Automatic encapsulation device and method for image calibration of a scintillator array

Abstract

The present invention discloses an automatic encapsulation device and method for image verification of a scintillator array, including: a base, an image recognition unit, a control unit, a manipulator, and a glue filling fixture. First, the image recognition unit is used to perform quality screening on the scintillator elements, and the unqualified scintillator elements are screened out; then, based on the image recognition unit and combined with the manipulator, a plurality of scintillator elements are arranged in an array structure on the base; then, the image recognition unit is used to calibrate the positions of the respective scintillator elements; and finally, the glue filling fixture is used to perform encapsulation and glue filling of the scintillator array. Compared with the conventional technology, the present invention can achieve quality screening of the scintillator elements, automatic arrangement of the array, and position verification, and further use the glue filling fixture to achieve encapsulation and glue filling, greatly improving the position accuracy of the scintillator elements and the automation degree and production efficiency of the production of the scintillator array.

Description

Technical Field

[0001] The present invention relates to the technical field of scintillator processing, and in particular to an automatic encapsulation device and method for image calibration of a scintillator array. Background Art

[0002] A scintillation detector is an ionization radiation detector and is widely used in fields such as medical treatment, national defense, and security inspection. A scintillator array is the core component of a scintillation detector. It can convert high-energy rays (X-rays / γ-rays) or charged particles into ultraviolet light or visible light, and then through photon detection devices such as photomultiplier tubes, convert the optical signal into an electrical signal, and finally present the information of the interaction between the high-energy rays and the detected substance in the form of a digital signal.

[0003] In the production process of a scintillator array, first, the bulk scintillation medium needs to be machined, that is, the scintillation medium is processed into several small elements by cutting, grinding, etc., then the qualified elements are screened out, and then the qualified elements are filled into a mold, and then the elements filled into the mold are formed into the required scintillator array through processes such as potting and grinding. The traditional process requires manual screening of unqualified elements and then uses a mold to control the position of each element in the array, which not only consumes a large amount of labor and time costs and affects production efficiency, but also the position accuracy of the elements completely depends on the accuracy of the mold. If there is an error in the mold, the processing accuracy of the array will be affected. Summary of the Invention

[0004] To solve the above technical problems, the first object of the present invention is to provide an automatic encapsulation device for image calibration of a scintillator array, which combines an image recognition system with a manipulator to realize the screening of unqualified elements, the arrangement of the array, and the automatic calibration of the array position, greatly improving production efficiency; the second object of the present invention is to provide an image automatic calibration method based on the above device.

[0005] For the first object of the present invention, a technical solution adopted by the present invention is: an automatic encapsulation device for image calibration of a scintillator array, characterized by comprising:

[0006] A base for arranging N scintillator elements to form a scintillator array;

[0007] An image recognition unit for recognizing the image information I i ' of each scintillator element and the image information T of the scintillator array, and sending the I i ' and the T to a control unit;

[0008] A manipulator, which operates under the drive of the control unit, is used to screen out unqualified scintillator elements, arrange the scintillator array, and calibrate the positions of the individual scintillator elements in the scintillator array;

[0009] A control unit, which stores standard image information I of each scintillator element i and standard position parameter P i ;

[0010] The image recognition unit, the control unit, and the manipulator form an unqualified element screening module: the image recognition unit recognizes the image information I of each of the scintillator elements i ’ and sends it to the control unit, and the control unit compares the I i ’ with the I i , and sends an instruction to the manipulator according to the relationship between I i ’ and I i to drive the manipulator to operate and screen out unqualified scintillator elements;

[0011] The control unit, the manipulator, and the base form an array arrangement module: the manipulator, under the drive of the control unit, arranges N of the scintillator elements in an array structure on the base according to the standard position parameter P i to form a scintillator array;

[0012] The image recognition unit, the control unit, and the manipulator form a position calibration module: the image recognition unit recognizes the image information T of the scintillator array and feeds it back to the control unit, and the control unit calculates the position parameter P i ’ of each scintillator element according to T, and compares the P i ’ with the P i , and sends an instruction to the manipulator according to the relationship between P i ’ and P i to drive the manipulator to operate and achieve the position calibration of the i-th scintillator element;

[0013] where 1 ≤ i ≤ N, and N is the total number of the scintillator elements.

