction is conducted through a projector according to the indoor image, and when the target object is located in the detection area, body position contour prompt information is projected so as to guide the target object to adjust the body position. Finally, when the body position of the target object meets the preset body position condition, plain film shooting is carried out. Therefore, according to the embodiment of the invention, the upper computer can control and guide the robot, the camera and the projector to guide the body position placement operation of the target object, the target object is assisted in body position adjustment, and the plain film detection efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of positioning image guidance and robotics technology, and in particular to a positioning guidance method and system, and related equipment. Background Art

[0002] Plain film testing provides medical workers with an important means to quickly understand the patient's internal condition. However, before the plain film test, the patient often needs to be guided to a specific positioning posture to ensure the accuracy of the imaging. Since patients usually do not have the knowledge related to the positioning operation, and special groups such as young children find it difficult to complete the plain film testing process without guidance, the positioning guidance work in the plain film process is currently usually guided and assisted by medical workers. Therefore, medical workers need to guide and explain knowledge to patients before the plain film test, and go in and out of the test area many times to help patients adjust the positioning posture, which not only makes the medical workers' workload heavy, but also makes the positioning process time-consuming, which leads to low efficiency of plain film testing. Therefore, how to reduce the positioning time of plain film testing to improve the efficiency of plain film testing has become a problem that needs to be solved urgently. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to propose a positioning guidance method and system, electronic equipment and storage medium for a flat film process, aiming to improve the efficiency of flat film detection.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a positioning guidance method for a planar film process, which is applied to a host computer, and the method includes: The target object is guided into the detection area of ​​the observation room by playing the target guidance information by guiding the robot; Generate body position contour prompt information according to the detection items of the target object; Capturing images of the observation room through a camera to obtain indoor images; Performing projection correction according to the indoor image by a projector, and projecting the body position contour prompt information when the target object is in the detection area to guide the target object to adjust the body position; When the body position of the target object meets the predetermined body position condition, plain film shooting is performed.

[0005] In some embodiments, the target guidance information includes guidance into a preparation area information and guidance into a detection area information; The method of guiding the robot to play the target guidance information to guide the target object into the detection area of ​​the observation room includes: In response to the isolation door of the observation room being opened, playing the information for guiding the target object into the preparation area to guide the target object into the preparation area; Play the work information required by the object to guide the target object to perform the required work; In response to the target object having completed the required work, the information for guiding the target object into the detection area is played to guide the target object into the detection area of ​​the observation room.

[0006] In some embodiments, the body position contour prompt information includes a body position contour prompt image; The generating of body position contour prompt information according to the detection items of the target object includes: Determining a body mass index according to the physiological information of the target object; An image search is performed on a preset contour image library according to the detection items, the physiological information and the body mass index to obtain the body position contour prompt image.

[0007] In some embodiments, before performing projection correction according to the indoor image by a projector, the method further includes: Recognizing a back panel contour of the back panel from the indoor image by the camera; Performing spatial posture estimation on the detection area according to the back plate contour to obtain projection correction parameters; The projection correction parameters are sent to the projector, so that the projector performs projection correction according to the projection correction parameters.

[0008] In some embodiments, when the target object is in the detection area, projecting the body position contour prompt information to guide the target object to adjust the body position includes: When the target object is in the detection area, collecting an individual contour image of the target object through the camera; updating the body position contour prompt image according to the individual contour image to obtain an updated contour prompt image; The updated contour prompt image is projected by the projector to guide the target object to adjust its body position.

[0009] In some embodiments, before playing the information for guiding the target object into the preparation area in response to the isolation door of the observation room being opened to guide the target object into the preparation area, the method further includes: Generate object calling information and identity information confirmation interface according to the identity information of the target object; Playing the object calling information to guide the target object to confirm the identity information on the identity information confirmation interface; When the target object completes identity information confirmation, route planning is performed according to the preset isolation door positioning information and the current position of the guide robot to obtain a target guidance route; The target object is displaced according to the target guidance route to guide the target object to move to the isolation door.

[0010] In some embodiments, the body position contour prompt information further includes body position contour prompt text; After the body position meets the predetermined body position condition and the radiograph is taken, the method further includes: Obtaining the time duration of the target object adjusting the body position, and obtaining the total adjustment time duration; The adjustment link score is determined by comparing the total adjustment time with a preset simulation adjustment time; wherein the simulation adjustment time is determined by a preset positioning guidance model, and the positioning guidance model is constructed according to the behavior learning guidance operation and guidance cycle of the guidance robot, the projection time of the projector, and the generation method of the update contour prompt image; The positioning guidance model is adjusted according to the adjustment link score.

[0011] To achieve the above-mentioned purpose, the second aspect of the embodiment of the present application proposes a positioning guidance system for a planar film process, the system comprising a host computer, a guiding robot, a camera and a projector: The guiding robot is used to play the target guiding information to guide the target object into the detection area of ​​the observation room; The host computer is used to generate body position contour prompt information according to the detection items of the target object; The camera is used to collect images of the observation room to obtain indoor images; The projector is used to perform projection correction according to the indoor image, and when the target object is in the detection area, project the body position contour prompt information to guide the target object to adjust the body position; The host computer is also used to take plain film when the body position of the target object meets the predetermined body position condition.

[0012] To achieve the above objectives, a third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0013] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect is implemented.

