Label-based intelligent positioning method and device, positioner and ray machine

Abstract

The invention relates to the technical field of dental image shooting, and discloses a label-based intelligent positioning method and device, a positioner and a ray machine, and the method comprises the steps: collecting response signals of a plurality of induction labels of an imaging sensor aiming at a signal transmitted by a label positioner arranged on the ray machine, and receiving signal intensity and carrier phase information; the method comprises the following steps: estimating an estimated distance for any induction tag by fusing a linear relationship between an attenuation model of received signal strength and a carrier phase, and eliminating a single tag error by utilizing multi-point sampling in combination with the estimated distance and position information of all the induction tags and a position offset generated by a positioning imaging sensor relative to a ray machine, so as to realize submillimeter-level accurate positioning. The alignment accuracy and efficiency of the two are improved, so that the position is accurate when the dental X image is shot, and the imaging sensor is ensured to completely fall into the range of the projection area; the device is flexible in installation, low in cost, small in angle dependence, and suitable for low-power-consumption scenes where the size of the sensor in the oral cavity is limited and no independent power supply exists.

Description

Technical Field

[0001] This invention relates to the field of dental imaging technology, and in particular to a method, device, locator, and X-ray machine for intelligent positioning based on tags. Background Technology

[0002] Accurate acquisition of dental images is crucial for dental treatment and aesthetic improvement, and precise alignment of the handheld X-ray machine with the center of the intraoral imaging sensor is a prerequisite for obtaining high-quality dental images. Only when the projection center of the X-ray tube completely coincides with the center of the effective photosensitive area of ​​the imaging sensor can the tooth structure (such as root canals, alveolar bone, and enamel) be presented completely and clearly in the image, reducing image distortion, missing edge information, or artifacts caused by misalignment. This provides reliable visual evidence for root canal treatment, dental implant restoration, and caries diagnosis.

[0003] Currently, the positioning methods for X-ray tubes and imaging sensors in dental X-ray imaging systems mainly include manual alignment, Hall sensor positioning, and wireless coil positioning. Specifically, manual alignment relies on the operator visually observing the sensor position or using auxiliary markers (such as alignment lines on the sensor edge) to manually adjust the spatial orientation and distance of the handheld X-ray machine to achieve center alignment. Hall sensor positioning integrates a Hall element at the X-ray tube end and a permanent magnet is installed at the imaging sensor end, using changes in magnetic field strength to detect relative position. Its working principle is that the Hall element senses the magnetic field gradient generated by the permanent magnet, converting it into an electrical signal to determine the direction of deviation, but the sensor end requires power to drive the Hall element and signal processing circuitry. Wireless coil positioning uses the principle of electromagnetic induction, determining the distance through the electromagnetic coupling strength between the transmitting coil at the X-ray tube end and the receiving coil at the sensor end. The transmitting coil generates an alternating magnetic field, the receiving coil senses the magnetic field and outputs a voltage signal; the voltage strength is related to the coupling distance, but the receiving coil needs a certain volume to ensure sensing sensitivity, and the sensor end needs power to process the signal.

[0004] However, in practice, it has been found that manual alignment relies entirely on the operator's experience, feel, and visual judgment, lacking a quantitative position feedback mechanism, resulting in low positioning accuracy. Hall effect sensors are also susceptible to magnetic field interference from dental instruments (such as braces and probes), leading to significant positioning errors. Wireless coils are sensitive to coupling angles; when the offset exceeds 15°, the signal attenuation exceeds 30%, also resulting in low positioning accuracy. Furthermore, intraoral imaging sensors need to be adapted to the occlusal space (thickness typically ≤5mm) and cannot be integrated with an independent power supply. Active positioning technologies such as Hall effect sensors and wireless coils all require power to the sensor end, failing to meet the requirements for passive positioning. In other words, all three methods suffer from the low accuracy of the handheld X-ray machine's positioning imaging sensor. Therefore, it is crucial to propose a positioning technology capable of accurately locating the center of the handheld X-ray machine and the center of the imaging sensor to improve the positioning accuracy of both, thereby enhancing alignment accuracy and efficiency. This, in turn, ensures accurate positioning during dental X-ray imaging, improving the quality and efficiency of dental image acquisition. Summary of the Invention

[0005] This invention provides a method, device, locator, and X-ray machine for intelligent positioning based on tags. It is a positioning technology that can accurately locate the center of a handheld X-ray machine and the center of an imaging sensor, thereby improving the positioning accuracy of the handheld X-ray machine and the imaging sensor, thus improving the alignment accuracy and efficiency of the two, and ensuring accurate positioning when taking dental X-ray images, thereby improving the quality and efficiency of dental image acquisition.

[0006] The first aspect of this invention discloses a method for intelligent positioning based on tags, the method comprising: The system collects the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted to the imaging sensor by the tag locator, as well as the received signal strength and carrier phase information of this communication. The response signal of each sensing tag carries the tag information of that sensing tag. The tag information of each sensing tag includes the position information of the sensing tag relative to the imaging sensor. The tag locator is installed on the X-ray machine. For any of the aforementioned sensing tags, the estimated distance between the sensing tag and the X-ray machine is estimated based on the received signal strength and carrier phase information corresponding to the sensing tag. Based on the estimated distance and position information corresponding to all the aforementioned sensing tags, the positional offset of the imaging sensor relative to the X-ray machine is determined.

[0007] As an optional implementation, in a first aspect of the invention, locating the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags includes: Based on the estimated distance and position information corresponding to all the aforementioned sensing tags, the planar offset of the imaging sensor relative to the X-ray machine is determined; Based on the plane offset corresponding to the imaging sensor, the estimated distance and position information of all the sensing tags, the estimated vertical distance between the imaging sensor and the X-ray machine is determined; The positional offset of the imaging sensor relative to the X-ray machine includes the planar offset of the imaging sensor relative to the X-ray machine and the estimated vertical distance between the imaging sensor and the X-ray machine.

[0008] As an optional implementation, in a first aspect of the invention, locating the planar offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags includes: For any of the aforementioned sensing tags, a position constraint equation for the sensing tag is constructed based on the estimated distance and position information corresponding to the sensing tag; From all the aforementioned sensor tags, one of the sensor tags is selected as the reference sensor tag; For any non-reference sensing tag, the planar offset constraint equation of the non-reference sensing tag is obtained by subtracting the position constraint equation of the reference sensing tag from the position constraint equation of the non-reference sensing tag. Based on the planar offset constraint equations of all the non-reference sensing tags, an overdetermined set of equations for the imaging sensor is constructed, and the overdetermined set of equations for the imaging sensor is solved using the least squares method to obtain the planar offset of the imaging sensor relative to the X-ray machine.

[0009] As an optional implementation, in a first aspect of the invention, locating the estimated vertical distance between the imaging sensor and the X-ray machine based on the plane offset corresponding to the imaging sensor, the estimated distances and position information of all the sensing tags, includes: For any of the aforementioned sensing tags, the planar offset of the sensing tag is determined based on the position information of the sensing tag and the planar offset corresponding to the imaging sensor, and the estimated vertical distance between the sensing tag and the X-ray machine is determined based on the planar offset of the sensing tag and the estimated distance of the sensing tag. Based on the vertical estimated distances corresponding to all the aforementioned sensing tags, the vertical estimated distance between the imaging sensor and the X-ray machine is located.

[0010] As an optional implementation, in a first aspect of the present invention, estimating the estimated distance between the sensing tag and the X-ray machine based on the received signal strength and carrier phase information corresponding to the sensing tag includes: Based on a preset signal attenuation model, the received signal strength corresponding to the sensing tag is analyzed to obtain the first estimated distance of the sensing tag relative to the X-ray machine; Based on a preset phase analysis model, the carrier phase information corresponding to the sensing tag is analyzed to obtain a second estimated distance between the sensing tag and the X-ray machine; The estimated distance of the sensor tag relative to the X-ray machine is determined based on the first estimated distance and the second estimated distance of the sensor tag.

