Robot type microscopic imaging system and method based on gradient refractive index lens

Abstract

The invention discloses a robot type microscopic imaging system and method based on a gradient refractive index lens, a white light source is integrated around the gradient refractive index lens, the emitted light directly illuminates a detected area, and the reflected light sequentially passes through a relay lens group and a reflector and then converges to the surface of a CCD (Charge Coupled Device) for imaging. The robot-type microscopic imaging measurement device has the advantages of small size, high resolution, mobile measurement and the like, the combination of the lens with the gradient refractive index NA equal to 0.5 and the reflecting mirror is adopted to image a sample, and 360-degree imaging detection on the inner wall of a pipeline can be realized by adjusting the control mechanism while the resolution is ensured.

Description

Technical Field

[0001] This invention relates to a miniaturized microscopic imaging system and method, specifically a robotic microscopic imaging system and method based on a gradient refractive index lens. Currently, miniaturized microscopic imaging technology has the advantages of small size and large imaging field of view. By mounting an imaging optical path based on a gradient refractive index lens onto a miniaturized mobile robot, it is possible to detect the inner wall of a pipe. Background Technology

[0002] Large equipment or systems are complex in structure and have numerous parts, making disassembly and assembly extremely cumbersome and consuming a great deal of manpower, resources, and time. This significantly increases maintenance and inspection costs, seriously impacting the company's profits. In particular, the intricate piping systems within large factories such as nuclear power plants, operating at high intensity year-round, often lead to defects and cracks in their inner walls, creating significant safety hazards.

[0003] The development of microscopic imaging technology has greatly enriched the means of industrial defect detection. Microscopic imaging, due to its excellent magnification and resolution, is highly trusted by the industry. However, traditional platform microscopes have complex structures and large component sizes, resulting in a large overall size. Even integrated microscopes lack portability and ease of movement. Furthermore, platform microscopes often can only inspect disassembled parts, which not only increases costs but also fails to perform effectively in conditions such as pipeline inspection.

[0004] The miniscope was initially developed to enable better imaging and observation of the brains of freely moving mice. However, the concept of miniaturization is not limited to biological imaging; it can also produce excellent results in industrial inspection. With the development of precision manufacturing, optical components and microelectromechanical components (MEMS) can be reduced in size while maintaining performance comparable to conventionally sized components. This has significantly improved the effectiveness of miniaturized microscopic imaging systems. As one of the most important components in a microscopic imaging system, the objective lens is replaced by a gradient-index lens, conventionally sized optical components are replaced with smaller ones, and a miniaturized CMOS sensor is used as the image receiving device. All optical components are integrated into a 3D-printed shell, giving birth to a miniaturized microscope. However, its unique advantages have never been fully explored in the field of industrial microscopic imaging inspection. The miniscope is not only small in size but also has micrometer-level resolution and millimeter-level field of view. Through adaptive improvements, it can be applied to industrial inspection under special conditions. Summary of the Invention

[0005] A brief overview of the invention is given below to provide a basic understanding of certain aspects of it. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention. Its purpose is merely to present certain concepts in a simplified form as a prelude to the more detailed description that follows.

[0006] In view of this, in order to overcome the above-mentioned technical problems, the present invention provides a robotic microscopic imaging system and method based on a gradient refractive index lens. By using a gradient refractive index lens instead of a single objective lens, the optical elements can be highly integrated while ensuring resolution and field of view, thereby reducing the size of the microscopic imaging system.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] Option 1: This invention provides a robotic microscopic imaging system based on a gradient refractive index lens, characterized in that it includes an illumination module and a miniaturized imaging acquisition module;

[0009] The imaging modules, arranged in order of light propagation direction, are: white light source, gradient refractive index lens, lens one, reflector, lens two, and CCD;

[0010] The motion modules, arranged in order of light propagation direction, are: rotating arm, controller one, fixed arm, controller two, translation arm, controller three, and vehicle body;

[0011] Furthermore, the white light source is integrated around the gradient refractive index lens and can move with the rotating arm to ensure continuous illumination of the probed area.

[0012] Furthermore: the cross-sectional diameter of the motion module along the vehicle body movement direction is 20mm. Taking into account the rotation extension range of the rotating arm, it can be imaged and detected through a pipe with a minimum diameter of 40mm.

[0013] Furthermore: the diameter of the gradient refractive index lens is 1mm, the diameter of the first lens is 5mm, and the size of the reflector is 5×5×2mm. They are integrated into the rotating arm, which is connected to the fixed arm through the controller. The controller can realize the fixed-axis 360° rotation of the rotating arm.

[0014] Furthermore: The second lens has a diameter of 5mm and is installed in a fixed arm. The fixed arm is connected to the vehicle body via a controller three, which can adjust the height of the imaging module for focusing.