[0014] The present application proposes a positioning guidance method and system for a flat film process, an electronic device and a storage medium, which first guides the robot to play the target guidance information to guide the target object to enter the detection area of ​​the observation room, and then generates the body position contour prompt information according to the detection items of the target object. Then, the observation room is imaged by a camera to obtain the indoor image, and the projection correction is performed according to the indoor image by a projector. When the target object is in the detection area, the body position contour prompt information is projected to guide the target object to adjust the body position. Finally, when the body position of the target object meets the predetermined body position condition, a flat film is taken. Therefore, a positioning guidance method for a flat film process shown in an embodiment of the present application can be controlled by the upper computer to guide the robot to play the target guidance information, generate the body position contour prompt information according to the detection items of the target object, and project the body position contour prompt information through the camera and the projector, so as to guide the target object to perform the body position placement operation, assist the target object to adjust the body position posture, reduce the positioning time of the flat film detection, and improve the efficiency of the flat film detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of a positioning guidance method for a planar film process provided by an embodiment of the present application; Figure 2 yes Figure 1 Flow chart of step S101 in FIG. Figure 3 This is another optional flow chart of a positioning guidance method for a planar film process provided by an embodiment of the present application; Figure 4 yes Figure 1 Flow chart of step S102 in FIG. Figure 5 It is a logical structure diagram of a positioning guidance method for a planar film process provided in an embodiment of the present application; Figure 6 It is a specific implementation schematic diagram of establishing a contour image library provided by an embodiment of the present application; Figure 7 This is another optional flow chart of a positioning guidance method for a planar film process provided by an embodiment of the present application; Figure 8 yes Figure 1 Flow chart of step S104 in FIG. Fig. 9 This is another optional flow chart of a positioning guidance method for a planar film process provided by an embodiment of the present application; Fig.10 It is another specific implementation schematic diagram of a positioning guidance method for a planar film process provided by an embodiment of the present application; Fig.11It is a structural schematic diagram of a positioning guidance system for a planar film process provided in an embodiment of the present application; Fig.12 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0017] It should be noted that, although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0019] In the current hospital environment, the process of plain film detection usually requires medical workers in the imaging department to personally guide patients to position and posture, and then complete the plain film shooting operation. Since the hospital needs to receive a large number of patients from different departments every day, the plain film guidance operation becomes frequent, and medical workers need to constantly enter and exit the plain film room and the operation area. In addition, medical workers also face the risk of direct infection when they have necessary physical contact or close operation with patients. Moreover, the plain film room is usually an environment with low-dose radiation. It can be seen that imaging medical workers are under heavy work pressure and the dual mental burden from radiation and disease infection. Therefore, how to reduce the burden of medical workers in repetitive prompting work, improve the work efficiency of medical workers, and ensure the health and safety of medical workers is an urgent problem to be solved.

[0020] Based on this, the embodiments of the present application provide a positioning guidance method and system, an electronic device and a storage medium for a flat film process, aiming to improve the efficiency of flat film detection.

[0021] The positioning guidance method and system, electronic device and storage medium for the flat film process provided in the embodiments of the present application are specifically explained through the following embodiments. First, the positioning guidance method for the flat film process in the embodiments of the present application is described.

[0022] The embodiments of the present application can acquire and process relevant data based on artificial intelligence technology. Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0023] AI basic technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing technology, operation / interaction systems, mechatronics, etc. AI software technologies mainly include computer vision technology, robotics technology, biometrics technology, speech processing technology, natural language processing technology, and machine learning / deep learning.

[0024] The positioning guidance method for the flat film process provided in the embodiment of the present application relates to the field of positioning image guidance and the field of robotics. The positioning guidance method for the flat film process provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server side, and can also be software running in a terminal or a server side. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc.; the server side can be configured as an independent physical server, or can be configured as a server cluster or a distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application that implements the positioning guidance method for the flat film process, etc., but is not limited to the above forms.

[0025] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0026] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0027] Figure 1 is an optional flow chart of a positioning guidance method for a planar film process provided in an embodiment of the present application. Figure 1 The method is applied to a host computer, wherein the host computer has equipment control and communication functions, and can communicate with the guiding robot, camera, projector and flat film equipment to realize monitoring and adjustment of the entire flat film detection guidance process. In addition, multiple body position contour prompt information is stored in the host computer, and each body position contour prompt information is encoded based on a specific coding parameter, and the coding parameter may include but is not limited to any one of the following: the patient's test items, physiological information or disease information, etc., so the host computer can provide the patient with appropriate body position contour prompt information according to the coding parameter to assist the target object in posture positioning. The host computer can be an independent server computer, a handheld device or a portable device, a tablet device, a multi-processor system, a microprocessor-based system, a set-top box, a programmable consumer electronic device, a network PC, a small computer, a large computer, and can also be integrated in a radiology workstation, an X-ray machine control computer or a mobile X-ray system and other flat film detection systems. The above method may include but is not limited to steps S101 to S105.

[0028] Step S101, guiding the robot to play target guidance information to guide the target object into the detection area of ​​the observation room; Step S102, generating body position contour prompt information according to the detection items of the target object; Step S103, collecting images of the observation room through a camera to obtain indoor images; Step S104, performing projection correction according to the indoor image by a projector, and projecting body position contour prompt information when the target object is in the detection area to guide the target object to adjust the body position; Step S105: When the body position of the target object meets the predetermined body position condition, a plain film is taken.

[0029] In the steps S101 to S105 shown in the embodiment of the present application, the target guidance information is first played by the guiding robot to guide the target object to enter the detection area of ​​the observation room, and then the body position contour prompt information is generated according to the detection items of the target object. Then, the observation room is imaged by the camera to obtain the indoor image, and the projection correction is performed according to the indoor image by the projector. When the target object is in the detection area, the body position contour prompt information is projected to guide the target object to adjust the body position. Finally, when the body position of the target object meets the predetermined body position condition, the flat film is taken. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can be controlled by the upper computer to guide the robot to play the target guidance information, generate the body position contour prompt information according to the detection items of the target object, and project the body position contour prompt information through the camera and the projector, so as to guide the body position placement operation of the target object, assist the target object to adjust the body position posture, reduce the positioning time of the flat film detection, and improve the efficiency of the flat film detection.

[0030] In step S101 of some embodiments, the target object may be a patient who needs to undergo plain film examination. Plain film examination, also known as X-ray examination, is a medical imaging examination method that uses X-rays to penetrate the body to form images. It has the advantages of clear imaging, economy, simplicity, etc. It is particularly good at observing bone structures and can cover a large range. The principle of plain film examination is: through the penetrating ability of X-rays, the internal structure of the body is captured to form an X-ray image for analysis by doctors. Plain film examination may include but is not limited to: chest X-ray, abdominal X-ray, limb X-ray, spine X-ray, pelvic X-ray, head X-ray, cervical spine X-ray and urinary system X-ray. The observation room is an area in the radiology department of a medical institution for performing X-ray plain film examinations. The observation room is usually equipped with necessary protective facilities, such as isolation doors, etc. In addition, the walls, doors, windows and ceilings of the observation room contain lead or other heavy metal materials to shield X-rays, thereby protecting people outside the observation room from radiation. The observation room usually has a preparation area and a detection area. The preparation area is usually equipped with curtains or small rooms to provide patients with privacy, so that patients can change protective clothing or remove metal ornaments and other preparations. In the process of plain film detection, the target object needs to enter the preparation area and detection area in the observation room from the waiting area in turn. In the absence of guidance, it is difficult for the target object to quickly find and enter the preparation area and detection area. On this basis, it is necessary to use a guiding robot to guide the target object to move between areas according to the guidance information. The guiding robot refers to a robot used to provide guidance for displacement between areas and work information introduction for the target object. The guiding robot can be a wheeled robot, a bipedal robot, a quadrupedal robot, a bionic robot or a robot in other forms. The guiding robot is provided with a display screen and a speaker for playing guiding information such as guiding videos, images, text or audio.