[0011] As an optional implementation, in the first aspect of the invention, after determining the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags, the method further includes: Based on the positional offset of the imaging sensor relative to the X-ray machine and a preset positional offset range, determine whether the imaging sensor and the X-ray machine are aligned; When it is determined that the imaging sensor and the X-ray machine are not aligned, the positional offset of the imaging sensor relative to the X-ray machine is analyzed and compared with a preset positional offset range to obtain the offset analysis result. Based on the offset analysis result, the X-ray machine is adjusted. The step of performing an adjustment operation on the X-ray machine based on the offset analysis results includes: Output the offset analysis results to the target personnel to trigger them to adjust the position and / or orientation of the X-ray machine; or, Based on the offset analysis results, adjustment control parameters for the X-ray machine are generated, and the position and / or attitude of the X-ray machine are adjusted according to the adjustment control parameters.

[0012] As an optional implementation, in the first aspect of the invention, before acquiring the response signal of each of the plurality of sensing tags on the imaging sensor in response to the signal transmitted by the tag locator to the imaging sensor, and the received signal strength and carrier phase information of this communication, the method further includes: When it is necessary to locate the imaging sensor, the tag locator is controlled to send a signal to the imaging sensor to obtain the number of tags identified by the imaging sensor. Based on the number of sensor tags identified, determine the power adjustment direction that matches the number of sensor tags identified; Based on the power adjustment direction that matches the number of the sensor tags identified, a power adjustment operation is performed on the tag locator. During the power adjustment process, the tag identification result of the imaging sensor is monitored. When the tag identification result of the imaging sensor indicates that all the sensing tags of the imaging sensor can be stably read, the operation of collecting the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication, is performed.

[0013] A second aspect of the present invention discloses a device for intelligent positioning based on tags, the device comprising: The acquisition module is used to acquire the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted by the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication. The response signal of each sensing tag carries the tag information of the sensing tag. The tag information of each sensing tag includes the position information of the sensing tag relative to the imaging sensor. The tag locator is set on the X-ray machine. The estimation module is used to estimate the distance between the sensing tag and the X-ray machine for any of the sensing tags, based on the received signal strength and carrier phase information corresponding to the sensing tag. The positioning module is used to determine the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags.

[0014] As an optional implementation, in a second aspect of the invention, the specific method by which the positioning module determines the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags includes: Based on the estimated distance and position information corresponding to all the aforementioned sensing tags, the planar offset of the imaging sensor relative to the X-ray machine is determined; Based on the plane offset corresponding to the imaging sensor, the estimated distance and position information of all the sensing tags, the estimated vertical distance between the imaging sensor and the X-ray machine is determined; The positional offset of the imaging sensor relative to the X-ray machine includes the planar offset of the imaging sensor relative to the X-ray machine and the estimated vertical distance between the imaging sensor and the X-ray machine.

[0015] As an optional implementation, in a second aspect of the invention, the specific method by which the positioning module determines the planar offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags includes: For any of the aforementioned sensing tags, a position constraint equation for the sensing tag is constructed based on the estimated distance and position information corresponding to the sensing tag; From all the aforementioned sensor tags, one of the sensor tags is selected as the reference sensor tag; For any non-reference sensing tag, the planar offset constraint equation of the non-reference sensing tag is obtained by subtracting the position constraint equation of the reference sensing tag from the position constraint equation of the non-reference sensing tag. Based on the planar offset constraint equations of all the non-reference sensing tags, an overdetermined set of equations for the imaging sensor is constructed, and the overdetermined set of equations for the imaging sensor is solved using the least squares method to obtain the planar offset of the imaging sensor relative to the X-ray machine.

[0016] As an optional implementation, in a second aspect of the invention, the specific method by which the positioning module determines the estimated vertical distance between the imaging sensor and the X-ray machine based on the plane offset corresponding to the imaging sensor, the estimated distances and position information of all the sensing tags includes: For any of the aforementioned sensing tags, the planar offset of the sensing tag is determined based on the position information of the sensing tag and the planar offset corresponding to the imaging sensor, and the estimated vertical distance between the sensing tag and the X-ray machine is determined based on the planar offset of the sensing tag and the estimated distance of the sensing tag. Based on the vertical estimated distances corresponding to all the aforementioned sensing tags, the vertical estimated distance between the imaging sensor and the X-ray machine is located.

[0017] As an optional implementation, in a second aspect of the invention, the estimation module estimates the estimated distance between the sensing tag and the X-ray machine based on the received signal strength and carrier phase information corresponding to the sensing tag, including: Based on a preset signal attenuation model, the received signal strength corresponding to the sensing tag is analyzed to obtain the first estimated distance of the sensing tag relative to the X-ray machine; Based on a preset phase analysis model, the carrier phase information corresponding to the sensing tag is analyzed to obtain a second estimated distance between the sensing tag and the X-ray machine; The estimated distance of the sensor tag relative to the X-ray machine is determined based on the first estimated distance and the second estimated distance of the sensor tag.

[0018] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The judgment module is used to determine whether the imaging sensor and the X-ray machine are aligned after the positioning module determines the position offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags; The analysis module is used to analyze the positional offset of the imaging sensor relative to the X-ray machine and a preset positional offset range when it is determined that the imaging sensor and the X-ray machine are not aligned, and to obtain the offset analysis result. The first adjustment module is used to perform adjustment operations on the X-ray machine based on the offset analysis results; The specific method by which the first adjustment module performs adjustment operations on the X-ray machine based on the offset analysis results includes: Output the offset analysis results to the target personnel to trigger them to adjust the position and / or orientation of the X-ray machine; or, Based on the offset analysis results, adjustment control parameters for the X-ray machine are generated, and the position and / or attitude of the X-ray machine are adjusted according to the adjustment control parameters.

[0019] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The control module is used to control the tag locator to send a signal to the imaging sensor when it is necessary to locate the imaging sensor before the acquisition module acquires the response signal of each of the multiple sensing tags on the imaging sensor to the signal transmitted by the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication. This allows the acquisition module to obtain the number of sensing tags identified by the imaging sensor. The determining module is used to determine a power adjustment direction that matches the number of sensor tags identified, based on the number of sensor tags identified. The second adjustment module is used to perform a power adjustment operation on the tag locator based on a power adjustment direction that matches the number of the sensor tags identified. The monitoring module is used to monitor the tag identification result of the imaging sensor during the power adjustment process. When the tag identification result of the imaging sensor indicates that all the sensing tags of the imaging sensor can be stably read, the acquisition module is triggered to perform the operation of acquiring the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted by the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication.

[0020] A third aspect of the present invention discloses a tag locator, the tag locator comprising: Memory containing executable program code; A processor coupled to the memory; The processor invokes the executable program code stored in the memory to execute some or all of the steps in any of the methods described in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in any of the methods described in the first aspect of the present invention.

[0022] The fifth aspect of the present invention discloses an X-ray machine, the X-ray machine including a label locator and an X-ray tube, the label locator being disposed on the surface of the X-ray tube, the label locator being used to perform some or all of the steps in any of the methods described in the first aspect of the present invention.

[0023] Compared with the prior art, the present invention has the following beneficial effects: In this embodiment of the invention, the response signal of each of the multiple sensing tags on the imaging sensor to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication, are collected. The response signal of each sensing tag carries the tag information of that sensing tag, which includes the position information of the sensing tag relative to the imaging sensor. For any sensing tag, the estimated distance generated by the sensing tag relative to the X-ray machine is estimated based on the received signal strength and carrier phase information of the sensing tag. Based on the estimated distance and position information of all sensing tags, the position offset of the imaging sensor relative to the X-ray machine is determined. As can be seen, implementing this invention, by collecting the response signals of multiple sensing tags of the imaging sensor to the signal emitted by the tag locator set on the X-ray machine, as well as the received signal strength and carrier phase information, constructs multi-source data support. For any sensing tag, the distance is estimated by fusing the attenuation model of the received signal strength and the linear relationship of the carrier phase, which improves the robustness of the distance estimation between the imaging sensor and the X-ray machine, thereby improving the accuracy of the distance estimation. Furthermore, by combining the estimated distance and position information of all sensing tags, the positional offset of the imaging sensor relative to the X-ray machine is located. Multi-point sampling is used to eliminate the error of a single tag, achieving sub-millimeter-level precise positioning, improving the alignment accuracy and efficiency of both, and thus ensuring accurate positioning when taking dental X-ray images, ensuring that the imaging sensor falls completely within the projection area, greatly improving the accuracy of dental X-ray imaging and the system adaptability, which is conducive to improving the quality and efficiency of dental image acquisition. Moreover, it is flexible in installation, low in cost, and has little dependence on angle, making it suitable for low-power scenarios where the size of the intraoral sensor is limited and there is no independent power supply. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a flowchart illustrating a tag-based intelligent positioning method disclosed in an embodiment of the present invention; Figure 2 This is a schematic diagram of a communication relationship disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an imaging sensor and a tag locator disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another imaging sensor and tag locator disclosed in an embodiment of the present invention; Figure 5 This is a flowchart illustrating another tag-based intelligent positioning method disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a tag-based intelligent positioning device disclosed in an embodiment of the present invention; Figure 7 This is a schematic diagram of another tag-based intelligent positioning device disclosed in an embodiment of the present invention; Figure 8 This is a schematic diagram of another tag-based intelligent positioning device disclosed in an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0027] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0028] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described herein can be combined with other embodiments.