[0014] Based on the above settings, the image recognition unit recognizes the image information of each scintillator element and the image information of the scintillator array. The control unit drives the manipulator to act according to the recognized image information of the scintillator element to realize the screening of unqualified elements; the control unit drives the manipulator to act according to the standard position parameters stored in it to realize the arrangement of the scintillator array; the control unit calculates the actual position parameters of each scintillator element in the array according to the recognized image information of the scintillator array. By comparing the actual position parameters with the standard position parameters and combining with the manipulator, the position calibration of the scintillator array is realized.

[0015] Further, a bonding device is provided on the base, and the scintillator element is detachably connected to the base through the bonding device.

[0016] Through the above settings, a detachable connection between the scintillator element and the base can be realized, fixing the element while not affecting the position calibration.

[0017] Further, a potting module is further included. The potting module includes a potting fixture, and the potting fixture is detachably connected to the base.

[0018] Through the above settings, after the arrangement of the scintillator array is completed, the potting and encapsulation of the array can be realized in combination with the potting fixture.

[0019] Further, a polar coordinate system is provided on the base.

[0020] Further, the position parameter P i ’ includes a distance parameter d i ’ and an angle parameter θ i ’, where the d i ’ is the polar radius of one vertex D of the i-th scintillator element relative to the polar coordinate system, and the θ i ’ is the polar angle of the vertex D relative to the polar coordinate system.

[0021] Through the above settings, it is convenient for the control unit to calculate the position parameter P i ’.

[0022] Further, scale lines are provided on the base along the length and width directions of the scintillator array.

[0023] Through the above settings, it is convenient to observe the arrangement of the scintillator array.

[0024] Further, scale lines are provided on the potting fixture along the height direction.

[0025] Through the above settings, it is convenient to control the potting thickness.

[0026] For the second object of the present invention, a technical solution adopted by the present invention is: an automatic encapsulation method for image calibration of a scintillator array based on the above device, characterized by including the following steps:

[0027] S1 Primitive screening: The image recognition unit is used to recognize the image information of each scintillator primitive and send it to the control unit. The control unit compares the received image information with the standard image information stored therein, and drives the manipulator to act according to the relationship between the two, and screens out the unqualified scintillator primitives;

[0028] S2 Primitive arrangement: The control unit drives the manipulator to act according to the standard position parameter P i of each scintillator primitive, and arranges N scintillator primitives in an array structure on the base;

[0029] S3 Position calibration: The image recognition unit is used to recognize the image information T of the arranged scintillator array in S2 and send it to the control unit. The control unit calculates the position parameter P i ' of each scintillator primitive according to the image information T, and compares the P i ' with P i , and drives the manipulator to act according to the relationship between the two to realize the calibration of the position of the scintillator primitive;

[0030] S4 Encapsulation: After the position calibration of N scintillator primitives is completed, the arranged scintillator array is filled with glue and encapsulated by using a glue filling fixture;

[0031] where 1≤i≤N, and N is the total number of scintillator primitives.

[0032] Further, the primitive arrangement in S2 specifically includes the following steps:

[0033] S21 Let i = 1;

[0034] S22 The control unit calculates the radial distance d i of one vertex of the i-th scintillator primitive relative to the polar coordinate system according to the standard position parameter P i and the size of the scintillator primitive, and the polar angle θ i . The manipulator is driven by the control unit and arranges the i-th scintillator primitive at the corresponding position on the base according to the values of the d i and the θ i ; and let i = i + 1;

[0035] S23 Execute S22 until i > N to complete the primitive arrangement.