[0031] It should be noted that, since the target object needs to enter multiple areas such as the waiting area, preparation area and detection area, one or more guide robots can be set in each area, and the guide robots in different areas can work together to guide the target object. For example, the guide robot may include but is not limited to: a waiting area robot, a preparation area robot and a detection area robot. In the preparation area, the target object is guided to the isolation door of the observation room by the waiting area robot. When the isolation door is opened, the preparation area robot guides the target object from the isolation door to the preparation area, and then the detection area robot guides the target object from the preparation area to the detection area. In addition, the guide robot can also introduce work or operation guidance by playing guidance information of introduction or prompt type such as operation process information, precaution information, operation guidance information and operation prompt information. The above-mentioned work introduction or operation guidance can also be displayed by a projector set in the above-mentioned area to display picture information, text information or video information, and the speaker set in the above-mentioned area can also display audio information.

[0032] See also Figure 2 In some embodiments, the target guidance information includes information for guiding the target object into the preparation area and information for guiding the target object into the detection area. The information for guiding the target object into the preparation area is used to guide the target object to move from the isolation door of the observation room to the preparation area. The information for guiding the target object into the preparation area may include but is not limited to at least one of the following: picture information, text information, audio information or video information; the information for guiding the target object into the detection area is used to guide the target object to move from the preparation area to the detection area. The information for guiding the target object into the detection area may include but is not limited to at least one of the following: picture information, text information, audio information or video information. On this basis, step S101 may include but is not limited to steps S201 to S203: Step S201, in response to the isolation door of the observation room being opened, playing information for guiding the target object to enter the preparation area; Step S202, playing the work information required by the object to guide the target object to perform the required work; Step S203, in response to the target object having completed the required work, playing the information of guiding the target object into the detection area to guide the target object into the detection area of ​​the observation room.

[0033] In step S201 of some embodiments, when the isolation door of the observation room is opened, the guiding robot will play the information of guiding into the preparation area to guide the target object to enter the preparation area from outside the isolation door. Specifically, a camera can be set on the guiding robot so that the guiding robot can detect in real time whether the isolation door of the observation room is opened; or, the upper computer can control the isolation door to open, and at the same time send a command of guiding into the preparation area to the guiding robot to control the guiding robot to play the information of guiding into the preparation area. In the process of the guiding robot guiding the target object to enter the preparation area from outside the isolation door, the guiding robot can lead the target object to move to the preparation area after playing the information of guiding into the preparation area. For the specific method of leading the target object to move to the preparation area, please refer to steps S303 to S304; the guiding robot can also only play the information of guiding into the preparation area, and then the target object goes to the preparation area by itself.

[0034] In step S202 of some embodiments, since the radiographic equipment will emit X-rays with radiation during the radiographic shooting process, people entering the observation room need to wear isolation suits. In addition, when the patient wears clothing or accessories containing metal structures, the metal structures are likely to block the detection site, thereby affecting the quality of the radiograph. Therefore, it is necessary to guide the robot to play the work information required by the object in the preparation area to guide the target object to perform the required work. The required work may include, but is not limited to, preparation and protection work such as removing accessories containing metal structures, changing clothing containing metal structures, and wearing isolation suits, and the work information required by the object is used to introduce and provide operational guidance for the preparation and protection work required by the above-mentioned target object.

[0035] In step S203 of some embodiments, in response to the target object having completed the required work, the guiding robot plays the information for guiding the target object into the detection area to guide the target object into the detection area of ​​the observation room. Specifically, the display screen of the guiding robot can be a touch screen, and a human-computer interaction interface can be generated. After playing the work information required by the user, the human-computer interaction interface can be set to a confirmation interface for completing the required work. When the target object has completed the required work, a button indicating that the required work has been completed can be selected on the confirmation interface for completing the required work, and then the guiding robot plays the information for guiding the target object into the detection area to guide the target object into the detection area of ​​the observation room. The specific implementation method of the guiding robot guiding the target object to enter the detection area of ​​the observation room is basically the same as the process of the guiding robot guiding the target object to enter the preparation area from outside the isolation door. The only difference is that the guidance information played is different, and it will not be repeated in this application.

[0036] After step S203 in some embodiments, when the target object enters the detection area, the positioning operation guidance information of the detection part can also be retrieved and displayed by the guiding robot according to the detection items of the target object. The positioning operation guidance information may include but is not limited to at least one of the following: a positioning posture schematic image, a positioning operation introduction video or a positioning operation introduction audio, wherein the positioning posture schematic image and the positioning operation introduction video can be displayed on the display screen, and the positioning operation introduction audio is played by the speaker of the guiding robot to provide the target object with positioning operation guidance of the detection part.

[0037] In steps S201 to S203 as shown in the embodiment of the present application, first, in response to the opening of the isolation door of the observation room, information for guiding the target object into the preparation area is played to guide the target object into the preparation area, and the work information required for the object is played to guide the target object to perform the required work. Then, in response to the target object having completed the required work, information for guiding the target object into the detection area is played to guide the target object into the detection area of ​​the observation room. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can guide the target object into the preparation area of ​​the observation room by guiding the robot, and play the work information required for the object to guide the target object to prepare and take protective measures, and then guide the target object into the detection area, which can ensure that the target object receives effective area guidance and required work guidance in the process of entering the detection area, thereby improving the efficiency and accuracy of the target object in completing the flat film detection.

[0038] See also Figure 3 Before step S201 in some embodiments, the positioning guidance method for the planar film process shown in the embodiment of the present application may also include but is not limited to steps S301 to S304: Step S301, generating object calling information and identity information confirmation interface according to the identity information of the target object; Step S302, playing the object calling information to guide the target object to confirm the identity information on the identity information confirmation interface; Step S303, when the target object completes identity information confirmation, route planning is performed according to the preset isolation door positioning information and the current position of the guide robot to obtain the target guidance route; Step S304: moving according to the target guidance route to guide the target object to move to the isolation door.

[0039] In step S301 of some embodiments, the identity information of the target object may include, but is not limited to, at least one of the following: user name, user gender, ranking number, or user medical card number. On this basis, the guide robot can generate object call information based on the identity information of the target object. The object call information is used to call the target object and remind the target object that a flat film test is about to be performed. The object call information can be a voice message, or it can be combined with visual prompt information such as video or text prompts and voice messages. For example, the object call information can be "The next person to undergo a flat film test is Mr. Zhang San. Please go to the guide robot A to confirm the identity information." When generating the object call information of the target object, the human-computer interaction interface can also be set as an identity information confirmation interface based on the identity information of the target object. The identity information of the target object can be displayed on the identity information confirmation interface, and there is an identity information confirmation button so that the target object can check and confirm the identity information.