[0029] This invention discloses a method, device, locator, and X-ray machine for tag-based intelligent positioning. By collecting response signals from multiple sensing tags on an imaging sensor to signals emitted by a tag locator positioned on the X-ray machine, as well as the received signal strength and carrier phase information, multi-source data support is constructed. For any sensing tag, the distance is estimated by fusing the attenuation model of the received signal strength with the linear relationship of the carrier phase, improving the robustness of the distance estimation between the imaging sensor and the X-ray machine, thereby increasing the accuracy of the distance prediction. Furthermore, by combining the estimated distance and position information of all sensing tags, the positional offset of the imaging sensor relative to the X-ray machine is determined. Multi-point sampling eliminates single-tag errors, achieving sub-millimeter-level precise positioning, improving the alignment accuracy and efficiency of both devices. This ensures accurate positioning when taking dental X-ray images, guaranteeing that the imaging sensor falls completely within the projection area, significantly improving the accuracy and system adaptability of dental X-ray imaging, and contributing to improved dental image acquisition quality and efficiency. Moreover, it offers flexible installation, low cost, and minimal angle dependence, making it suitable for low-power scenarios where the sensor size is limited and there is no independent power supply. Detailed descriptions follow.

[0030] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a tag-based intelligent positioning method disclosed in an embodiment of the present invention. Figure 2 This is a schematic diagram of a communication relationship disclosed in an embodiment of the present invention. The following is in conjunction with... Figure 2 The present invention will be described. Wherein, Figure 1-2 The described method can be applied to scenarios requiring dental imaging, such as root canal treatment. Figure 1As shown, the method may include the following operations: 101. Collect the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication. The response signal of each sensing tag carries the tag information of that sensing tag. The tag information of each sensing tag includes the position information of the sensing tag relative to the imaging sensor. The tag locator is set on the X-ray machine.

[0031] In this embodiment of the invention, the number of sensing tags disposed on the imaging sensor is multiple, such as 4 or 6. These tags can be evenly or non-uniformly disposed on the imaging sensor. The sensing tags are any tags capable of carrying their position information (such as absolute position coordinates) on the imaging sensor, such as NFC tags with a diameter of 15mm or less. Furthermore, the tag information for each sensing tag also includes the tag's identification identifier. Therefore, the sensing tags do not require independent power supply; they rely on signals emitted by the tag locator to activate and feedback data, making them ideal for applications in environments with limited space and power constraints, such as the oral cavity.

[0032] In this embodiment of the invention, the tag locator is mounted on a radiation machine, such as at the exit of an X-ray machine, forming a circular area with a preset diameter (e.g., 40mm-100mm). The tag locator includes a signal transmitting module, the radiation machine, an antenna, and a ribbon cable. The signal transmitting module, antenna, and ribbon cable are mounted on the radiation machine, and the ribbon cable serves as the physical connection medium between the antenna and the signal transmitting module. Figure 3-4 As shown, schematic diagrams of two imaging sensors and tag locators are disclosed, such as... Figure 3-4 As shown, the imaging sensor can be an intraoral sensor 1, which has four NFC tags mounted on it. The tag locator is located at the X-ray machine exit and consists of an FNC transmitting module 6, the X-ray tube 3 of the X-ray machine, an antenna 4, and a ribbon cable 5. The NFC transmitting module 6, antenna 4, and ribbon cable 5 are mounted on the X-ray machine, and the ribbon cable 5 serves as the physical connection medium between the antenna 4 and the NFC transmitting module 6, achieving an electrical connection and ensuring stable signal transmission from the signal transmitting module to the antenna for stable and accurate transmission to the imaging sensor. For example... Figure 3 As shown, the antenna can be an FPC flexible antenna. In this case, the FPC flexible antenna 4 is designed as a ring-shaped multi-turn structure, closely attached to the outer surface of the cylindrical body of the X-ray machine. Its axis is approximately coaxial with the projection center axis of the X-ray beam, ensuring uniform magnetic field coverage at the X-ray machine exit, improving signal coupling efficiency, and reducing parasitic effects caused by material bending. Alternatively, it can be a PCB antenna, such as... Figure 4As shown, the PCB antenna is fixed to the outside of the X-ray tube of the X-ray machine by a rigid ring bracket. It is inexpensive, easy to assemble, and suitable for application scenarios with strict cost control requirements.

[0033] In this embodiment of the invention, taking an NFC tag as an example, during operation, the NFC transmitting module 6 drives the FPC flexible antenna 4 to generate a 13.56MHz radio frequency magnetic field, such as... Figure 2 The energy field shown penetrates space, providing energy to the passive NFC tag 2 of the located end and establishing communication. After the NFC tag is activated, it transmits its identity and location data back to the location end through backscatter modulation, thus forming a complete wireless positioning feedback system.

[0034] 102. For any sensing tag, based on the received signal strength and carrier phase information corresponding to the sensing tag, estimate the distance generated by the sensing tag relative to the X-ray machine.

[0035] 103. Based on the estimated distance and location information corresponding to all sensing tags, determine the positional offset of the imaging sensor relative to the X-ray machine.

[0036] In this embodiment of the invention, the positional offset of the imaging sensor relative to the X-ray machine includes a planar offset and / or a vertical estimated distance, as detailed in the following description. The positional offset can be generated by the imaging sensor relative to the center of the X-ray machine, or relative to other positions on the X-ray machine.

[0037] It is evident that implementation Figure 1 The described method constructs multi-source data support by collecting response signals from multiple sensing tags on an imaging sensor to signals emitted by a tag locator mounted on an X-ray machine, as well as received signal strength and carrier phase information. For any sensing tag, the method estimates the distance by fusing the attenuation model of the received signal strength with the linear relationship of the carrier phase, improving the robustness of the distance estimation between the imaging sensor and the X-ray machine, thereby increasing the accuracy of the distance estimation. Furthermore, by combining the estimated distance and position information of all sensing tags, the method locates the positional offset of the imaging sensor relative to the X-ray machine, using multi-point sampling to eliminate single tag errors and achieve sub-millimeter-level precise positioning, improving the alignment accuracy and efficiency of both devices. This ensures accurate positioning when taking dental X-ray images, guaranteeing that the imaging sensor falls completely within the projection area, significantly improving the accuracy and adaptability of dental X-ray imaging, and contributing to improved dental image acquisition quality and efficiency. Moreover, the method is flexible in installation, low in cost, and has low angle dependence, making it suitable for low-power scenarios where the intraoral sensor is limited in size and lacks an independent power supply.

[0038] In this embodiment of the invention, optionally, the estimated distance between the sensing tag and the X-ray machine is estimated based on the received signal strength and carrier phase information corresponding to the sensing tag, including: Based on the preset signal attenuation model, the received signal strength corresponding to the sensing tag is analyzed to obtain the first estimated distance between the sensing tag and the X-ray machine; Based on the preset phase analysis model, the carrier phase information corresponding to the sensing tag is analyzed to obtain the second estimated distance between the sensing tag and the X-ray machine; The estimated distance between the sensor tag and the X-ray machine is determined based on the first estimated distance and the second estimated distance of the sensor tag.

[0039] In this embodiment of the invention, the received signal strength corresponding to the sensing tag is analyzed based on a preset signal attenuation model to obtain the first estimated distance between the sensing tag and the X-ray machine, including: Obtain the preset path signal loss index of the tag locator and the preset reference received signal strength at a preset distance, wherein the preset distance is the distance generated from the location of the X-ray machine or the tag locator as the starting point, such as 1 meter; The signal analysis result corresponding to the sensing tag is determined based on the preset reference received signal strength and the received signal strength corresponding to the sensing tag. Based on the signal analysis results corresponding to the sensor tag and the preset path signal loss index, the first estimated distance between the sensor tag and the X-ray machine is determined.