[0036] Further, the position calibration in S3 specifically includes the following steps:

[0037] S31 Let i = 1;

[0038] S32 The control unit calculates the position parameter values of the four vertices on the top surface of the i-th scintillator element in the scintillator array according to the image information T of the scintillator array, and calculates the slope values L1 i and L2 i of the two diagonals on the top surface of the i-th scintillator element, as well as the position parameter value X i ’ of the intersection point of the two diagonals, and sends the above L1 i , L2 i and X i ’ to the control unit;

[0039] S33 The control unit compares the value of X i ’ with X i-1 ’:

[0040] If Xi’ - Xi-1’ ≤ ΔX, then compare the value of L1 i with L1 i-1 :

[0041] If L1 i - L1 i-1 ≤ ΔL, then let i = i + 1, and return to S32;

[0042] If L1 i - L1 i-1 > ΔL, the control unit drives the manipulator to actuate and rotates the i-th scintillator element to the correct position;

[0043] If Xi’ - Xi-1’ > ΔX, the control unit drives the manipulator to actuate and translates the i-th scintillator element to the correct position; then compare the value of L1 i with L1 i-1 :

[0044] If L1 i - L1 i-1 ≤ ΔL, then let i = i + 1, and return to S32;

[0045] If L1 i - L1 i-1 > ΔL, the control unit drives the manipulator to actuate again, rotates the i-th scintillator element to the correct position, let i = i + 1 and return to S32;

[0046] S34 Execute S33 until i > N to complete position calibration;

[0047] Wherein, ΔL is the parallelism error threshold stored in the control unit; ΔX is the center distance error threshold stored in the control unit.

[0048] The beneficial effects of the present invention are as follows: 1. By using the image recognition unit in cooperation with the manipulator to realize the quality screening, array arrangement and position calibration of the scintillator elements, the labor and time costs of scintillator array processing are greatly reduced, the automation degree and production efficiency are improved, and the processing error can be reduced; 2. The arrangement of the scintillator elements can be realized without using a mold, reducing the material input cost; 3. The position accuracy of each element in the scintillator array is greatly improved; 4. In cooperation with the glue filling fixture, automatic encapsulation of the scintillator is realized, simplifying the processing procedure. Description of the Drawings

[0049] Figure 1 is a schematic structural diagram of a preferred embodiment of the present invention;

[0050] Figure 2 is Figure 1 a partial enlarged view of part A in Detailed Embodiments

[0051] The technical features and advantages of the present invention will be described in more detail below with reference to the drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0052] The preferred embodiments of the present invention will be described below with reference to the drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention and are not intended to limit the protection scope of the present invention.

[0053] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0054] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0055] Please refer to Figure 1, the first object of the present invention is to provide an automatic encapsulation device for image calibration of a scintillator array, which specifically includes:

[0056] A base 1, which is used to arrange scintillator elements. N scintillator elements can be arranged in an array structure on the base 1 to form a scintillator array; scale lines 102 are provided on the base 1 along both the length and width directions, and a polar coordinate system 101 is also provided;

[0057] A manipulator 2, which is connected to a control unit 3 and has three functions: 1) used to remove unqualified scintillator elements; 2) arrange the scintillator array under the drive of the control unit; 3) calibrate the positions of the individual scintillator elements in the scintillator array;

[0058] An image recognition unit 5, which is used to recognize the image parameter I i ' of each scintillator element and the image parameter T after the scintillator array is arranged, and send the above I i ' and T to the control unit 3;

[0059] The control unit 3 stores the standard image parameter I i of each scintillator element, the standard position parameter P i and the error threshold Δ;

[0060] A glue injection fixture 4, which is used to encapsulate the scintillator array after the position calibration of the scintillator array is completed, so as to complete the subsequent glue injection process.

