Intelligent control method, device and system for adjustable ultrasonic suture machine

Abstract

The present invention proposes an adjustable intelligent control device and method for an ultrasonic suturing machine. The device obtains a first ultrasonic suturing feature by inputting a first material parameter, a first acquired suturing positioning image, and a first factory environmental parameter. An intelligent suturing control model is constructed based on the first ultrasonic suturing feature and the corresponding first ultrasonic suturing setting parameter. A second ultrasonic suturing feature, obtained by processing the input material to be suturing, is then input into the intelligent suturing control model to obtain second ultrasonic suturing setting parameters for the material to be suturing. The second ultrasonic suturing setting parameters are used to assist operators in ultrasonic suturing control and material control management. By effectively processing the suturing positioning image and combining it with factory environmental parameters and suturing material parameters, the suturing quality of the model is improved, human resources are reduced, and the level of refined suturing management is enhanced.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent suturing machine control, and in particular relates to an intelligent control method, device and system for an adjustable ultrasonic suturing machine. Background Art

[0002] Ultrasonic seaming machines use high-frequency oscillations to transmit sound waves to the weld surface of the workpiece, instantly creating friction between the molecules of the workpiece, reaching the plastic's melting point, thereby rapidly dissolving and welding the solid material. This welding method achieves a joint strength approaching that of a single piece of joined material. As long as the joint surfaces are properly designed, a complete seal can be achieved.

[0003] However, in the prior art, the ultrasonic suturing machine uses a set program to straighten two rolls of different materials with a set tension, thereby performing ultrasonic suturing, and then automatically slices them according to the required size. The prior art has the following problems: it does not fully utilize the image data during suturing, and there is no effective method to effectively process the features of the image during suturing, and combine the factory environmental parameters and suturing material parameters to improve the intelligent automatic tension setting, thereby improving the suturing quality during ultrasonic suturing. It also requires a lot of human resources to set the parameters of the suturing machine for each different suturing material, resulting in a low level of refined suturing management and low suturing accuracy. Therefore, there is an urgent need for an adjustable intelligent control device and control method for an ultrasonic suturing machine to solve the above problems. Summary of the Invention

[0004] To solve the above technical problems, the present invention proposes an intelligent control method, device and system for an adjustable ultrasonic suturing machine.

[0005] In a first aspect of the present invention, a method for intelligently controlling an adjustable ultrasonic suturing machine is provided, wherein the method comprises:

[0006] S1. Obtaining a first material parameter, a first factory environment parameter, and a first ultrasonic suture setting parameter as input to the ultrasonic suture machine, and also collecting a first suture positioning image, performing feature processing on the first suture positioning image to obtain a first suture precise positioning image;

[0007] S2. Receive the first material parameter, the first factory environment parameter, and the first stitching precise positioning image and perform feature processing to obtain a first ultrasonic stitching feature;

[0008] S3. Receiving the first ultrasonic suturing feature and the first ultrasonic suturing setting parameters, and constructing an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameters;

[0009] S4. Inputting second material parameters and second factory environment parameters of the material to be sutured, acquiring a second suture positioning image, performing feature processing on the second suture positioning image to obtain a second suture precise positioning image, and performing feature processing on the second material parameters, the second factory environment parameters, and the second suture precise positioning image to obtain a second ultrasonic suture feature;

[0010] S5. Retrieve the intelligent suturing control model to process the second ultrasonic suturing feature to obtain second ultrasonic suturing setting parameters, and the operator controls and manages the suturing material according to the second ultrasonic suturing setting parameters.

[0011] Also provided is an intelligent control device for an adjustable ultrasonic suture machine, comprising a memory and a processor, characterized in that an intelligent control program for the adjustable ultrasonic suture machine is stored in the memory, and the processor is configured to run the intelligent control program for the adjustable ultrasonic suture machine to run the described method.

[0012] Also provided is an adjustable intelligent control system for an ultrasonic suturing machine, comprising a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model building module, and a suturing machine intelligent control module, characterized in that:

[0013] Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suturing setting parameter input into the ultrasonic suturing machine;

[0014] Suture machine camera function module: collects the first suture positioning image and the second suture positioning image;

[0015] Ultrasonic suturing image processing module: performs feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; also performs feature processing on the second suturing positioning image to obtain a second suturing precise positioning image,

[0016] Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature;

[0017] An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0018] The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precision positioning image to obtain a second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

[0019] The present invention uses a simple camera device to collect suture image data, fully utilizes the image data during suture, and uses an image feature processing method to perform targeted effective feature extraction of the suture position from the image during suture. In combination with the temperature, humidity and air pressure comfort level in the factory and the relevant parameters of the material to be sutured, a model based on the Fisher criterion is used to perform intelligent setting of suture machine parameters to achieve automatic setting of tension, thereby improving the suture quality during ultrasonic suturing, greatly reducing the cost of manual adjustment, and assisting staff in setting suture parameters, improving the level of refined management of ultrasonic suturing, and greatly improving the accuracy of suture.