[0040] In this embodiment of the invention, optionally, the calculation model for the first estimated distance between the sensing tag and the X-ray machine is as follows: d_RSSI_i = 10^((A - RSSI_i) / (10 * n)); In the formula, d_RSSI_i is the first estimated distance of the i-th sensing tag, RSSI_i is the received signal strength corresponding to the i-th sensing tag, n is the preset path signal loss index, and A is the preset reference received signal strength at the preset distance. A and n are both constants.

[0041] In this embodiment of the invention, optionally, the carrier phase information corresponding to the sensing tag is analyzed based on a preset phase analysis model to obtain a second estimated distance between the sensing tag and the X-ray machine, including: The wavelength of the radio frequency signal emitted by the tag locator and the tag locator's inherent initial phase offset are obtained. Based on the carrier phase information corresponding to the sensing tag and the inherent initial phase offset of the tag locator, the phase analysis result corresponding to the sensing tag is determined; Based on the phase analysis results corresponding to the sensing tag and the wavelength of the radio frequency signal emitted by the tag locator, the second estimated distance corresponding to the sensing tag is determined.

[0042] In this embodiment of the invention, optionally, the calculation model for the second estimated distance of the sensing tag can be as follows: d_phase_i = (Φ_i - Φ_0) * λ / (4π); In the formula, d_phase_i is the second estimated distance of the i-th sensing tag, Φ_i is the carrier phase information corresponding to the i-th sensing tag, λ is the wavelength of the radio frequency signal emitted by the tag locator, and Φ_0 is the inherent initial phase offset of the tag locator.

[0043] In this invention, optionally, the estimated distance between the sensing tag and the X-ray machine is calculated using the following formula: d_i = α * d_RSSI_i + (1 - α) * d_phase_i; In the formula, d_i is the estimated distance corresponding to the i-th sensing tag, and α is a weighting factor dynamically adjusted according to the signal-to-noise ratio (0 ≤ α ≤ 1).

[0044] In this embodiment of the invention, for any sensing tag, the first estimated distance and the second estimated distance of the sensing tag relative to the X-ray machine can be either the center distance relative to the X-ray machine or other location distances, but in any case, their types must be consistent.

[0045] As can be seen, implementing this embodiment of the invention analyzes the received signal strength using a preset signal attenuation model to obtain a first estimated distance. It then utilizes the global distance trend of the RSSI signal to provide a basic reference and processes the carrier phase information using a preset phase analysis model to obtain a second estimated distance. This leverages the high sensitivity of phase to minute distance changes, compensating for the susceptibility of RSSI to interference. Finally, a weighting factor dynamically adjusted according to the signal-to-noise ratio (SNR) is introduced to fuse the first and second estimated distances into a final estimated distance. When the SNR is high, the phase information weight is increased to improve sub-millimeter accuracy; when the SNR is low, the RSSI weight is increased to ensure accurate distance estimation. The stability of the calculation is achieved by performing multi-dimensional fusion analysis on the received signal strength and carrier phase information fed back by the inductive tag. This improves the accuracy of the distance estimation of the inductive tag relative to the X-ray machine and the environmental adaptability fusion strategy. It breaks through the limitations of single signal features and makes the distance estimation reliable even in complex scenarios, such as multi-metal interference in the oral cavity and dynamic distance changes of 50-80mm. This provides accurate data support for the subsequent positioning of the imaging sensor relative to the X-ray machine, ensuring that the imaging sensor falls completely within the projection area. This greatly improves the accuracy of dental X-ray imaging and the system adaptability, which is conducive to improving the quality and efficiency of dental image acquisition.

[0046] In this embodiment of the invention, optionally, the positional offset of the imaging sensor relative to the X-ray machine is determined based on the estimated distance and position information corresponding to all sensing tags, including: Based on the estimated distance and location information corresponding to all sensing tags, determine the planar offset of the imaging sensor relative to the X-ray machine; Based on the plane offset corresponding to the imaging sensor, the estimated distance and position information of all sensing tags, the estimated vertical distance between the imaging sensor and the X-ray machine is determined; The positional offset of the imaging sensor relative to the X-ray machine includes the planar offset of the imaging sensor relative to the X-ray machine and the estimated vertical distance between the imaging sensor and the X-ray machine.

[0047] In this embodiment of the invention, optionally, the planar offset of the imaging sensor relative to the X-ray machine is determined based on the estimated distance and position information corresponding to all sensing tags, including: For any sensor tag, construct the position constraint equation of the sensor tag based on the estimated distance and position information corresponding to the sensor tag; From all the sensor tags, select one sensor tag as the reference sensor tag; For any non-reference sensor tag, the plane offset constraint equation of the non-reference sensor tag is obtained by subtracting the position constraint equation of the reference sensor tag from the position constraint equation of the non-reference sensor tag. Based on the planar offset constraint equations of all non-reference sensing tags, an overdetermined set of equations for the imaging sensor is constructed, and the overdetermined set of equations for the imaging sensor is solved using the least squares method to obtain the planar offset of the imaging sensor relative to the X-ray machine.

[0048] In a further optional embodiment of the present invention, the estimated vertical distance between the imaging sensor and the X-ray machine is determined based on the planar offset corresponding to the imaging sensor, the estimated distances and position information of all sensing tags, including: For any sensing tag, the plane offset of the sensing tag is determined based on the position information of the sensing tag and the plane offset corresponding to the imaging sensor. The vertical estimated distance between the sensing tag and the X-ray machine is determined based on the plane offset of the sensing tag and the estimated distance of the sensing tag. Based on the vertical estimated distances corresponding to all sensing tags, determine the vertical estimated distance between the positioning imaging sensor and the X-ray machine.

[0049] In this embodiment of the invention, optionally, a position constraint equation for the sensing tag is constructed based on the estimated distance and position information corresponding to the sensing tag, as follows: (X_i + Δx)² + (Y_i + Δy)² + (Δz)² = d_i²; In the formula, d_i is the estimated distance corresponding to the i-th sensing tag, (X_i, Y_i) is the position information of the i-th sensing tag, and (Δx, Δy, Δz) is the position offset of the imaging sensor relative to the X-ray machine. Specifically, it can be the position offset of the center of the imaging sensor relative to the center of the X-ray machine.

[0050] In this embodiment of the invention, optionally, the reference sensing tag can be one of all sensing tags randomly selected, or it can be one of the tags closest to the center of the imaging sensor. Apart from the reference sensing tag, all other sensing tags are non-reference sensing tags.

[0051] In this embodiment of the invention, the optional planar offset constraint equation for the non-reference sensing tag can be as follows: 2(X_ii - X_1)Δx + 2(Y_ii - Y_1)Δy = (d_ii² - d_1²) - (X_ii² - X_1²)- (Y_ii² - Y_1²); In the formula, (X_1, Y_1) represents the location information of the reference sensor tag, and d_1 represents the estimated distance corresponding to the reference sensor tag; ((X_ii, Y_ii) represents the location information of the i-th non-reference sensor tag, and d_ii represents the estimated distance corresponding to the i-th non-reference sensor tag.

[0052] In this embodiment of the invention, the overdetermined equations of the imaging sensor may optionally be as follows: A · [Δx, Δy]^T = b; [Δx, Δy]^T = (A^TA)^(-1) A^T b; A=

[0053] B=

[0054] Therefore, by solving the above overdetermined equations using the least squares method, the planar offset of the imaging sensor relative to the X-ray machine can be obtained as follows: [Δx, Δy]^T = (A^TA)^(-1) A^T b; The obtained planar offset is substituted into the position constraint equation, and the average estimated vertical distance of all sensing tags is calculated as the estimated vertical distance Δz between the imaging sensor and the X-ray machine, as follows:

[0055] As can be seen, the embodiments of the present invention construct position constraint equations based on the estimated distance and position information of the sensing tags, providing a basic mathematical model for solving the three-dimensional offset. A reference sensing tag is introduced, and the position constraint equations of the non-reference sensing tags are differentiated from the reference tag equations to generate a planar offset constraint equation. This effectively eliminates quadratic terms such as the square of the vertical estimated distance between the imaging sensor and the X-ray machine, simplifying the solution complexity and overcoming the limitations of single-tag positioning. Then, an overdetermined system of equations is constructed using the planar offset constraint equations of multiple non-reference sensing tags, and solved using the least squares method. This improves the accuracy and reliability of determining the planar offset between the imaging sensor and the X-ray machine. Specifically, multi-point sampling fusion enhances positioning robustness and reduces the accumulation of errors in single-equation solutions. Substituting the planar offset into the original position constraint equations, and averaging the vertical estimated distances of all sensing tags, a precise and reliable vertical estimated distance between the imaging sensor and the X-ray machine is obtained, outputting the complete three-dimensional position offset. This achieves precise positioning of the imaging sensor center relative to the X-ray machine center, ensuring the sensor falls completely within the X-ray projection area and improving the quality of the acquired dental images.