[0015] Furthermore: The CCD is installed in the translation arm and connected to the fixed arm through controller two. Controller two can realize the axial translation and focusing of the translation arm.

[0016] Furthermore, the vehicle body includes components such as a motor, wheels, battery, and transmission gears, enabling functions such as power supply, signal transmission, and drive.

[0017] Option 2: The present invention proposes a robotic microscopic imaging method based on a gradient refractive index lens. This method is implemented based on any of the robotic microscopic imaging systems based on gradient refractive index lenses described in Option 1, and includes the following steps:

[0018] Data collection steps:

[0019] Step a: The light emitted by the white light source illuminates the surface of the area to be detected inside the pipe. The reflected light is collected by the gradient refractive index lens and imaged onto the surface behind it. After passing through lens one, the reflector and lens two in sequence, the reflected light signal is focused onto the CCD surface for imaging.

[0020] Step b: Controller three can move the imaging module up and down, while controller one can rotate the rotating arm 360° around its axis. Through the coordinated control of controllers three and one, the imaging module probe can be aligned with any position on the inner wall of the pipe. Controller two can move the translation arm along the optical axis to align with the focal plane and obtain a clear image.

[0021] Step c: The vehicle moves along the pipeline via a remote control device to the designated location for imaging detection.

[0022] Beneficial effects

[0023] This invention leverages the advantages of miniaturized microscopy imaging technology, namely its small size and high resolution. By replacing traditional objectives with a GRIN lens and rotating the optical path by 90° using a reflecting prism, imaging observation of the inner wall of an aperture is achieved within a minimal mechanical footprint. Simultaneously, three controllers mounted on a mobile robot control the object distance, image distance, and degrees of freedom of the annular pipe within the entire miniature microscopy system, significantly enhancing its practicality, flexibility, and the area of ​​the pipe that can be inspected. Furthermore, by integrating the miniaturized microscopy system onto the mobile robot, the device can move freely within the pipe, independently completing the inspection of the entire pipe. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the robotic microscopic imaging system based on a gradient refractive index lens according to the present invention.

[0025] In the diagram: 1 White light source, 2 Gradient refractive index lens, 3 Lens 1, 4 Reflector, 5 Lens 2 and 6 CCD, 7 Rotating arm, 8 Controller 1, 9 Fixed arm, 10 Controller 2, 11 Translation arm, 12 Controller 3, 13 Vehicle body. Detailed Implementation

[0026] Exemplary embodiments of the invention will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of actual implementations are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the development of any such actual embodiment to achieve the developer's specific goals, such as complying with constraints related to the system and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from the disclosure of this invention.

[0027] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the device structure and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0028] Example 1: As shown in the attached document Figure 1 The embodiment shown provides a robotic microscopic imaging system based on a gradient refractive index lens for robotic internal wall inspection.

[0029] A robotic microscopic imaging system based on a gradient refractive index lens includes an illumination module and a miniaturized imaging acquisition module.

[0030] The imaging modules, arranged in order of light propagation direction, are: white light source 1, gradient refractive index lens 2, lens one 3, reflector 4, lens two 5, and CCD 6;

[0031] The motion modules, arranged in order of light propagation direction, are: rotating arm 7, controller one 8, fixed arm 9, controller two 10, translation arm 11, controller three 12, and vehicle body 13;

[0032] More specifically: the white light source 1 is integrated around the gradient refractive index lens 2 and can move with the rotating arm 7 to ensure continuous illumination of the detected area.

[0033] More specifically: the cross-sectional diameter of the motion module along the vehicle body movement direction is 20mm. Taking into account the rotation extension range of the rotating arm 7, it can be imaged and detected through a pipe with a minimum diameter of 40mm.

[0034] More specifically: the gradient refractive index lens 2 has a diameter of 1mm, the lens 3 has a diameter of 5mm, and the reflector 4 has a size of 5×5×2mm. They are integrated into the rotating arm 7. The rotating arm 7 is connected to the fixed arm 9 through the controller 8. The controller 8 can realize the fixed-axis 360° rotation of the rotating arm 7.

[0035] More specifically: the diameter of the second lens 5 is 5mm, and it is installed in the fixed arm 9. The fixed arm is connected to the vehicle body 13 through the third controller 12. The third controller 12 can adjust the height of the imaging module for focusing.

[0036] More specifically: The CCD6 is installed in the translation arm 11 and is connected to the fixed arm 9 through the controller 2 10. The axial translation and focusing of the translation arm 11 can be realized through the controller 2 10.

[0037] More specifically: the vehicle body 13 includes components such as a motor, wheels, battery, and transmission gears, which can realize functions such as power supply, signal transmission, and drive.