[0040] In step S302 of some embodiments, the guiding robot can guide the target object to move to the front of the guiding robot by playing the object call information, and guide the target object to confirm the identity information on the identity information confirmation interface. It should be noted that the guiding robot can also retrieve the detection items of the target object according to the identity information of the target object, and display the detection items and the identity information together on the identity information confirmation interface, so that the target object can check the identity information and the detection items.

[0041] In step S303 of some embodiments, when the target object completes identity information confirmation, the guide robot generates current position information based on the current position of the guide robot, and then performs route planning based on the preset isolation door positioning information and the current position information to obtain a target guidance route, wherein the target guidance route is used to guide the target object to move to the isolation door of the observation room.

[0042] In step S304 of some embodiments, the target object may be guided to move to the isolation door by performing displacement according to the target guidance route. It should be noted that, since there may be obstacles and people in the waiting area, a camera for collecting real-time images during the displacement process may be provided on the guidance robot, so as to timely adjust the target guidance route according to the real-time images.

[0043] In some embodiments, when the target object completes the identity information confirmation, the guide robot will play the introduction information of the flat film detection items, such as the precautions for the flat film detection, the flat film detection operation process and the operation specifications. The playback of the flat film detection project introduction information can be performed while the guide robot generates the target guidance route, or it can be performed when the guide robot moves according to the target guidance route or after guiding the target object to move to the isolation door of the observation room. If the guide robot plays the introduction information of the flat film detection project, the medical staff does not need to provide guidance and training on the overall process of flat film detection for each patient, which can reduce the repetitive labor intensity and repetitive labor duration of the medical staff.

[0044] In the steps S301 to S304 shown in the embodiment of the present application, first, according to the identity information of the target object, an object call information and an identity information confirmation interface are generated, and the object call information is played to guide the target object to confirm the identity information in the identity information confirmation interface. When the target object finishes the identity information confirmation, the route is planned according to the preset isolation door positioning information and the current position of the guide robot to obtain the target guidance route. Finally, displacement is performed according to the target guidance route to guide the target object to move to the isolation door. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can call the target object according to the identity information of the target object, and guide the target object to confirm the identity, so that the target object can check the identity information and the detection items, and can generate a target guidance route according to the current position of the guide robot, so as to displace according to the target guidance route, guide the target object to the isolation door, and ensure that the target object can safely and accurately reach the isolation door, so that the entire process from calling the target object to guiding the target object to the isolation door can be realized by the guide robot, reducing the workload of medical staff when calling and guiding the target object.

[0045] In step S102 of some embodiments, during the plain film detection process, the patient's examination part needs to be adjusted to a specific posture so that the plain film can be taken according to the specific posture, so that the doctor can analyze the examination part according to the taken plain film. In the process of adjusting the patient's examination part to a specific posture, the body position contour prompt information is generated according to the specific posture, and the patient can understand how to adjust the examination part through the body position contour prompt information. The body position contour prompt information may include but is not limited to at least one of the following: a body position contour prompt image and a body position contour prompt text. The body position contour prompt image is usually a contour image generated according to a specific posture, which can intuitively inform the patient that the position and posture of the body should be adjusted to a suitable posture to be placed within the body position contour. The body position contour prompt text is used to assist the body position contour prompt image in positioning guidance, which can describe how to adjust the posture, and can also describe information such as the direction of the body position contour prompt image.

[0046] See also Figure 4 and Figure 5 In some embodiments, step S102 may include but is not limited to steps S401 to S402: Step S401, determining body mass index according to physiological information of the target object; Step S402, searching for images in a preset contour image library according to the detection items, physiological information and body mass index to obtain a body position contour prompt image.

[0047] In step S401 of some embodiments, the body mass index may be determined based on the physiological information of the target object. Specifically, the physiological information includes height information and weight information. The specific method of calculating the body mass index based on the height information and weight information may be expressed by the following formula: ; Among them, BMI represents body mass index, W represents weight information, and h represents height information.

[0048] In step S402 of some embodiments, due to the different physiological information of patients, the body contours vary greatly. If only one standard contour image is used as the body contour prompt image for all patients, if the body contour of the patient is too different from the body contour in the standard contour image, it will be difficult for the patient to adjust the body to the posture required for the plain film detection. Therefore, it is necessary to find a body contour prompt image close to the body contour of the patient according to the patient's test items, physiological information and body mass index. Among them, the test items are used to describe the test parts of the target object. For example, the test items can be "feet", "chest", "head" or "legs".

[0049] Specifically, a high-dimensional coordinate system is pre-stored in the contour image library, each coordinate in the high-dimensional coordinate system corresponds to a body contour prompt image, and each coordinate axis of the high-dimensional coordinate system represents one of the test items, physiological information, and body mass index. On this basis, a matching rule can be established for searching for body contour prompt images in the contour image library according to the patient's test items, physiological information, and body mass index. The matching rule can be: determine the target coordinates in the high-dimensional coordinate system according to the patient's test items, physiological information, and body mass index, and obtain the body contour prompt image corresponding to the target coordinates.

[0050] For example, the height information is described by the X-axis in the three-dimensional coordinate system, the body mass index is described by the Y-axis in the high-dimensional coordinate system, and the test items are described by the Z-axis in the high-dimensional coordinate system. Each unit length on the X-axis is set to 1cm, each unit length on the Y-axis is set to 1, and each unit length on the Z-axis is set to a test item. Then, according to the patient's height information "150cm", body mass index "20" and the specific value of the test item "hand", the target coordinate (x, y, z) = (150, 20, "hand") can be found, and the body position contour prompt image corresponding to the target coordinate can be obtained. It should be noted that when the height information and body mass index are not integers, the height information and body mass index need to be rounded first to obtain the height integer and body mass index integer, and then the target coordinates are found according to the height integer, body mass index integer and test items. The specific rounding method can be rounding to one decimal place, or other methods.