[0056] In this optional embodiment, optionally, one of the sensing tags is determined from all the sensing tags as a reference sensing tag, including: Calculate the signal strength difference between any two sensing tags based on the received signal strength of all sensing tags; Calculate the target signal difference between each pair of signal strength differences among all signal strength differences, and determine whether all target signal differences are less than the preset signal strength, such as 1dB; When it is determined that the difference between all target signals is less than the preset signal strength, one sensor tag is randomly selected from all sensor tags, or the sensor tag in the middle position is selected as the reference sensor tag. Furthermore, when it is determined that there is a target signal difference greater than the preset signal strength among all target signal differences, the target sensing tag with the larger signal strength in the received signal strength group corresponding to the target signal difference greater than the preset signal strength is identified; Based on the location information of all sensing tags, determine whether the target sensing tag is located in the middle position. If it is determined that the target sensing tag is located in the middle position, the target sensing tag is determined as the reference sensing tag. Furthermore, when it is determined that the target sensing tag is not located in the middle position, the sensing tag with the most stable phase is selected from all sensing tags based on the carrier phase information of all sensing tags, and used as the reference sensing tag.

[0057] The optional embodiment is illustrated with the following conditions: there are 4 sensing tags (numbered 1-4), with RSSI values ​​of -40dBm (tag 1), -41dBm (tag 2), -43dBm (tag 3), and -42dBm (tag 4), respectively; the preset signal strength is 1dB; the tag position coordinates are (-15,0), (-5,0), (5,0), and (15,0), with the middle position being tag 2 / 3; the pairwise signal strength difference is calculated as: d12 = |-40 - (-41)|=1dB, d13=3dB, d14=2dB, d23=2dB, d24=1dB, d34=1dB; Calculate the target signal difference and determine: If the target signal difference between any two signal strength differences (e.g., the difference between d13 and d12 = 2dB>1dB) is greater than the preset signal strength, determine the target sensing tag: Select the tag with the stronger signal from the group (d13, d14, d23) where the signal strength difference is greater than 1dB: tag 1 (d13 / d14 group), tag 2 (d23 group); Determine the middle position: The position of tag 2 (-5,0) is in the middle area of ​​the 4 tags, so tag 2 is determined as the reference sensing tag.

[0058] As can be seen, this optional embodiment, by layering the differences in received signal strength, randomly selects or chooses the tag in the middle position as the reference tag when the signal strengths are similar; when the signal strengths differ significantly, it prioritizes locking the target sensing tag with the stronger signal to ensure the reliability of the reference benchmark; if the target sensing tag is not in the middle position, it combines carrier phase information to select the tag with the most stable phase, further enhancing the accuracy of the reference, making the subsequently constructed plane offset constraint equation closer to the real geometric relationship, significantly suppressing the error term in the least squares solution of the overdetermined equation system, and finally outputting a more accurate plane offset, thereby further improving the accuracy and reliability of the position offset analysis of the imaging sensor.

[0059] In another optional embodiment, before acquiring the response signal of each of the multiple sensing tags on the imaging sensor to the signal transmitted from the tag locator to the imaging sensor, and the received signal strength and carrier phase information of this communication, the method may further include the following steps: When it is necessary to locate the imaging sensor, the control tag locator sends a signal to the imaging sensor to obtain the number of tags identified by the imaging sensor. Based on the number of tags identified, determine the power adjustment direction that matches the number of tags identified; Based on the power adjustment direction that matches the number of tags identified, a power adjustment operation is performed on the tag locator. During the power adjustment process, the tag identification results of the imaging sensor are monitored. When the tag identification results of the imaging sensor indicate that all the sensing tags of the imaging sensor can be stably read, the operation of collecting the response signal of each of the multiple sensing tags on the imaging sensor to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication, is performed.

[0060] In this optional embodiment, optionally, when the imaging sensor is detected to be placed in the mouth of the target person, or when a dental image acquisition request is detected, or as... Figure 2 As shown, when a query signal broadcast by the master control terminal is detected, it indicates that the imaging sensor needs to be located.

[0061] In this optional embodiment, the tag locator uses a PN5180 to transmit an electromagnetic signal to the imaging sensor at a medium power, such as 30% (13.56MHz), to read the sensing tags on the imaging sensor. When the number of identified sensing tags is obtained, it is compared with the total number of sensing tags on the imaging sensor. If the number of identified sensing tags equals the total number of sensing tags on the imaging sensor, the signal is considered too strong. The signal transmission power of the tag locator is gradually reduced in preset power steps, such as 5% or 10%. During the reduction of transmission power, the number of reading sensing tags continues to be monitored. If all tags are activated and read during the power reduction process until none are read, it indicates that all sensing tags on the imaging sensor can be stably read. The corresponding target power is then locked, and the operation described above—collecting the response signal of each of the multiple sensing tags on the imaging sensor to the signal transmitted by the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication—begins. If all tags can be stably read consistently, it indicates a deviation in the X and Y directions, meaning the imaging sensor and tag locator are too close. The operation of increasing the distance between the imaging sensor and the tag locator is then performed. This operation can either prompt the doctor to adjust or indicate that the control device should adjust automatically. If the number of recognized tags is less than the total number of tags set on the imaging sensor, the signal is considered too weak. The signal transmission power of the tag locator is then gradually increased in preset power steps, such as 5% or 10%. During this increase, the number of tags read continues to be monitored. If all tags are activated and read during the power increase until all tags are read, it indicates that all tags on the imaging sensor can be stably read. The corresponding target power is then locked, and the operation of collecting the response signals of each tag on the imaging sensor to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication, begins. For example, if all four tags are stably read when the power increases to 65% and the signal strength reaches the ideal -40dBm, this 65% power is locked, and positioning begins. If all tags are still not stably read, it indicates a deviation in the X and Y directions, meaning the distance between the imaging sensor and the tag locator is too far. The operation of shortening the distance between the imaging sensor and the tag locator is then performed. This operation can be used to prompt the doctor to make adjustments, or it can indicate that the control device will adjust automatically.

[0062] As can be seen, this optional embodiment first transmits a signal at medium power through the tag locator to obtain the number of tags identified by the imaging sensor. If the number of identified tags is less than the preset total, it is determined that the signal is too weak, and the power is increased by a preset step size until all tags are stably read and the target power is locked. Conversely, the power is reduced to reduce interference from excessively strong signals. That is, by dynamically adjusting the output power, it adapts to and ensures that all tags can be stably identified within different distance ranges, such as 50-80mm, maintaining stable signal transmission and providing a high-quality data foundation for subsequent acquisition of received signal strength and carrier phase information, eliminating positioning errors caused by signal instability. When stable reading is still not possible after power adjustment, it is intelligently judged as an XY direction deviation, such as too far / too close distance, prompting the doctor to adjust or automatically adjusting, forming a closed-loop guidance, further improving the efficiency and accuracy of positioning.

[0063] Example 2 Please see Figure 5 , Figure 5 This is a flowchart illustrating another tag-based intelligent positioning method disclosed in an embodiment of the present invention. Figure 5 The described method can be applied to scenarios requiring dental imaging, such as root canal treatment. Figure 5 As shown, the method may include the following operations: 201. Collect the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted to the imaging sensor by the tag locator, as well as the received signal strength and carrier phase information of this communication. The response signal of each sensing tag carries the tag information of that sensing tag. The tag information of each sensing tag includes the position information of the sensing tag relative to the imaging sensor. The tag locator is set on the X-ray machine.

[0064] 202. For any sensing tag, based on the received signal strength and carrier phase information corresponding to the sensing tag, estimate the distance generated by the sensing tag relative to the X-ray machine.