[0061] The polar coordinate system 101 takes the upper left vertex of the first scintillator element as the pole O, and the side line where the pole O is located as the polar axis. The standard position parameter P i is the position information of the upper right vertex of the i-th scintillator element relative to the polar coordinate system 101, and specifically includes: the standard distance parameter d i and the standard angle parameter θ i . The standard distance parameter d i is the theoretical polar radius of the upper right vertex of the i-th scintillator element relative to the pole O, and the standard angle parameter θ i is the theoretical polar angle of the upper right vertex of the i-th scintillator element relative to the polar axis. The above standard position parameters can be calculated according to the size of the scintillator element, the number N of scintillator elements, and the size of the scintillator array.

[0062] The standard position parameters P1 to P of N scintillator elements NStored in the control unit 3. The control unit 3 can set the input module to realize the input of the size of the scintillator element, the number N of the scintillator elements and the scintillator array. During actual use, the operator can input the array size, the size of the scintillator element and the number N of the scintillator elements into the control unit 3, and the control unit 3 can automatically calculate the above standard position parameters P1 to P N , each standard position parameter P i includes: a standard distance parameter d i and a standard angle parameter θ i .

[0063] After the scintillator array is arranged, the image recognition unit 5 recognizes the image information T of the scintillator array, and the control unit 3 can calculate the actual position parameter P i ' of each scintillator element in the scintillator array relative to the polar coordinate system 101 according to T

[0064] After the image recognition unit 5 recognizes the image information T of the scintillator array, it sends it to the control unit 3. The control unit 3 calculates the actual position parameter P i ' of each scintillator element in the scintillator array according to T, and compares it with the standard position parameter P i stored in it, and according to P i ' and P i 's comparison result to send an instruction to the manipulator 2 to drive the manipulator 2 to perform corresponding actions to achieve position calibration.

[0065] The second object of the present invention is based on the above device, and a method for automatically encapsulating the image calibration of a scintillator array is proposed, which specifically includes the following steps:

[0066] S1 Element screening: Use the image recognition unit 5 to recognize the image information of each scintillator element and send it to the control unit 3. The control unit 3 compares the received image information with the standard image information stored in it, and drives the manipulator 2 to act according to the relationship between the two to screen out unqualified scintillator elements; wherein, the image information includes the image information of six sides of the scintillator element; in an embodiment of the present invention, the scintillator elements can be sequentially conveyed to the recognition range of the image recognition unit 5 through a conveying device, and combined with a flipping device, so that the image recognition unit 5 respectively recognizes the image information of six sides of the scintillator element. The control unit 3 compares the image information of six sides with the standard image information stored in it, and sends an instruction to the manipulator 2 when unqualified image information is compared, and the manipulator 2 acts to remove the corresponding scintillator element;

[0067] S2 Element arrangement: The control unit 3 arranges according to the standard position parameters P of each scintillator element i, drive the manipulator 2 to act, and arrange N scintillator elements in an array structure on the base 1, specifically including the following steps:

[0068] S21 Let i = 1;

[0069] S22 The control unit arranges the i-th scintillator element at the corresponding position on the base 1 according to the standard position parameters P of the i-th scintillator element i (that is, the theoretical polar radius d of the upper right vertex of the i-th scintillator element relative to the polar coordinate system 101 i and the theoretical polar angle θ i ), and under the drive of the control unit 3, the manipulator 2 arranges the i-th scintillator element at the corresponding position on the base 1 according to the values of d i and θ i ; and let i = i + 1;

[0070] S23 Execute S22 until i > N to complete the element arrangement.

