Laser test monitoring system based on image vision

Abstract

The invention relates to a laser testing and monitoring system based on image vision. The laser testing and monitoring system comprises a linear motor used for medical distribution and a controller electrically connected with the linear motor. The linear motor comprises a stator track, a mover trolley and a medical distribution box arranged on the mover trolley; the system further comprises a monitoring device used for collecting motion parameters of the mover trolley. The linear motor further comprises a visual tracking module arranged on the mover trolley, and the monitoring device comprises a sensor module used for collecting motion parameters of the mover trolley in real time and a driving mechanism used for adjusting the sensor module to focus on the visual tracking module in real time. The sensor module and the driving mechanism are electrically connected with the controller; according to the monitoring system, the operation condition of the linear motor can be accurately monitored in real time, and the medical distribution system can be better adjusted, so that the accuracy, efficiency and stability of the medical distribution system are improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical distribution, and in particular to a laser testing and monitoring system based on image vision. Background Art

[0002] With the rapid development of the global medical industry, major hospitals and medical institutions have increasingly higher requirements for logistics automation, precise control and efficient operation. The traditional manual distribution method has gradually shown its limitations in the face of complex hospital environments and high-intensity logistics needs. Therefore, more advanced technical means are needed to solve these challenges, and linear motor technology is one of the key new technologies. As a driving technology that can provide smooth and precise linear motion, linear motors have the advantages of fast response speed, high positioning accuracy and compact structure. These advantages make it more widely used in today's medical distribution field. From the automatic sorting and precise distribution of drugs to the automated transmission and processing of medical samples such as blood samples and urine samples in laboratories, linear motors help realize the automation of the entire process from reception to distribution, greatly improving the logistics efficiency and accuracy of medical distribution.

[0003] Considering that medical equipment has extremely high requirements for accuracy, stability and safety, the following points should be considered in the design and application of linear motor medical delivery systems:

[0004] (1) Ultra-precision positioning. Whether in daily drug delivery or in related surgical robots and microsurgery, micron-level or even nanometer-level positioning accuracy is crucial. For the daily operation of hospitals, accurate drug delivery is the key to ensuring timely and safe treatment;

[0005] (2) High stability. Mechanical transmission systems usually experience performance degradation after long-term operation due to wear of mechanical components, such as reduced accuracy, delayed response, or mechanical failure. These problems may lead to serious consequences in medical environments, such as misdiagnosis, delayed treatment, or equipment downtime.

[0006] Therefore, it is particularly important to achieve accurate, efficient and stable medical delivery. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a laser testing and monitoring system based on image vision that can accurately monitor a linear motor medical delivery system in operation in real time, thereby achieving accurate, efficient and highly stable medical delivery.

[0008] The technical solution adopted by the present invention is a laser test monitoring system based on image vision, comprising a linear motor for medical delivery and a controller electrically connected to the linear motor; the linear motor comprises a stator track, a mover trolley running on the stator track and a medical delivery box arranged on the mover trolley; the system also comprises a monitoring device for collecting motion parameters of the mover trolley, and the monitoring device is electrically connected to the controller; the linear motor also comprises a visual tracking module arranged on the mover trolley, the monitoring device comprises a sensor module for real-time collection of motion parameters of the mover trolley and a driving mechanism for adjusting the sensor module to focus on the visual tracking module in real time, and the sensor module and the driving mechanism are both electrically connected to the controller; the controller is used to control the driving mechanism to rotate according to whether the sensor module focuses on the visual tracking module to achieve real-time focusing of the sensor module and the visual tracking module, and after focusing, the motion parameters of the mover trolley collected by the sensor module are received, and the operation of the mover trolley is judged according to the motion parameters.

[0009] The beneficial effect of the present invention is: by adopting the above-mentioned image vision-based laser testing and monitoring system, when using a linear motor for medical delivery, a visual tracking module is used to track the sensor module in real time, so that the motion parameters of the mover car are collected in real time through the sensor module, and the controller judges the operation status of the mover car according to the collected motion parameters of the mover car, so as to provide feedback reminders or feedback adjustments. The monitoring system can accurately monitor the operation status of the linear motor in real time, better adjust the medical delivery system, thereby improving the accuracy, efficiency and stability of the medical delivery system.

[0010] Preferably, the driving mechanism includes an X-axis driving motor for adjusting the sensor module to rotate around its X-axis and a Y-axis driving motor for adjusting the sensor module to rotate around its Y-axis. The X-axis driving motor and the Y-axis driving motor are both electrically connected to the controller. With this structure, the controller controls the X-axis driving motor and / or the Y-axis driving motor to adjust the sensor module, which can better enable the sensor module to be aligned with the visual tracking module in real time, achieve the purpose of automatic tracking, and ultimately realize automatic focusing. The structure is simple and improves monitoring efficiency.

[0011] Preferably, the visual tracking module includes a visual tracking area and a laser speed area adjacent to the visual tracking area, the sensor module includes a visual sensor for capturing the visual tracking area and a laser speed sensor for real-time acquisition of the speed, displacement and acceleration of the movement of the laser speed area, the visual sensor and the laser speed sensor are both electrically connected to the controller; the controller is used to control the X-axis drive motor and / or the Y-axis drive motor to rotate according to whether the visual sensor captures the visual tracking area to achieve real-time focusing of the laser speed sensor and the laser speed area, and after focusing, receive the speed, displacement and acceleration of the movement of the laser speed area acquired by the laser speed sensor, and judge the operation of the mover car according to the speed, displacement and acceleration; with this structure, the visual sensor is used to capture the visual tracking area in real time, so as to achieve the effect of automatically focusing the laser speed sensor and the laser speed area without manual adjustment, so that the speed, displacement and acceleration of the laser speed area of ​​the laser speed sensor with the movement of the mover car can be more accurately measured, thereby improving the accuracy, efficiency and stability of the medical delivery system.