[0065] 203. Based on the estimated distance and location information corresponding to all sensing tags, determine the positional offset of the imaging sensor relative to the X-ray machine.

[0066] 204. Determine whether the imaging sensor and the X-ray machine are aligned based on the position offset of the imaging sensor relative to the X-ray machine and the preset position offset range.

[0067] In this embodiment of the invention, optionally, the position offset includes a vertical estimated distance and a planar offset. The vertical estimated distance has a corresponding preset position offset range, such as 50-80mm. If the vertical estimated distance is 50mm, it means it is within the range; otherwise, it is not within the range. The planar offset also has a corresponding preset position offset range, which is jointly determined by the projection area radius R_circle of the X-ray machine and the circumcircle radius R_sensor of the imaging sensor. For example, if R_circle is 50mm and R_sensor is 25mm, then the preset position offset range can be 50-25=25mm. In this case, when the condition sqrt(Δx² + Δy²) ≤ (R_circle - R_sensor) is met simultaneously, it is determined to be aligned; otherwise, it means it is not aligned.

[0068] 205. When it is determined that the imaging sensor and the X-ray machine are not aligned, analyze the positional offset of the imaging sensor relative to the X-ray machine and the preset positional offset range to obtain the offset analysis results, and perform adjustment operations on the X-ray machine based on the offset analysis results.

[0069] Optionally, in this embodiment of the invention, when it is determined that the imaging sensor is aligned with the X-ray machine, a control signal allowing exposure is output to perform dental image acquisition operation.

[0070] In this embodiment of the invention, for a detailed description of steps 201-203, please refer to the other descriptions of steps 101-103 in Embodiment 1. This embodiment of the invention will not repeat them.

[0071] It is evident that implementation Figure 5The described method constructs multi-source data support by collecting response signals from multiple sensing tags on an imaging sensor to signals emitted by a tag locator mounted on an X-ray machine, as well as received signal strength and carrier phase information. For any sensing tag, the method estimates the distance by fusing the attenuation model of the received signal strength with the linear relationship of the carrier phase, improving the robustness of the distance estimation between the imaging sensor and the X-ray machine, thereby increasing the accuracy of the distance estimation. Furthermore, by combining the estimated distance and position information of all sensing tags, the method locates the positional offset of the imaging sensor relative to the X-ray machine, using multi-point sampling to eliminate single tag errors and achieve sub-millimeter-level precise positioning, improving the alignment accuracy and efficiency of both devices. This ensures accurate positioning when taking dental X-ray images, guaranteeing that the imaging sensor falls completely within the projection area, significantly improving the accuracy and adaptability of dental X-ray imaging, and contributing to improved dental image acquisition quality and efficiency. Moreover, the method is flexible in installation, low in cost, and has low angle dependence, making it suitable for low-power scenarios where the intraoral sensor is limited in size and lacks an independent power supply. Furthermore, by applying dual constraints to the vertical estimated distance and planar offset of the imaging sensor relative to the X-ray machine, and comparing them with the corresponding preset position offset range, precise alignment detection before dental image acquisition is achieved. The vertical estimated distance is preset within a range of 50-80mm, adapting to the effective operating distance in the oral cavity. The planar offset is based on the difference between the radius of the projection area and the radius of the sensor's circumcircle, ensuring that the imaging sensor falls completely within the X-ray projection area. If misaligned, the position offset results are analyzed to adjust the X-ray machine, ensuring that the imaging sensor and the X-ray machine are aligned before dental image acquisition. After alignment, an exposure control signal is output to execute dental image acquisition, effectively eliminating image offset problems caused by human error and ensuring that the effective photosensitive area of ​​the imaging sensor falls completely within the corresponding projection area of ​​the X-ray machine, further improving the integrity and accuracy of dental image acquisition.

[0072] In this embodiment of the invention, optionally, adjusting the X-ray machine based on the offset analysis results includes: Output the offset analysis results to the target personnel to trigger them to adjust the position and / or orientation of the X-ray machine; or, Based on the offset analysis results, the adjustment control parameters of the X-ray machine are generated, and the position and / or attitude of the X-ray machine are adjusted according to the adjustment control parameters.

[0073] In this embodiment of the invention, for adjustments to the target personnel, real-time, directional offset feedback can be provided to the target personnel through a status indicator device and a graphical user interface. The status indicator device may include a multi-color light source array; for example, when an offset is detected in the positive X-axis direction, the corresponding indicator light can emit a specific color (e.g., yellow) light signal. The graphical user interface can intuitively display the direction and magnitude of the offset on the display screen in the form of arrows, coordinate graphs, or dynamic diagrams. The target personnel manually adjust the position and / or posture of the X-ray machine based on the visual feedback signals from the status indicator device and the graphical user interface. For equipment adjustments, corresponding adjustment control parameters are generated, including control parameters for the x-axis and / or y-axis and / or z-axis. For example, control parameters such as "move 30mm in the positive x-axis direction and 20mm in the negative y-axis direction" are generated, driving the X-ray machine to translate 30mm in the positive X-axis direction and 20mm in the negative Y-axis direction. When all detected positional offsets fall within the preset positional offset range, it is determined that the imaging sensor and the X-ray machine have achieved precise alignment. At this point, optionally, an alignment-ready signal can be issued, such as by switching the status indicator light to green or displaying a "Ready" message on the interface. Simultaneously, an enable signal is sent to the X-ray machine's exposure control circuit to release the hardware interlock and execute the dental imaging operation.

[0074] As can be seen, this embodiment of the invention can also output position offset results to the operator and provide real-time visual feedback through a status indicator device and a graphical user interface, helping the operator to quickly correct the position and orientation of the X-ray machine, effectively reducing the blindness and error of manual adjustment; for equipment adjustment, it can generate x-axis / y-axis / z-axis control parameters based on the offset analysis results, driving the X-ray machine to automatically perform translation adjustment, achieving high-precision alignment without human intervention. That is, through the complementary mechanisms of operator adjustment and equipment adjustment, combined with intuitive feedback and automatic control, the X-ray machine is precisely aligned. When the detected position offset falls entirely within the preset range, an alignment ready signal is issued, and at the same time, an enable signal is sent to the exposure control circuit to release the hardware interlock and execute the dental image capture operation, fundamentally ensuring that at the moment of exposure, the effective photosensitive area of ​​the imaging sensor falls completely within the circular projection area of ​​the X-ray machine, reducing repeated shooting, thereby ensuring the integrity and accuracy of dental image capture.

[0075] Example 3 Please see Figure 6 , Figure 6 This is a schematic diagram of a tag-based intelligent positioning device disclosed in an embodiment of the present invention. Figure 6 The described device can be applied in scenarios requiring dental imaging, such as root canal treatment. Figure 6 As shown, the device may include: The acquisition module 301 is used to acquire the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication. The response signal of each sensing tag carries the tag information of the sensing tag. The tag information of each sensing tag includes the position information of the sensing tag relative to the imaging sensor. The tag locator is set on the X-ray machine. The estimation module 302 is used to estimate the distance between the sensing tag and the X-ray machine for any sensing tag based on the received signal strength and carrier phase information corresponding to the sensing tag. The positioning module 303 is used to determine the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all sensing tags.

[0076] It is evident that implementation Figure 6 The described device collects response signals from multiple sensing tags on an imaging sensor to signals emitted by a tag locator mounted on an X-ray machine, as well as received signal strength and carrier phase information, to construct multi-source data support. For any sensing tag, it estimates the distance by fusing the attenuation model of the received signal strength with the linear relationship of the carrier phase, improving the robustness of the distance estimation between the imaging sensor and the X-ray machine, thereby increasing the accuracy of the distance estimation. Furthermore, by combining the estimated distance and position information of all sensing tags, it locates the positional offset of the imaging sensor relative to the X-ray machine, using multi-point sampling to eliminate single-tag errors and achieving sub-millimeter-level precise positioning. This improves the alignment accuracy and efficiency of both devices, ensuring accurate positioning when taking dental X-ray images and guaranteeing that the imaging sensor falls completely within the projection area. This significantly improves the accuracy and system adaptability of dental X-ray imaging, contributing to improved dental image acquisition quality and efficiency. Moreover, it is flexible in installation, low in cost, and has minimal angle dependence, making it suitable for low-power scenarios where the intraoral sensor is limited in size and lacks an independent power supply.