[0071] S3 Position calibration: Use the image recognition unit 5 to recognize the image information T of the arranged scintillator array in S2 and send it to the control unit 3. The control unit 3 calculates the actual position parameters P of each scintillator element according to the image information T i ’, and drives the manipulator 2 to act according to the value of the actual position parameter P i ’ to realize the position calibration of the scintillator array, specifically including the following steps:

[0072] S31 Let i = 1;

[0073] S32 The control unit 3 calculates the position parameter values of the four vertices on the top surface of the i-th scintillator element in the array according to the image information T of the scintillator array, and calculates the slope values L1 i and L2 i of the two diagonals on the top surface of the i-th scintillator element, as well as the position parameter value X i ’ of the intersection point of the two diagonals (see Figure 2 ), and sends the above L1 i , L2 i and X i ’ to the control unit;

[0074] S33 The control unit 3 compares the values of X i ’ and X i-1 ’:

[0075] If Xi’ - Xi-1’ ≤ ΔX, then compare the values of L1 i and L1 i-1 :

[0076] If L1 i - L1 i-1If ΔL, then set i = i + 1 and return to S32;

[0077] If L1 i -L1 i-1 > ΔL, the control unit 3 drives the manipulator 2 to act, rotating the i-th scintillator element to the correct position;

[0078] If Xi’ - Xi-1’ > ΔX, the control unit 3 drives the manipulator 2 to act, translating the i-th scintillator element to the correct position; then compare L1 i with L1 i-1 value:

[0079] If L1 i -L1 i-1 ≤ ΔL, then set i = i + 1 and return to S32;

[0080] If L1 i -L1 i-1 > ΔL, the control unit 3 drives the manipulator 2 to act again, rotating the i-th scintillator element to the correct position, set i = i + 1 and return to S32;

[0081] S34 executes S33 until i > N to complete position calibration;

[0082] Among them, ΔL is the parallelism error threshold stored in the control unit 3; ΔX is the center distance error threshold stored in the control unit 3.

[0083] S4 Encapsulation: After completing the position calibration of N scintillator elements, use a glue filling fixture to fill and encapsulate the arranged scintillator array;

[0084] Among them, 1 ≤ i ≤ N, and N is the total number of scintillator elements in the scintillator array.

[0085] The present invention aims to provide a device and method that combines a manipulator, an influence recognition unit, a control unit, a base, and a detachable glue filling fixture to achieve quality screening, array arrangement, position calibration, and glue filling and encapsulation of a scintillator array, which can greatly improve the processing efficiency and processing accuracy of the scintillator array and has good application prospects and processing benefits.

[0086] The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. An automatic encapsulation device for image calibration of a scintillator array, characterized in that, Including: A base for arranging N scintillator elements to form a scintillator array; An image recognition unit, which is used to recognize the image information I of each scintillator element i ' and the image information T of the scintillator array, and send the I i ' and the T to the control unit; A manipulator that operates under the drive of the control unit, for screening out unqualified scintillator elements, arranging the scintillator array, and calibrating the positions of the individual scintillator elements in the scintillator array; A control unit, which internally stores standard image information I of each scintillator element i and standard position parameter P i ; The image recognition unit, the control unit, and the manipulator form a defective element screening module: the image recognition unit recognizes the image information I of each of the scintillator elements i ' and sends it to the control unit, and the control unit sends the I i ' to be compared with the I i , and based on the relationship between I i ' and I i , sends an instruction to the manipulator to drive the manipulator to act and screen out the defective scintillator elements; The control unit, the manipulator, and the base form an array arrangement module: under the drive of the control unit, the manipulator arranges N of the scintillator elements in an array structure on the base according to the standard position parameter P i to form a scintillator array by arranging the N scintillator elements in an array structure on the base The image recognition unit, the control unit and the manipulator form a position calibration module: the image recognition unit recognizes the image information T of the scintillator array and feeds it back to the control unit, and the control unit calculates the position parameter P of each scintillator element according to T i ', and the P i ' is compared with the P i , and according to the relationship between P i ' and P i , an instruction is sent to the manipulator to drive the manipulator to act, so as to realize the position calibration of the i-th scintillator element; where 1 ≤ i ≤ N, and N is the total number of the scintillator elements; It further includes a glue injection module, and the glue injection module includes a glue injection fixture which is detachably connected to the base; A polar coordinate system is provided on the base.