[0051] In some embodiments, the method of generating and storing multiple body position contour prompt images in the contour image library is specifically as follows: first, a standard contour map of the detection part is determined according to the detection item, and the body mass index is calculated according to the height information and the weight information; then, the standard contour map is modified according to the specific values ​​of the height information and the body mass index to obtain the body position contour prompt image corresponding to the specific values ​​of the detection item, the height information and the body mass index; finally, a high-dimensional coordinate system is established with the detection item, the height information and the body mass index as the axis, and the coordinates of each body position contour prompt image are determined according to the specific values ​​of the detection item, the height information and the body mass index, so as to find the body position contour prompt image according to the detection item, the height information and the body mass index of the target object in the actual plain film detection process. Therefore, on the basis of the standard contour map, a multi-body position contour prompt image sequence can be generated according to the detection item and physiological information of the patient, and each body position contour prompt image in the body position contour prompt image sequence can be stored in the contour image library according to the detection item and the physiological information.

[0052] In other embodiments, a contour image library may be established for each detection item, and a two-dimensional coordinate system may be established with height information and body mass index as axes, so that the coordinates of each body position contour prompt image may be determined in the contour image library for each detection item according to the specific values ​​of height information and body mass index. Figure 6 As shown, first, the detection part is determined to be the abdomen according to the detection items, and then a two-dimensional coordinate system is established with the height information as the X-axis and the body mass index as the Y-axis, and the coordinates of each body position contour prompt image on the two-dimensional coordinate system are determined according to the specific values ​​of the height information and the body mass index.

[0053] Steps S401 to S402 shown in the embodiment of the present application determine the body mass index based on the physiological information of the target object, and perform image search on the preset contour image library based on the test items, physiological information and body mass index to obtain a body position contour prompt image. The body position contour prompt image that best matches the body position contour of the target object can be retrieved from the preset contour image library, and the body position contour prompt image that is adapted to the patient's contour morphology can be flexibly selected, thereby improving the accuracy and efficiency of the body position contour prompt image in guiding the target user in positioning.

[0054] In step S103 of some embodiments, the host computer may collect images of the observation room through a camera installed in the detection area of ​​the observation room to obtain an indoor image, wherein the indoor image includes the back panel of the flat-panel device.

[0055] See also Figure 7 In some embodiments, before step S104, the above-mentioned positioning guidance method for the flat film process may also include but is not limited to steps S701 to S703: Step S701, identifying the back panel contour of the back panel from the indoor image through a camera; Step S702, performing spatial posture estimation on the detection area according to the backboard contour to obtain projection correction parameters; Step S703: sending the projection correction parameters to the projector, so that the projector performs projection correction according to the projection correction parameters.

[0056] In step S701 of some embodiments, a back panel recognition algorithm is stored in the camera, and the back panel contour of the back panel can be recognized from the indoor image. The specific back panel contour recognition algorithm can be a machine learning algorithm, such as an image recognition algorithm or an edge detection algorithm, which can accurately recognize the edge and shape of the back panel in a complex indoor environment.

[0057] In step S702 of some embodiments, the camera of the detection area also stores a spatial attitude estimation algorithm, which can perform spatial attitude estimation on the detection area according to the preset backplane size and backplane contour to obtain the projection correction parameters of the detection area. The spatial attitude estimation algorithm can be PnP, MoveNet, PoseNet, DCPose or AlphaPose, etc.

[0058] In step S703 of some embodiments, the camera can transmit the projection correction parameters to the projector, and the projector completes the projection image correction according to the projection correction parameters, so that when the projector projects the body contour prompt information, it can adjust the projected body contour prompt information according to the actual position and direction of the backboard, reduce the deformation effect of the projector position on the body contour prompt information, and obtain the accurate projection of the body contour prompt information on the backboard.

[0059] In steps S701 to S703 shown in the embodiment of the present application, the camera first identifies the backboard contour of the backboard from the indoor image, and then estimates the spatial posture of the detection area according to the backboard contour to obtain the projection correction parameters. Finally, the projection correction parameters are sent to the projector so that the projector performs projection correction according to the projection correction parameters. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can assist the projector in projection correction through the indoor image captured by the camera, reduce the projection distortion caused by the projector position and projector angle, and accurately project the body contour prompt information on the backboard, thereby improving the accuracy of the patient's positioning.

[0060] In step S104 of some embodiments, a projector that forms an integrated system with a camera is also installed in the detection area of ​​the observation room, which is used to perform projection correction according to projection correction parameters. When the target object is in the detection area, the projector is also used to project body position contour prompt information to guide the target object to adjust its body position.

[0061] It should be noted that before the camera captures the indoor image, the positioning guidance method for the flat film process shown in the embodiment of the present application will also jointly calibrate the camera and projector, establish a mapping relationship between the camera coordinate system and the projector coordinate system, so as to realize the projection correction of the projector.

[0062] See also Figure 8 In some embodiments, step S104 may include but is not limited to steps S801 to S803: Step S801, when the target object is in the detection area, an individual contour image of the target object is collected by a camera; Step S802, updating the body position contour prompt image according to the individual contour image to obtain an updated contour prompt image; Step S803: projecting an updated contour prompt image through a projector to guide the target object to adjust the body position.

[0063] In step S801 of some embodiments, since only the discrete data and the position contour prompt images generated according to the height information and body mass index and the detection items are stored in the contour image library, when the height information and body mass index of the target object are not integers, there may still be a problem that the position contour prompt image is not consistent with the position contour of the target object. Moreover, even for target objects with similar height information and body mass index, there will be differences in their specific position contours. In addition, since information has not been updated for a long time, the physiological information such as the height information and weight information obtained may also be inconsistent with the actual physiological information of the target object. Therefore, it is also necessary to collect the individual contour image of each target object to update the position contour prompt image according to the individual contour image of each target object. Specifically, first collect the indoor image containing the target object, and then separate the individual contour image of the target object from the indoor image, and the specific separation method can be an image segmentation algorithm based on PnP, CNN, Mask R-CNN or Tsallis entropy.

[0064] In step S802 of some embodiments, the host computer can update the body position contour prompt image according to the individual contour image to obtain an updated contour prompt image. Specifically, the host computer first receives the individual contour image sent by the camera, and then performs a difference evaluation based on the individual contour image and the body position contour prompt image to obtain the difference evaluation data, and updates the body position contour prompt image according to the difference evaluation data, so as to obtain an updated contour prompt image with a high degree of coincidence with the body position contour of the target object detected body position. The specific difference evaluation method can be: firstly extract the pixels of the individual contour image and the body position contour prompt image respectively, and then calculate the pixel proportion difference between the individual contour image and the body position contour prompt image, and finally adjust the body position contour prompt image according to the pixel proportion difference to obtain the updated contour prompt image. The difference evaluation method can also be the parameters of the detection part in the individual contour image, such as the width of the abdomen, the length of the thigh or the curvature of the knee, and then adjust the parameters of the corresponding part in the body position contour prompt image according to the parameters of the detection part.