[0038] A robotic microscopic imaging method based on a gradient refractive index lens, which is implemented based on any of the robotic microscopic imaging systems based on gradient refractive index lenses described in Example 1, includes the following steps:

[0039] Data collection steps:

[0040] Step a: The light emitted by the white light source 1 illuminates the surface of the area to be detected inside the pipe. The reflected light is collected by the gradient refractive index lens 2 and imaged onto the surface behind it. After passing through lens 3, mirror 4 and lens 5 in sequence, the reflected light signal is focused onto the surface of CCD 6 for imaging.

[0041] Step b: Controller 3 12 can move the imaging module up and down, and controller 1 8 can rotate the rotating arm 7 360° around its axis. Through the coordinated control of controller 3 12 and controller 1 8, the imaging module probe can be aligned with any position on the inner wall of the pipe. Controller 2 10 can move the translation arm 11 along the optical axis to align with the focal plane and obtain a clear image.

[0042] Step c: The vehicle body 13 moves along the pipeline via a remote control device to reach the designated position for imaging detection.

[0043] While the embodiments disclosed in this invention are as described above, their content is merely for the purpose of facilitating understanding of the technical solutions of this invention and is not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and changes to the form and details of the implementation without departing from the core technical solutions disclosed in this invention; however, the scope of protection defined by this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A robotic microscopic imaging system based on a gradient refractive index lens, characterized in that: Including imaging module and motion module; The imaging module comprises, in order according to the light propagation direction: a white light source (1), a gradient refractive index lens (2), a lens 1 (3), a reflector (4), a lens 2 (5) and a CCD (6); The motion module is arranged in order according to the light propagation direction: a rotating arm (7), a controller one (8), a fixed arm (9), a controller two (10), a translation arm (11), a controller three (12) and a vehicle body (13).

2. The robotic microscopic imaging system based on a gradient refractive index lens according to claim 1, characterized in that: The white light source (1) is integrated around the gradient refractive index lens (2) and can move with the rotating arm (7) to ensure continuous illumination of the detected area.

3. The robotic microscopic imaging system based on a gradient refractive index lens according to claim 1, characterized in that: The cross-sectional diameter of the motion module along the direction of motion of the vehicle body is 20 mm. Taking into account the rotation extension range of the rotating arm (7), a pipeline with a minimum diameter of 40 mm can be passed through and imaged for detection.

4. The robotic microscopic imaging system based on a gradient refractive index lens according to claim 1, characterized in that: The gradient refractive index lens (2) has a diameter of 1 mm, the diameter of lens 1 (3) has a diameter of 5 mm, and the size of the reflector (4) is 5×5×2 mm. The reflectors (4) are integrated in a rotating arm (7). The rotating arm (7) is connected to a fixed arm (9) via a controller 1 (8). The rotating arm (7) can be rotated 360° around a fixed axis via the controller 1 (8).

5. The robotic microscopic imaging system based on a gradient refractive index lens according to claim 1, characterized in that: The diameter of the lens 2 (5) is 5 mm and is installed in a fixed arm (9). The fixed arm is connected to the vehicle body (13) through a controller 3 (12). The controller 3 (12) can adjust the height of the imaging module for focusing.

6. The robotic microscopic imaging system based on a gradient refractive index lens according to claim 1, characterized in that: The CCD (6) is installed in the translation arm (11) and connected to the fixed arm (9) through the second controller (10). The axial translation focusing of the translation arm (11) can be realized through the second controller (10).

7. The robotic microscopic imaging system based on a gradient refractive index lens according to claim 1, characterized in that: The vehicle body (13) includes a motor, wheels, batteries, transmission gears and other parts, and can realize functions such as power supply, signal transmission, and driving.

8. A robotic microscopic imaging method based on a gradient refractive index lens, the method being implemented based on the robotic microscopic imaging system based on a gradient refractive index lens as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Data collection steps: Step a: The light emitted by the white light source (1) illuminates the surface of the detected area in the pipeline, and the reflected light is collected by the gradient refractive index lens (2) and imaged onto its rear surface. After passing through lens 1 (3), reflector (4) and lens 2 (5) in sequence, the reflected light signal is focused onto the surface of CCD (6) for imaging. Step b, controller three (12) can make the imaging module move up and down as a whole, controller one (8) can make the rotating arm (7) rotate 360 ​​degrees around the fixed axis, and through the coordinated control of controller three (12) and controller one (8), the imaging module probe can be aligned with any position of the inner wall of the pipe. Controller two (10) can make the translation arm (11) move along the optical axis direction to align the focal plane to obtain a clear image. Step c: the vehicle body (13) is moved along the pipeline by a remote control device to a designated position for imaging detection.

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