[0020] More embodiments and improved effects of the present invention will be further introduced in conjunction with the drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a physical picture of the adjustable ultrasonic suture machine of the present invention;

[0022] Figure 2 It is a flow chart of an intelligent control method of an adjustable ultrasonic suture machine of the present invention;

[0023] Figure 3 It is a schematic diagram of an intelligent control system of an adjustable ultrasonic suturing machine of the present invention;

[0024] Figure 4 It is a schematic diagram of the pressure setting of the ultrasonic suture machine of the present invention;

[0025] Figure 5 Schematic diagram of the classifier based on Fisher criterion in the present invention;

[0026] Figure 6 This is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The invention is further described below with reference to the accompanying drawings and specific implementation methods.

[0028] Ultrasonic seaming machines use high-frequency oscillations to transmit sound waves to the weld surface of the workpiece, instantly creating friction between the molecules of the workpiece, reaching the plastic's melting point, thereby rapidly dissolving and welding the solid material. This welding method achieves a joint strength approaching that of a single piece of joined material. As long as the joint surfaces are properly designed, a complete seal can be achieved.

[0029] The present invention provides an intelligent control device and a control method for an adjustable ultrasonic suturing machine.

[0030] In a first aspect of the present invention, a method for intelligently controlling an adjustable ultrasonic suturing machine is provided, wherein the method comprises:

[0031] S1. Obtaining a first material parameter, a first factory environment parameter, and a first ultrasonic suture setting parameter as input to the ultrasonic suture machine, and also collecting a first suture positioning image, performing feature processing on the first suture positioning image to obtain a first suture precise positioning image;

[0032] S2. Receive the first material parameter, the first factory environment parameter, and the first stitching precise positioning image and perform feature processing to obtain a first ultrasonic stitching feature;

[0033] S3. Receiving the first ultrasonic suturing feature and the first ultrasonic suturing setting parameters, and constructing an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameters;

[0034] S4. Inputting second material parameters and second factory environment parameters of the material to be sutured, acquiring a second suture positioning image, performing feature processing on the second suture positioning image to obtain a second suture precise positioning image, and performing feature processing on the second material parameters, the second factory environment parameters, and the second suture precise positioning image to obtain a second ultrasonic suture feature;

[0035] S5. Retrieve the intelligent suturing control model to process the second ultrasonic suturing feature to obtain second ultrasonic suturing setting parameters, and the operator controls and manages the suturing material according to the second ultrasonic suturing setting parameters.

[0036] Furthermore, the first material parameter or the second material parameter includes the type of ultrasonic suture material, the length and width of the ultrasonic suture material, the thickness of the ultrasonic suture material, and the average density of the ultrasonic suture material.

[0037] Furthermore, feature processing is performed on the first suture positioning image to obtain a first suture precise positioning image obtained according to the first material parameter processing, and feature processing is performed on the second suture positioning image to obtain a second suture precise positioning image obtained according to the second material parameter processing; the first suture positioning image or the second suture positioning image is acquired by a color camera positioned above the suture machine.

[0038] Furthermore, a formula for performing feature processing on the first stitching positioning image or performing feature processing on the second stitching positioning image is:

[0039]

[0040]

[0041]

[0042]

[0043] Where, 、 is the grayscale feature value of three channels of the color image of the first stitched positioning image or the second stitched positioning image, for The grayscale eigenvalue of the pixel R channel is greater than Time Pixel grayscale eigenvalue, for The grayscale eigenvalue of the pixel G channel is greater than Time Pixel grayscale eigenvalue, for The grayscale eigenvalue of pixel B channel is greater than Time Pixel grayscale eigenvalue, 、 、 For the corresponding greater than 、 、 The number of R, G, and B pixels, To process the first stitching precise positioning image or the second stitching precise positioning image, The type of ultrasonic suture material and the average density of ultrasonic suture material were used to calculate the is the material coefficient.

[0044] Furthermore, the material coefficient The calculation formula is:

[0045]

[0046] Where, is the material coefficient, 、 is the type coefficient of the two materials used for ultrasonic suturing, 、 is the average density of the two materials used for ultrasonic suturing.