[0065] In step S803 of some embodiments, an updated contour prompt image may be projected by a projector to guide the target object to adjust its body position. Specifically, the projector first receives the updated contour prompt image sent by the host computer, and deforms the updated contour prompt image according to the mapping relationship between the camera coordinate system and the projector coordinate system and the projection correction parameter to obtain a deformed contour prompt image, and then projects the deformed contour prompt image onto the backboard to guide the target object to adjust its body position so as to place the detection part within the area corresponding to the deformed contour prompt image.

[0066] In step S803 of some other embodiments, the host computer may also estimate the posture of the target object based on the individual contour image to obtain object posture estimation data, and then generate a positioning guidance video based on the deformation contour prompt image and the object posture estimation data, and finally send the positioning guidance video to the projector, so as to dynamically guide the target object to adjust its body position to a posture that conforms to the deformation contour prompt image by playing the positioning guidance video through the projector.

[0067] In step S803 of some other embodiments, if the camera fails to capture the individual contour image, the host computer will directly send the body position contour prompt image to the projector so that the projector projects the body position contour prompt image.

[0068] It should be noted that during the positioning of the target object, steps S801 to S803 may be repeatedly performed, so that the target object can adjust its body position according to the latest deformation contour prompt image until the target object adjusts its body position to the most suitable posture.

[0069] In steps S801 to S803 shown in the embodiment of the present application, when the target object is in the detection area, the individual contour image of the target object is first collected by the camera, and then the position contour prompt image is updated by the host computer according to the individual contour image to obtain an updated contour prompt image, and finally the updated contour prompt image is projected by the projector to guide the target object to adjust the body position. Therefore, the positioning guidance method for the flat film process shown in the embodiment of the present application can update and project the position contour prompt image according to the individual contour image of the target object, thereby improving the efficiency of positioning the target object and the accuracy of positioning.

[0070] In step S105 of some embodiments, when the position of the target object meets the predetermined position condition, the host computer sends a flat film shooting instruction to the flat film device, so that the bottle embryo device shoots the detection part of the target object. The predetermined position condition can be that the detection part of the target object is completely located within the contour of the updated contour prompt image, and the degree of fit between the contour of the detection part and the contour of the updated contour prompt image reaches a preset fit threshold, and the specific fit threshold can be 85%, 90% or 95%, and other specific values ​​can also be selected according to the actual needs of those skilled in the art.

[0071] See also Fig. 9 In some embodiments, after step S105, the above-mentioned positioning guidance method for the flat film process may also include but is not limited to steps S901 to S903: Step S901, obtaining the time duration of the target object adjusting the body position, and obtaining the total adjustment time duration; Step S902, comparing the total adjustment time with the preset simulation adjustment time to determine the adjustment link score; wherein the simulation adjustment time is determined by a preset positioning guidance model, and the positioning guidance model is constructed according to the behavior learning guidance operation and guidance cycle of the guiding robot, the projection time of the projector, and the generation method of the updated contour prompt image; Step S903: adjust the positioning guidance model according to the adjustment link score.

[0072] In step S901 of some embodiments, the total time required for the target object to adjust its position in the detection area is monitored and recorded in real time. The total adjustment time reflects the patient's response speed to the position adjustment guidance and the degree of understanding of the position contour prompt information, and can be used to evaluate the efficiency of the position contour prompt information projected by the projector in guiding the position of the target object.

[0073] In step S902 of some embodiments, the preset positioning guidance model refers to the positioning guidance method operation process simulated in the computer according to the behavior learning guidance operation and guidance cycle of the guiding robot, the projection time of the projector and the generation method of the updated contour prompt image before the actual positioning guidance is performed. On this basis, the simulation adjustment time of the positioning guidance model can be determined, and the simulation adjustment time refers to the total time required for the target object to adjust the body position obtained by deduction according to the positioning guidance model. The behavior learning guidance operation of the guiding robot refers to the operation of the guiding robot in the behavior learning guidance link, and the learning guidance link refers to the link from the guiding robot generating the object call information and the identity information confirmation interface according to the identity information of the target object to the end of the display of the positioning operation guidance information. The behavior learning guidance operation may include but is not limited to at least one of the following: generating object call information and identity information confirmation interface according to the patient's identity information, playing the object call information, planning the route according to the preset isolation door positioning information and the current position of the guide robot, obtaining the target guidance route, and moving according to the target guidance route to guide the guardian and the patient to move to the isolation door, playing the guidance entry preparation area information, guiding the guardian and the patient to enter the preparation area, playing the object's required work information, playing the guidance entry detection area information, and guiding the guardian and the patient to enter the detection area of ​​the observation room. The guidance cycle refers to the duration of the guidance robot to complete the behavior learning guidance link, and the guidance cycle can be set according to at least one of the following parameters: the presentation form and playback duration of the object call information, the guidance entry preparation area information, and the guidance entry detection area information. For example, the object call information can be composed of video and audio, and played repeatedly 5 times; the guidance entry preparation area information can be only a route map, and the display duration is 1 minute. The projection duration of the projector can be set according to at least one of the following parameters: the duration of a single projection update contour prompt image and the number of projection updates of the contour prompt image. The generation method of the updated contour prompt image includes but is not limited to any of the following: searching for images in the preset contour image library only according to the detection items, physiological information and body mass index to obtain the body position contour prompt image; updating the body position contour prompt image according to the individual contour image of the patient collected by the camera to obtain the updated contour prompt image; directly generating the updated contour prompt image according to the individual contour image. The adjustment link refers to the link from the target object entering the detection area to the moment before the flat film device starts flat film shooting.

[0074] Since the total adjustment time can be used to evaluate the efficiency of the body position contour prompt information projected by the projector in guiding the target object, the adjustment link score can be determined according to the total adjustment time. For example, the adjustment link score can be adjusted according to the ratio of the total adjustment time and the preset standard adjustment time: if the total adjustment time is equal to the standard adjustment time, the adjustment link score is set to 60; if the total adjustment time exceeds the standard adjustment time by 20%, the adjustment link score is set to 50; if the total adjustment time is 50% of the standard adjustment time, the adjustment link score is set to 85.

