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Control method for medical suspension alarm automatic obstacle avoidance based on multi-camera machine vision

A machine vision and multi-camera technology, which is applied in the fields of motor control, machine vision detection and recognition of obstacles, and robot arm path planning, can solve problems such as lack of automation, and achieve the effect of enhanced adaptability and robustness, and accurate positioning

Inactive Publication Date: 2016-04-06
SHANGHAI UNIV +1
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Problems solved by technology

However, the development of domestic medical pendants is not ideal. Most of the domestic medical pendants can only be pushed manually, without automation, let alone intelligent functions such as real-time obstacle avoidance.

Method used

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  • Control method for medical suspension alarm automatic obstacle avoidance based on multi-camera machine vision

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Experimental program
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Embodiment

[0031] Such as figure 1 As shown, the automatic obstacle avoidance control method of a medical boom based on multi-camera machine vision includes the following steps:

[0032] (1.1) Collect image data in real time, that is, use multiple cameras installed on the boom to collect image data around the boom in real time.

[0033] (1.2), transfer the collected image data to the PC. The camera adopts a USB interface, which can directly transmit data through USB, and the transmission speed is faster.

[0034] (1.3), the image is preprocessed. Image preprocessing includes image histogram equalization, simple image filtering, etc., so that the impact of the image relative to the on-site environmental noise is smaller, clearer, and convenient for subsequent processing.

[0035] (1.4), image detection whether there are obstacles, and determining the location information of the obstacles, the steps include: collecting color images from four cameras at the same time, using the image stitching alg...

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Abstract

The invention discloses a control method for medical suspension alarm automatic obstacle avoidance based on multi-camera machine vision. The method comprises the steps that (1) image data is collected in real time; (2) the image data is transmitted to a PC; (3) image preprocessing is carried out; (4) whether an obstacle exists is determined through image detection and position information of the obstacle is determined; (5) obstacle information is transmitted to a motor control system of a lower computer; (6) the motor control system analyzes and calculates the obstacle position and plans for and updates a motion route reaching a target position in real time; and (7) the motor control system is operated in order to enable the medical suspension alarm to avoid the obstacle and move to the designated position. The method disclosed by the invention guarantees the automatic obstacle avoidance by using a machine vision image processing theory and a route planning theory and makes use of noise interference brought by a complicated on-site environment of an operating room to images. The control method disclosed by the invention also adopts certain software filtering processing to strengthen overall robustness and accuracy of an algorithm and has the advantages that high-precision identification of the obstacle and accurate obstacle avoidance control of a suspension arm are realized.

Description

Technical field [0001] The invention belongs to the fields of automation control, artificial intelligence technology and machine vision, and specifically relates to methods such as motor control, robotic arm path planning, and machine vision detection and recognition of obstacles. technical background [0002] In recent years, with the continuous development of modern industry and intelligent manufacturing technology, all walks of life have more or less used modern intelligent automation equipment in actual life and production. Among them, the development of smart medical projects is also very rapid. And it has developed into a system of emerging edge cross-integrated engineering disciplines. Due to the continuous advancement of computer technology, sensor technology, signal processing technology, artificial intelligence technology and control theory, it provides systematic theoretical tools and application analysis methods for equipment condition monitoring and fault diagnosis ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/20A61B34/00
CPCG05D3/203
Inventor 王海宽周志境张锐费敏锐尹志辉姜闻名
Owner SHANGHAI UNIV
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