[0077] In this embodiment of the invention, optionally, the positioning module 303 determines the specific method by which it locates the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all sensing tags, including: Based on the estimated distance and location information corresponding to all sensing tags, determine the planar offset of the imaging sensor relative to the X-ray machine; Based on the plane offset corresponding to the imaging sensor, the estimated distance and position information of all sensing tags, the estimated vertical distance between the imaging sensor and the X-ray machine is determined; The positional offset of the imaging sensor relative to the X-ray machine includes the planar offset of the imaging sensor relative to the X-ray machine and the estimated vertical distance between the imaging sensor and the X-ray machine.

[0078] In this embodiment of the invention, optionally, the positioning module 303 determines the specific method by which it locates the planar offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all sensing tags, including: For any sensor tag, construct the position constraint equation of the sensor tag based on the estimated distance and position information corresponding to the sensor tag; From all the sensor tags, select one sensor tag as the reference sensor tag; For any non-reference sensor tag, the plane offset constraint equation of the non-reference sensor tag is obtained by subtracting the position constraint equation of the reference sensor tag from the position constraint equation of the non-reference sensor tag. Based on the planar offset constraint equations of all non-reference sensing tags, an overdetermined set of equations for the imaging sensor is constructed, and the overdetermined set of equations for the imaging sensor is solved using the least squares method to obtain the planar offset of the imaging sensor relative to the X-ray machine.

[0079] In this embodiment of the invention, optionally, the positioning module 303 determines the specific method for locating the vertical estimated distance between the imaging sensor and the X-ray machine based on the plane offset corresponding to the imaging sensor, the estimated distances of all sensing tags, and their position information. This includes: For any sensing tag, the plane offset of the sensing tag is determined based on the position information of the sensing tag and the plane offset corresponding to the imaging sensor. The vertical estimated distance between the sensing tag and the X-ray machine is determined based on the plane offset of the sensing tag and the estimated distance of the sensing tag. Based on the vertical estimated distances corresponding to all sensing tags, determine the vertical estimated distance between the positioning imaging sensor and the X-ray machine.

[0080] It is evident that implementation Figure 6The described device constructs position constraint equations based on the estimated distance and position information of sensor tags, providing a fundamental mathematical model for solving the three-dimensional offset. It introduces a reference sensor tag and differs the position constraint equations of non-reference sensor tags with those of the reference tag to generate a planar offset constraint equation. This effectively eliminates quadratic terms such as the square of the vertical estimated distance between the imaging sensor and the X-ray machine, simplifying the solution complexity and overcoming the limitations of single-tag positioning. Then, it constructs an overdetermined system of equations using the planar offset constraint equations of multiple non-reference sensor tags, solving them using the least squares method. This improves the accuracy and reliability of determining the planar offset between the imaging sensor and the X-ray machine. Specifically, multi-point sampling fusion enhances positioning robustness and reduces the accumulation of errors in single-equation solutions. Substituting the planar offset into the original position constraint equations and averaging the vertical estimated distances of all sensor tags yields a precise and reliable vertical estimated distance between the imaging sensor and the X-ray machine, outputting the complete three-dimensional position offset. This achieves precise positioning of the imaging sensor center relative to the X-ray machine center, ensuring the sensor falls completely within the X-ray projection area and improving the quality of the acquired dental images.

[0081] In this embodiment of the invention, optionally, the estimation module 302 estimates the specific method by which it estimates the distance between the sensing tag and the X-ray machine based on the received signal strength and carrier phase information corresponding to the sensing tag, including: Based on the preset signal attenuation model, the received signal strength corresponding to the sensing tag is analyzed to obtain the first estimated distance between the sensing tag and the X-ray machine; Based on the preset phase analysis model, the carrier phase information corresponding to the sensing tag is analyzed to obtain the second estimated distance between the sensing tag and the X-ray machine; The estimated distance of the sensor tag relative to the X-ray machine is determined based on the first estimated distance and the second estimated distance of the sensor tag.

[0082] It is evident that implementation Figure 6The described device analyzes the received signal strength using a preset signal attenuation model to obtain a first estimated distance. It then utilizes the global distance trend of the RSSI signal to provide a basic reference and processes carrier phase information using a preset phase analysis model to obtain a second estimated distance. This leverages the high sensitivity of phase to minute distance changes, compensating for the susceptibility of RSSI to interference. Finally, a weighting factor dynamically adjusted according to the signal-to-noise ratio (SNR) is introduced to fuse the first and second estimated distances into a final estimated distance. When the SNR is high, the phase information weight is increased to improve sub-millimeter accuracy; when the SNR is low, the RSSI weight is increased to ensure stable distance estimation. Qualitative analysis, which involves multi-dimensional fusion analysis of the received signal strength and carrier phase information from the sensor tag, improves the accuracy of distance estimation relative to the X-ray machine and enhances the environmental adaptability of the fusion strategy. This overcomes the limitations of single signal features, ensuring reliable distance estimation even in complex scenarios such as multi-metal interference in the oral cavity and dynamic distance changes of 50-80mm. It provides accurate data support for the subsequent positioning of the imaging sensor relative to the X-ray machine, ensuring that the imaging sensor falls completely within the projection area. This significantly improves the accuracy and system adaptability of dental X-ray imaging, and is beneficial for improving the quality and efficiency of dental image acquisition.

[0083] In an optional embodiment, such as Figure 7 As shown, the device may also include; The judgment module 304 is used to determine whether the imaging sensor and the X-ray machine are aligned after the positioning module 303 determines the position offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all sensing tags and the position offset of the imaging sensor relative to the X-ray machine and the preset position offset range. Analysis module 305 is used to analyze the positional offset of the imaging sensor relative to the X-ray machine and the preset positional offset range when it is determined that the imaging sensor and the X-ray machine are not aligned, and to obtain the offset analysis result; The first adjustment module 306 is used to perform adjustment operations on the X-ray machine based on the offset analysis results; The specific methods by which the first adjustment module 306 performs adjustment operations on the X-ray machine based on the offset analysis results include: Output the offset analysis results to the target personnel to trigger them to adjust the position and / or orientation of the X-ray machine; or, Based on the offset analysis results, the adjustment control parameters of the X-ray machine are generated, and the position and / or attitude of the X-ray machine are adjusted according to the adjustment control parameters.

[0084] It is evident that implementation Figure 7The described device achieves precise alignment detection before dental image acquisition by using dual constraints on the vertical estimated distance and planar offset of the imaging sensor relative to the X-ray machine, respectively, against corresponding preset position offset ranges. The vertical estimated distance is preset within a range of 50-80mm to adapt to the effective operating distance in the oral cavity. The planar offset is based on the difference between the radius of the projection area and the radius of the sensor's circumcircle, ensuring that the imaging sensor falls completely within the X-ray projection area. If misaligned, the position offset results are analyzed to adjust the X-ray machine, ensuring that the imaging sensor and the X-ray machine are aligned before dental image acquisition. After alignment, an exposure control signal is output to execute dental image acquisition, effectively eliminating image offset problems caused by human error and ensuring that the effective photosensitive area of ​​the imaging sensor falls completely within the corresponding projection area of ​​the X-ray machine, further improving the integrity and accuracy of dental image acquisition. Furthermore, by outputting position offset results to the operator and providing real-time visual feedback through status indicators and a graphical user interface, the system helps the operator quickly correct the position and orientation of the X-ray machine, effectively reducing the blindness and errors of manual adjustments. For equipment adjustment, it can generate x-axis / y-axis / z-axis control parameters based on offset analysis results, driving the X-ray machine to automatically perform translation adjustments, achieving high-precision alignment without human intervention. In other words, it achieves precise alignment of the X-ray machine through two complementary mechanisms: operator adjustment and equipment adjustment, combined with intuitive feedback and automatic control. When the detected position offset falls entirely within the preset range, an alignment ready signal is issued, and an enable signal is sent to the exposure control circuit to release the hardware interlock and execute the dental imaging operation. This fundamentally ensures that at the moment of exposure, the effective photosensitive area of ​​the imaging sensor falls completely within the circular projection area of ​​the X-ray machine, reducing repeated imaging and thus ensuring the integrity and accuracy of dental image capture.