2. The image calibration automatic encapsulation device for the scintillator array according to claim 1, characterized in that, A bonding device is provided on the base, and the scintillator element is detachably connected to the base through the bonding device.

3. The image calibration automatic encapsulation device for the scintillator array according to claim 1, wherein, The standard position parameter P i includes a distance parameter d i and an angle parameter θ i , where the d i is the polar radius of one vertex D of the i-th scintillator element relative to the polar coordinate system, and the θ i is the polar angle of the vertex D relative to the polar coordinate system.

4. The image calibration automatic encapsulation device for the scintillator array according to claim 1, characterized in that, Scale lines are provided on the base along the length and width directions of the scintillator array.

5. The image calibration automatic encapsulation device for the scintillator array according to claim 1, characterized in that, The glue injection fixture is provided with scale lines along the height direction.

6. A packaging method for an image calibration automatic packaging device of a scintillator array according to claim 1, characterized in that, Including the following steps: S1 Element screening: Using the image recognition unit to recognize the image information of each scintillator element and send it to the control unit. The control unit compares the received image information with the standard image information stored in it, and drives the manipulator to operate according to the relationship between the two, screening out unqualified scintillator elements; S2 Element arrangement: The control unit drives the manipulator to operate according to the standard position parameters Pi of the individual scintillator elements, arranging the N scintillator elements in an array structure on the base; S3 Position Calibration: Use the image recognition unit to recognize the image information T of the arranged scintillator array in S2 and send it to the control unit. The control unit calculates the position parameter P of each scintillator element according to the image information T i ', and compare the P i ' with P i to drive the manipulator to move according to their relationship, so as to realize the calibration of the position of the scintillator element; S4 Encapsulation: After completing the position calibration of the N scintillator elements, use the glue injection fixture to inject glue and encapsulate the arranged scintillator array; where 1 ≤ i ≤ N, and N is the total number of the scintillator elements.

7. The encapsulation method of the image calibration automatic encapsulation device for the scintillator array according to claim 6, characterized in that, The element arrangement in S2 specifically includes the following steps: S21 Let i = 1; The control unit described in S22 calculates, according to the standard position parameter P i and the size of the scintillator element, the radial distance d of one vertex of the ith scintillator element relative to the polar coordinate system i and the polar angle θ i . Driven by the control unit, the manipulator arranges the ith scintillator element at the corresponding position on the base according to the values of the d i and the θ i ; and sets i = i + 1; S23 Execute S22 until i > N to complete the element arrangement.

8. The encapsulation method of the image calibration automatic encapsulation device for the scintillator array according to claim 6, characterized in that, The position calibration in S3 specifically includes the following steps: S31 Let i = 1; The control unit S32 calculates the position parameter values of the four vertices on the top surface of the i-th scintillator element in the scintillator array according to the image information T of the scintillator array, and calculates the slope values L1 of the two diagonals on the top surface of the i-th scintillator element according to the position parameter values of the four vertices i and L2 i , and the position parameter value X of the intersection point of the two diagonals i ', and sends the above L1 i , L2 i and X i ' to the control unit; S33 The control unit compares Xi' with X i-1 ', If X i '-X i-1 '≤ΔX, then compare L1 i with L1 i-1 values: If L1 i -L1 i-1 ≤ ΔL, then let i = i + 1, and return to S32; If L1 i -L1 i-1 > ΔL, the control unit drives the manipulator to actuate, rotating the i-th scintillator element to the correct position; If X i '-X i-1 ' > ΔX, the control unit drives the manipulator to move, and translates the i-th scintillator element to the correct position; then compare L1 i with L1 i-1 values: If L1 i -L1 i-1 > ΔL, the control unit drives the manipulator to move again, rotates the i-th scintillator element to the correct position, sets i = i + 1 and returns to S32; S34 Execute S33 until i > N to complete the position calibration; where ΔL is the parallelism error threshold stored in the control unit; ΔX is the center distance error threshold stored in the control unit.

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