[0075] In step S903 of some embodiments, the positioning guidance model may be adjusted according to the adjustment link score. Taking the generation method of the updated contour prompt image of the adjustment positioning guidance model as an example, the body contour prompt image and the body contour prompt text may be modified, added or deleted according to the adjustment link score. For example, a link score of 50 may mean that the current body contour prompt image or body contour prompt text is not clear enough or difficult to understand, and the body contour prompt information needs to be modified, such as adding a body contour prompt voice or replacing the body contour prompt image with a body contour prompt video; for example, a link score of 95 indicates that the target object can quickly respond to the guidance of the body contour information, and there is no need to adjust the body contour prompt image and the body contour prompt text.

[0076] In other embodiments, the adjustment link may be scored and adjusted according to the projection duration of the projector. In addition, the behavior learning guidance link may be scored and adjusted according to the guidance cycle of the guiding robot. The specific link scoring and adjustment link implementation methods are similar to the above steps S901 to S903 and will not be repeated.

[0077] In steps S901 to S903 shown in the embodiment of the present application, the total adjustment time is obtained by obtaining the time for the target object to adjust the position, and then the adjustment link score is determined by comparing the total adjustment time with the preset simulation adjustment time; wherein the simulation adjustment time is determined by a preset positioning guidance model, and the positioning guidance model is constructed according to the guidance operation and guidance cycle of the guiding robot's behavior learning, the projection time of the projector, and the generation method of the updated contour prompt image. Finally, the position contour prompt image and the position contour prompt text are adjusted according to the adjustment link score. Therefore, a positioning guidance method for the flat film process shown in the embodiment of the present application can obtain the position contour prompt image and the position contour prompt text that are most convenient for the target object to understand the positioning operation, thereby improving the efficiency of flat film detection.

[0078] In some other embodiments of the present application, before the guiding robot generates the object call information and the identity information confirmation interface according to the patient's identity information, the method may further include: first, by selecting different guiding robots' behavior learning guidance operations and guidance cycles, the projection duration of the projector, and the generation method of the updated contour prompt image in a preset virtual deduction system, to construct multiple positioning guidance models for the flat film detection process, and deduce the simulated positioning guidance time of each positioning guidance model through the virtual deduction system, wherein the simulated positioning guidance time refers to the time required to complete a complete positioning guidance in the positioning guidance model; then, the positioning guidance model with the shortest simulated positioning guidance time is selected from all the positioning guidance models as the target guidance model, and the actual guiding robot's behavior learning guidance operation and guidance cycle, the projection duration of the projector, and the generation method of the updated contour prompt image are set according to the target guidance model, and the actual positioning guidance is recorded. Duration, wherein the actual positioning guidance duration refers to the actual duration required to complete a complete positioning guidance according to the target guidance model; then, according to the actual positioning guidance duration and the score of the behavior learning guidance link, the behavior learning guidance operation and the guidance cycle of guiding the robot in the behavior learning guidance link are adjusted, and according to the actual positioning guidance duration and the score of the adjustment link, the projection duration of the projector and the generation method of the updated contour prompt image in the adjustment link are adjusted, until the matching degree of the simulated positioning guidance duration and the actual positioning guidance duration of the target guidance model reaches the matching degree threshold, the matching degree refers to the similarity between the simulated positioning guidance duration and the actual positioning guidance duration, the matching degree threshold is used to describe whether the matching degree reaches or does not reach the preset similarity degree standard, the matching degree threshold can be set according to the actual needs of technical personnel in this field, for example, the matching degree threshold can be 99.99%, or it can be 90% or 92.8%, etc., and this application does not impose any restrictions.

[0079] The above method illustrated in the embodiment of the present application, by constructing different positioning guidance models in the virtual deduction system and selecting the target guidance model according to the simulated positioning guidance time, will not occupy the actual positioning guidance scene, and can quickly determine the positioning guidance plan that can be implemented, reducing the time cost and hardware cost of determining the positioning guidance plan, and improving the efficiency of determining the positioning guidance plan. Then, by applying the target guidance model in the actual positioning guidance process, and adjusting the target guidance model according to the actual positioning guidance time, the score of the learning guidance link and the score of the adjustment link, and then applying the adjusted target guidance model to the actual positioning guidance process, the dynamic adjustment of the positioning guidance plan is realized, and finally a positioning guidance plan that is easy for the target object to understand the positioning guidance operation and has the shortest actual positioning guidance time can be obtained.

[0080] See also Fig.10In some embodiments, if the patient who needs to undergo a plain film test is a special group of people such as children or the elderly who find it difficult to quickly understand the positioning operation, the patient's guardian is required to accompany the patient for a plain film test to assist the patient in positioning. On this basis, the specific implementation process of the present application is as follows: First, before the examination, the guiding robot generates object call information and an identity information confirmation interface according to the patient's identity information, and plays the object call information to guide the guardian or patient to confirm the identity information on the identity information confirmation interface. When the guardian or patient finishes the identity information confirmation, the guiding robot performs route planning according to the preset isolation door positioning information and the current position of the guiding robot, obtains the target guidance route, and plays the operation process, precautions and other introduction information to the guardian and the patient, and then moves according to the target guidance route to guide the guardian and the patient to the path, so that the guiding guardian and the patient move to the isolation door. Then, in response to the isolation door of the observation room being opened, the guiding robot plays the information of guiding to enter the preparation area to guide the guardian and the patient to enter the preparation area, and plays the object required work information such as precautions and behavioral guidance to guide the guardian to perform the required work on the guardian and the patient. In response to the target object having completed the required work, the guide robot plays the information of guiding into the detection area to guide the guardian and the patient into the detection area of ​​the observation room. Then, the host computer determines the body mass index according to the patient's physiological information, and searches the preset contour image library according to the detection items, physiological information and body mass index to obtain the body position contour prompt image. The camera collects the indoor image and identifies the backboard contour of the backboard from the indoor image to estimate the spatial posture of the detection area according to the backboard contour, obtain the projection correction parameter, and then send the projection correction parameter to the projector so that the projector performs projection correction according to the projection correction parameter. Thereafter, when the patient is in the detection area, the individual contour image of the patient is collected by the camera, and the body position contour prompt image is updated according to the individual contour image to obtain the updated contour prompt image, so as to project the updated contour prompt image through the projector to guide the guardian to adjust the patient's body position. Finally, when the patient's body position meets the predetermined body position conditions, a flat film is taken, and after the examination, the guide robot guides the patient and the guardian to exit the observation room.