[0047] In this embodiment, the materials for ultrasonic suturing can be two rolls of non-woven fabrics, or two rolls of different materials such as TC cloth or other materials that need to be suturing. The two materials to be suturing are input into the machine. If it is non-woven fabric, the material coefficient is 0.126, and if it is TC cloth, the material coefficient is 0.187. The average density is obtained by measuring according to relevant standards.

[0048] Furthermore, the first in-factory environmental parameter or the second in-factory environmental parameter includes temperature, humidity, and air pressure comfort level in the factory where the ultrasonic suture machine is placed.

[0049] Furthermore, the air pressure comfort is calculated using the standard atmospheric pressure and the local atmospheric pressure, and the calculation formula is:

[0050]

[0051] Where, For the air pressure comfort, is the local atmospheric pressure, is standard atmospheric pressure.

[0052] Furthermore, the material parameters, factory environment parameters and feature vectors represented by the stitching precision positioning image are spliced ​​horizontally to obtain the ultrasonic stitching features.

[0053] The feature vector obtained here in the form of splicing is to be input into the classifier for classification.

[0054] Furthermore, the calculation formula of the intelligent suture control model using the classifier based on the Fisher criterion is as follows:

[0055]

[0056] X is the first ultrasonic suturing feature or the second ultrasonic suturing feature, The first ultrasonic suture setting parameter or the second ultrasonic suture setting parameter outputted, is the normal vector perpendicular to the hyperplane.

[0057] In this embodiment, if If it is less than -1, it corresponds to the advanced setting pressure ultrasonic suture setting parameters. If it is greater than or equal to -1 and less than 0, the intermediate setting pressure ultrasonic suture setting parameters are used. If it is equal to 0, it corresponds to the ultrasonic suture setting parameters without set pressure. If it is greater than 0, it corresponds to the use of low-level setting pressure ultrasonic sewing setting parameters. Each ultrasonic sewing setting parameter sets a different tension for straightening the fabric. The operator can set it here according to the deviation of the straightening and sewing.

[0058] Also provided is an intelligent control device for an adjustable ultrasonic suture machine, comprising a memory and a processor, characterized in that an intelligent control program for the adjustable ultrasonic suture machine is stored in the memory, and the processor is configured to run the intelligent control program for the adjustable ultrasonic suture machine to run the described method.

[0059] Also provided is an adjustable intelligent control system for an ultrasonic suturing machine, comprising a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model building module, and a suturing machine intelligent control module, characterized in that:

[0060] Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suturing setting parameter input into the ultrasonic suturing machine;

[0061] Suturing machine camera function module: collects the first suture positioning image and the second suture positioning image;

[0062] Ultrasonic suturing image processing module: performs feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; also performs feature processing on the second suturing positioning image to obtain a second suturing precise positioning image,

[0063] Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature;

[0064] An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0065] The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precision positioning image to obtain a second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

[0066] The present invention uses a simple camera device to collect suture image data, fully utilizes the image data during suture, and uses an image feature processing method to extract effective features of the suture position from the suture image. In combination with the temperature, humidity, and air pressure comfort in the factory and the relevant parameters of the material to be sutured, a model based on the Fisher criterion is used to intelligently set the suture machine parameters to achieve automatic setting of the tension, thereby improving the suture quality during ultrasonic suture, greatly reducing the cost of manual adjustment, and assisting staff in setting suture parameters, improving the level of refined management of ultrasonic suture, and greatly improving the accuracy of suture. Of course, it can be understood that each embodiment of the present invention can achieve one of the effects alone, and a combination of multiple embodiments of the present invention can achieve all of the above effects, but it is not required that each embodiment of the present invention achieve all of the above advantages and effects, because each embodiment of the present invention can constitute a separate technical solution and make one or more contributions to the existing technology.

[0067] The present invention does not specifically define the structure of some modules, and the content of the prior art shall prevail. The prior art mentioned in the above background technology section and the specific embodiment section of the present invention can be regarded as part of the present invention and used to understand the meaning of some technical features or parameters. The present invention also provides an adjustable intelligent control system for an ultrasonic suturing machine, including a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model construction module, and a suturing machine intelligent control module, characterized in that:

[0068] Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suturing setting parameter input into the ultrasonic suturing machine;

[0069] Suture machine camera function module: collects the first suture positioning image and the second suture positioning image;

[0070] Ultrasonic suturing image processing module: performs feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; also performs feature processing on the second suturing positioning image to obtain a second suturing precise positioning image,