[0085] In yet another alternative embodiment, such as Figure 7 As shown, the device may further include: The control module 307 is used to control the tag locator to send a signal to the imaging sensor when it is necessary to locate the imaging sensor before the acquisition module 301 acquires the response signal of each of the multiple sensing tags on the imaging sensor to the signal transmitted by the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication. The determining module 308 is used to determine the power adjustment direction that matches the number of sensor tags identified, based on the number of sensor tags identified. The second adjustment module 309 is used to perform a power adjustment operation on the tag locator based on a power adjustment direction that matches the number of tags identified by the sensor. The monitoring module 310 is used to monitor the tag recognition result of the imaging sensor during the power adjustment process. When the tag recognition result of the imaging sensor indicates that all the sensing tags of the imaging sensor can be stably read, the acquisition module 301 is triggered to perform the operation of acquiring the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication.

[0086] It is evident that implementation Figure 7 The described device first transmits a signal at medium power via a tag locator to obtain the number of tags identified by the imaging sensor. If the number of identified tags is less than a preset total, it is determined that the signal is too weak. The power is then increased in preset steps until all tags are stably read and the target power is locked. Conversely, the power is reduced to minimize interference from excessively strong signals. In other words, by dynamically adjusting the output power, it adapts to and ensures that all tags can be stably identified within different distance ranges, such as 50-80mm, maintaining stable signal transmission. This provides a high-quality data foundation for subsequent acquisition of received signal strength and carrier phase information, eliminating positioning errors caused by signal instability. If stable reading is still not achieved after power adjustment, it intelligently determines that there is an XY direction deviation, such as too far / too close distance, prompting the doctor to adjust or automatically adjusting, forming a closed-loop guidance system that further improves the efficiency and accuracy of positioning.

[0087] Example 4 Please see Figure 8 , Figure 8 This is a schematic diagram of another tag-based intelligent positioning device disclosed in an embodiment of the present invention. Figure 8 The described device can be applied in scenarios requiring dental imaging, such as root canal treatment. Figure 8 As shown, the device may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps in any of the tag-based intelligent positioning methods disclosed in Embodiment 1 or Embodiment 2 of the present invention.

[0088] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in any of the tag-based intelligent positioning methods disclosed in Embodiment 1 or Embodiment 2 of this invention.

[0089] Example 6 This invention discloses an X-ray machine, which includes a label locator and an X-ray tube. The label locator is disposed on the surface of the X-ray tube and is used to perform some or all of the steps in any of the label-based intelligent positioning methods disclosed in Embodiment 1 or Embodiment 2 of this invention.

[0090] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0091] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0092] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for intelligent positioning based on tags, characterized in that, The method includes: The system collects the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted to the imaging sensor by the tag locator, as well as the received signal strength and carrier phase information of this communication. The response signal of each sensing tag carries the tag information of that sensing tag. The tag information of each sensing tag includes the position information of the sensing tag relative to the imaging sensor. The tag locator is installed on the X-ray machine. For any of the aforementioned sensing tags, the estimated distance between the sensing tag and the X-ray machine is estimated based on the received signal strength and carrier phase information corresponding to the sensing tag. Based on the estimated distance and position information corresponding to all the aforementioned sensing tags, the positional offset of the imaging sensor relative to the X-ray machine is determined.

2. The method according to claim 1, characterized in that, The step of locating the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags includes: Based on the estimated distance and position information corresponding to all the aforementioned sensing tags, the planar offset of the imaging sensor relative to the X-ray machine is determined; Based on the plane offset corresponding to the imaging sensor, the estimated distance and position information of all the sensing tags, the estimated vertical distance between the imaging sensor and the X-ray machine is determined; The positional offset of the imaging sensor relative to the X-ray machine includes the planar offset of the imaging sensor relative to the X-ray machine and the estimated vertical distance between the imaging sensor and the X-ray machine.

3. The method according to claim 2, characterized in that, The step of locating the planar offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags includes: For any of the aforementioned sensing tags, a position constraint equation for the sensing tag is constructed based on the estimated distance and position information corresponding to the sensing tag; From all the aforementioned sensor tags, one of the sensor tags is selected as the reference sensor tag; For any non-reference sensing tag, the planar offset constraint equation of the non-reference sensing tag is obtained by subtracting the position constraint equation of the reference sensing tag from the position constraint equation of the non-reference sensing tag. Based on the planar offset constraint equations of all the non-reference sensing tags, an overdetermined set of equations for the imaging sensor is constructed, and the overdetermined set of equations for the imaging sensor is solved using the least squares method to obtain the planar offset of the imaging sensor relative to the X-ray machine.

4. The method according to claim 2 or 3, characterized in that, The method of locating the estimated vertical distance between the imaging sensor and the X-ray machine based on the plane offset corresponding to the imaging sensor, the estimated distances and position information of all the sensing tags, includes: For any of the aforementioned sensing tags, the planar offset of the sensing tag is determined based on the position information of the sensing tag and the planar offset corresponding to the imaging sensor, and the estimated vertical distance between the sensing tag and the X-ray machine is determined based on the planar offset of the sensing tag and the estimated distance of the sensing tag. Based on the vertical estimated distances corresponding to all the aforementioned sensing tags, the vertical estimated distance between the imaging sensor and the X-ray machine is located.

5. The method according to any one of claims 1-3, characterized in that, The method of estimating the distance between the sensing tag and the X-ray machine based on the received signal strength and carrier phase information corresponding to the sensing tag includes: Based on a preset signal attenuation model, the received signal strength corresponding to the sensing tag is analyzed to obtain the first estimated distance of the sensing tag relative to the X-ray machine; Based on a preset phase analysis model, the carrier phase information corresponding to the sensing tag is analyzed to obtain a second estimated distance between the sensing tag and the X-ray machine; The estimated distance of the sensor tag relative to the X-ray machine is determined based on the first estimated distance and the second estimated distance of the sensor tag.

6. The method according to any one of claims 1-3, characterized in that, After determining the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags, the method further includes: Based on the positional offset of the imaging sensor relative to the X-ray machine and a preset positional offset range, determine whether the imaging sensor and the X-ray machine are aligned; When it is determined that the imaging sensor is not aligned with the X-ray machine, the positional offset of the imaging sensor relative to the X-ray machine is analyzed and compared with a preset positional offset range to obtain the offset analysis result. Based on the offset analysis result, the X-ray machine is adjusted. The step of performing an adjustment operation on the X-ray machine based on the offset analysis results includes: Output the offset analysis results to the target personnel to trigger them to adjust the position and / or orientation of the X-ray machine; or, Based on the offset analysis results, adjustment control parameters for the X-ray machine are generated, and the position and / or attitude of the X-ray machine are adjusted according to the adjustment control parameters.

7. The method according to any one of claims 1-3, characterized in that, Before acquiring the response signal of each of the multiple sensing tags on the imaging sensor to the signal transmitted from the tag locator to the imaging sensor, and the received signal strength and carrier phase information of this communication, the method further includes: When it is necessary to locate the imaging sensor, the tag locator is controlled to send a signal to the imaging sensor to obtain the number of tags identified by the imaging sensor. Based on the number of sensor tags identified, determine the power adjustment direction that matches the number of sensor tags identified; Based on the power adjustment direction that matches the number of the sensor tags identified, a power adjustment operation is performed on the tag locator. During the power adjustment process, the tag identification result of the imaging sensor is monitored. When the tag identification result of the imaging sensor indicates that all the sensing tags of the imaging sensor can be stably read, the operation of collecting the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted from the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication, is performed.

8. A device for intelligent positioning based on tags, characterized in that, The device includes: The acquisition module is used to acquire the response signal of each of the multiple sensing tags on the imaging sensor in response to the signal transmitted by the tag locator to the imaging sensor, as well as the received signal strength and carrier phase information of this communication. The response signal of each sensing tag carries the tag information of the sensing tag. The tag information of each sensing tag includes the position information of the sensing tag relative to the imaging sensor. The tag locator is set on the X-ray machine. The estimation module is used to estimate the distance between the sensing tag and the X-ray machine for any of the sensing tags, based on the received signal strength and carrier phase information corresponding to the sensing tag. The positioning module is used to determine the positional offset of the imaging sensor relative to the X-ray machine based on the estimated distance and position information corresponding to all the sensing tags.

9. A tag locator, characterized in that, The tag locator includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the tag-based intelligent positioning method as described in any one of claims 1-7.

10. A radiation machine, characterized in that, The X-ray machine includes a label locator and an X-ray tube. The label locator is disposed on the surface of the X-ray tube and is used to perform the label-based intelligent positioning method as described in any one of claims 1-7.

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