[0081] See also Fig.11 The embodiment of the present application further provides a positioning guidance system for a planar film process, which can implement the positioning guidance method for a planar film process, and the system includes: Host computer 1101, guiding robot 1102, camera 1103 and projector 1104: A guiding robot 1102 is used to play target guidance information to guide the target object into the detection area of ​​the observation room; The host computer 1101 is used to generate body position contour prompt information according to the detection items of the target object; Camera 1103, used to collect images of the observation room to obtain indoor images; The projector 1104 is used to perform projection correction according to the indoor image, and when the target object is in the detection area, project body position contour prompt information to guide the target object to adjust the body position; The host computer 1101 is also used to take plain film when the body position of the target object meets the predetermined body position condition.

[0082] The specific implementation of the positioning guidance system for the planar film process is basically the same as the specific implementation of the positioning guidance method for the planar film process described above, and will not be repeated here.

[0083] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned positioning guidance method for the flat film process when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0084] See also Fig.12 , Fig.12 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes: The processor 1201 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application; The memory 1202 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1202 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1202, and the processor 1201 calls and executes the positioning guidance method for the flat film process of the embodiment of this application; Input / output interface 1203, used to implement information input and output; The communication interface 1204 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.); A bus 1205 that transmits information between various components of the device (e.g., the processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204); The processor 1201 , the memory 1202 , the input / output interface 1203 and the communication interface 1204 are connected to each other in communication within the device via the bus 1205 .

[0085] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the positioning guidance method for the flat-film process described above is implemented.

[0086] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0087] The positioning guidance method, positioning guidance system and related equipment for the flat film process provided by the embodiment of the present application first guide the robot to play the target guidance information to guide the target object to enter the detection area of ​​the observation room, and then generate the body position contour prompt information according to the detection items of the target object. Then, the observation room is imaged by the camera to obtain the indoor image, and the projection correction is performed according to the indoor image by the projector. When the target object is in the detection area, the body position contour prompt information is projected to guide the target object to adjust the body position. Finally, when the body position of the target object meets the predetermined body position condition, the flat film is taken. Therefore, the positioning guidance method, system and related equipment for the flat film process shown in the embodiment of the present application can be controlled by the upper computer to guide the robot to play the target guidance information, generate the body position contour prompt information according to the detection items of the target object, and project the body position contour prompt information through the camera and the projector, so as to guide the target object to perform the body position placement operation, assist the target object to adjust the body position posture, reduce the positioning time of the flat film detection, and improve the efficiency of the flat film detection.

[0088] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0089] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0090] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0091] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0092] The terms "including" and "having" and any variations thereof in the specification of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0093] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "At least one of the following (items)" or similar expressions refers to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0094] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as 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 systems or units, which can be electrical, mechanical or other forms.

[0095] The units described above 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.

[0096] In addition, each functional unit in each embodiment of the present application 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.

[0097] 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 application, 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, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0098] The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the claims of the present application is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and essence of the present application should be within the scope of the claims of the present application.

Claims

1. A positioning guidance method for a planar film process, characterized in that: Applied to a host computer, the method includes: The target object is guided into the detection area of ​​the observation room by playing the target guidance information by guiding the robot; Generate body position contour prompt information according to the detection items of the target object; Capturing images of the observation room through a camera to obtain indoor images; Performing projection correction according to the indoor image by a projector, and projecting the body position contour prompt information when the target object is in the detection area to guide the target object to adjust the body position; When the body position of the target object meets the predetermined body position condition, a plain film is taken.

2. The method according to claim 1, characterized in that The target guidance information includes guidance into the preparation area information and guidance into the detection area information; The method of guiding the robot to play the target guidance information to guide the target object into the detection area of ​​the observation room includes: In response to the isolation door of the observation room being opened, playing the information for guiding the target object into the preparation area to guide the target object into the preparation area; Play the work information required by the object to guide the target object to perform the required work; In response to the target object having completed the required work, the information for guiding the target object into the detection area is played to guide the target object into the detection area of ​​the observation room.

3. The method according to claim 1, characterized in that: The body position contour prompt information includes a body position contour prompt image; The generating of body position contour prompt information according to the detection items of the target object includes: Determining a body mass index according to the physiological information of the target object; An image search is performed on a preset contour image library according to the detection items, the physiological information and the body mass index to obtain the body position contour prompt image.

4. The method according to claim 3, characterized in that Before performing projection correction according to the indoor image by a projector, the method further includes: Recognizing a back panel contour of the back panel from the indoor image by the camera; Performing spatial posture estimation on the detection area according to the back plate contour to obtain projection correction parameters; The projection correction parameters are sent to the projector, so that the projector performs projection correction according to the projection correction parameters.

5. The method according to claim 4, characterized in that When the target object is in the detection area, projecting the body position contour prompt information to guide the target object to adjust the body position includes: When the target object is in the detection area, collecting an individual contour image of the target object through the camera; updating the body position contour prompt image according to the individual contour image to obtain an updated contour prompt image; The updated contour prompt image is projected by the projector to guide the target object to adjust its body position.

6. The method according to claim 2, characterized in that Before playing the information of guiding the target object into the preparation area in response to the isolation door of the observation room being opened to guide the target object into the preparation area, the method further includes: Generate object calling information and identity information confirmation interface according to the identity information of the target object; Playing the object calling information to guide the target object to confirm the identity information on the identity information confirmation interface; When the target object completes identity information confirmation, route planning is performed according to the preset isolation door positioning information and the current position of the guide robot to obtain a target guidance route; The target object is displaced according to the target guidance route to guide the target object to move to the isolation door.

7. The method according to claim 5, characterized in that The body position contour prompt information also includes body position contour prompt text; After the body position meets the predetermined body position condition and the radiograph is taken, the method further includes: Obtaining the time duration of the target object adjusting the body position, and obtaining the total adjustment time duration; The adjustment link score is determined by comparing the total adjustment time with a preset simulation adjustment time; wherein the simulation adjustment time is determined by a preset positioning guidance model, and the positioning guidance model is constructed according to the behavior learning guidance operation and guidance cycle of the guidance robot, the projection time of the projector, and the generation method of the update contour prompt image; The positioning guidance model is adjusted according to the adjustment link score.

8. A positioning guidance system for planar film process, characterized in that: The system includes a host computer, a guiding robot, a camera and a projector: The guiding robot is used to play the target guiding information to guide the target object into the detection area of ​​the observation room; The host computer is used to generate body position contour prompt information according to the detection items of the target object; The camera is used to collect images of the observation room to obtain indoor images; The projector is used to perform projection correction according to the indoor image, and when the target object is in the detection area, project the body position contour prompt information to guide the target object to adjust the body position; The host computer is also used to take plain film when the body position of the target object meets the predetermined body position condition.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the positioning guidance method for the flat film process as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the positioning guidance method for a planar film process according to any one of claims 1 to 7 is implemented.

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