[0071] Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature;

[0072] An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter;

[0073] The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precision positioning image to obtain a second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

Claims

1. An intelligent control method for an adjustable ultrasonic suturing machine, characterized in that: The method comprises: S1. Obtaining a first material parameter, a first factory environment parameter, and a first ultrasonic suture setting parameter as input to the ultrasonic suture machine, and also collecting a first suture positioning image, performing feature processing on the first suture positioning image to obtain a first suture precise positioning image; S2. Receive the first material parameter, the first factory environment parameter, and the first stitching precise positioning image and perform feature processing to obtain a first ultrasonic stitching feature; S3. Receiving the first ultrasonic suturing feature and the first ultrasonic suturing setting parameters, and constructing an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameters; S4. Inputting second material parameters and second factory environment parameters of the material to be sutured, acquiring a second suture positioning image, performing feature processing on the second suture positioning image to obtain a second suture precise positioning image, and performing feature processing on the second material parameters, the second factory environment parameters, and the second suture precise positioning image to obtain a second ultrasonic suture feature; S5. Recall the intelligent suturing control model to process the second ultrasonic suturing feature to obtain the second ultrasonic suturing setting parameters, each ultrasonic suturing setting parameter sets the tension for straightening the material, the first factory environmental parameter or the second factory environmental parameter includes the temperature, humidity and air pressure comfort of the factory where the ultrasonic suturing machine is placed; the intelligent suturing control model adopts the calculation of the classifier based on the Fisher criterion, and the operator controls and manages the suturing material according to the second ultrasonic suturing setting parameters.

2. The intelligent control method for an adjustable ultrasonic suturing machine according to claim 1, characterized in that: The first material parameter or the second material parameter includes the material type of the ultrasonic suture, the length and width of the ultrasonic suture material, the thickness of the ultrasonic suture material, and the average density of the ultrasonic suture material.

3. The intelligent control method for an adjustable ultrasonic suturing machine according to claim 1, wherein: The first suture positioning image is feature-processed to obtain a first suture precise positioning image obtained according to the first material parameter processing, and the second suture positioning image is feature-processed to obtain a second suture precise positioning image obtained according to the second material parameter processing; the first suture positioning image or the second suture positioning image is acquired by a color camera positioned above the suture machine.

4. The intelligent control method for an adjustable ultrasonic suturing machine according to claim 1, wherein: The air pressure comfort is calculated using standard atmospheric pressure and local atmospheric pressure.

5. The intelligent control method for an adjustable ultrasonic suturing machine according to claim 4, characterized in that: The material parameters, factory environment parameters and feature vectors represented by the stitching precision positioning image are spliced ​​horizontally to obtain the ultrasonic stitching features.

6. An intelligent control device for an adjustable ultrasonic suturing machine, comprising a memory and a processor, characterized in that: The memory stores an intelligent control program of an adjustable ultrasonic suturing machine, and the processor is configured to run the intelligent control program of the adjustable ultrasonic suturing machine to run the method according to any one of claims 1 to 5.

7. An adjustable intelligent control system for an ultrasonic suturing machine, the system implementing the method according to claim 1, comprising a suturing machine acquisition module, a suturing machine camera function module, an ultrasonic suturing image processing module, an ultrasonic suturing processing module, an intelligent suturing control model construction module, and a suturing machine intelligent control module, characterized in that: Suturing machine acquisition module: obtains a first material parameter, a first factory environment parameter and a first ultrasonic suturing setting parameter input into the ultrasonic suturing machine; Suturing machine camera function module: collects the first suture positioning image and the second suture positioning image; Ultrasonic suturing image processing module: performs feature processing on the first suturing positioning image to obtain a first suturing precise positioning image; and also performs feature processing on the second suturing positioning image to obtain a second suturing precise positioning image; Ultrasonic suturing processing module: receiving the first material parameter, the first factory environment parameter and the first suturing precise positioning image and performing feature processing to obtain a first ultrasonic suturing feature; An intelligent suturing control model building module receives the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter, and builds an intelligent suturing control model according to the first ultrasonic suturing feature and the first ultrasonic suturing setting parameter; The intelligent control module of the suture machine obtains the second material parameter and the second factory environment parameter of the input material to be sutured, and performs feature processing on the second material parameter, the second factory environment parameter and the second suture precision positioning image to obtain a second ultrasonic suture feature, and calls the intelligent suture control model in the intelligent suture control model construction module to process and obtain the second ultrasonic suture setting parameter, and the operator performs suture material control and management according to the second ultrasonic suture setting parameter.

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