[0012] Preferably, the visual tracking module is located at the front end of the mover trolley, and the visual tracking module includes a module body located at the front end of the mover trolley, and the visual tracking area and the laser speed area are located at the front end surface of the module body; with this structure, the visual tracking module is set at the front end of the mover trolley, which is convenient for the sensor module to focus, and the structure is simple and can improve the monitoring efficiency.

[0013] Preferably, the monitoring device is arranged on the stator track and is located in front of the movement direction of the mover trolley, and the sensor module is opposite to the visual tracking module; adopting this structure, it is convenient for the sensor module to track the visual tracking module, so that the laser speed sensor and the laser speed area can be better focused, the structure is simple, and the monitoring efficiency is improved.

[0014] Preferably, the monitoring device is arranged on the stator track and is located on one side of the stator track. With this structure, when the monitoring device is located on one side of the stator track, the sensor module is rotated by controlling the Y-axis drive motor so that the visual sensor on the sensor module captures the visual tracking area, thereby completing the focusing of the laser speed sensor and the laser speed area. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of a laser test monitoring system based on image vision according to Embodiment 1 of the present invention;

[0016] Figure 2 It is a schematic diagram of the structure of the monitoring device in the present invention;

[0017] Figure 3 It is a schematic diagram of the structure of the sensor module when it rotates in the present invention;

[0018] Figure 4 It is a structural schematic diagram of the mover trolley in the present invention;

[0019] Figure 5 A control principle diagram of a laser test monitoring system based on image vision of the present invention;

[0020] Figure 6 This is a structural schematic diagram of a laser test monitoring system based on image vision according to the second embodiment of the present invention;

[0021] Figure 7 This is a calculation principle diagram for collecting motion data of the moving vehicle in the second embodiment of the present invention;

[0022] As shown in the figure: 1. Movable trolley; 101. Medical delivery box; 102. Laser speed area; 103. Visual tracking area; 2. Stator track; 3. Monitoring device; 301. Sensor module; 302. Visual tracking sensor; 303. Laser speed sensor; 304. Upper support component; 305. Lower support component; 306. Y-axis drive motor; 307. X-axis drive motor; DETAILED DESCRIPTION

[0023] The invention will be further described below with reference to the accompanying drawings and in combination with specific implementations, so that those skilled in the art can implement the invention with reference to the description. The protection scope of the invention is not limited to the specific implementations.

[0024] Those skilled in the art should understand that, in the disclosure of the present invention, the orientation or positional relationship indicated by terms such as "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0025] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0026] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] Embodiment 1

[0028] The present invention relates to a laser testing and monitoring system based on image vision, comprising a linear motor for medical delivery and a controller electrically connected to the linear motor; Figure 1 As shown, the linear motor includes a stator track 2, a mover trolley 1 running on the stator track 2, and a medical delivery box 101 arranged on the mover trolley 1; the mover trolley 1 is electrically connected to the controller; the system also includes a monitoring device 3 for collecting motion parameters of the mover trolley 1, Figure 1 In the embodiment, the monitoring device 3 is electrically connected to the controller; the linear motor also includes a visual tracking module arranged on the mover car 1, and the monitoring device 3 is arranged on the stator track 2 and is located in front of the movement direction of the mover car 1; the monitoring device 3 includes a sensor module 301 for real-time acquisition of the motion parameters of the mover car 1 and a driving mechanism for adjusting the sensor module 301 to focus on the visual tracking module in real time, the sensor module 301 and the driving mechanism are both electrically connected to the controller, and the sensor module 301 is facing the visual tracking module; the controller is used to control the driving mechanism to rotate according to whether the sensor module 301 focuses on the visual tracking module to achieve real-time focusing of the sensor module 301 and the visual tracking module, and after focusing, the motion parameters of the mover car 1 collected by the sensor module 301 are received, and the operation status of the mover car 1 is judged according to the motion parameters.

[0029] Figure 1 In the image vision laser test monitoring system, when using a linear motor for medical delivery, the sensor module 301 and the visual tracking module are first used for focusing. After the focusing is completed, the motion parameters of the mover trolley 1 are collected through the sensor module 301 to achieve the effect of accurately collecting the motion parameters of the mover trolley 1; the controller determines the operation status of the mover trolley 1 according to the collected motion parameters of the mover trolley 1. If an abnormality occurs, the controller will control the alarm system connected to it to issue a reminder alarm, or the controller will control the mover trolley 1 for feedback adjustment.

[0030] In actual application, the mover trolley 1 starts to run with acceleration under the action of the electromagnetic force of the stator coil of the stator track 2. During the operation, the image vision-based laser test monitoring system of the present invention will monitor the speed of the mover trolley 1 in real time during operation. The sensor module 301 uploads the speed, acceleration and displacement of the mover trolley 1 to the controller in real time. The controller compares these motion parameters with the set parameters. When the running speed of the mover trolley 1 exceeds the set upper speed limit, the controller will reduce the electromagnetic force by changing the current, thereby reducing the speed of the mover trolley 1. If necessary, the electromagnetic force will be adjusted to the opposite situation of the speed, so as to achieve the purpose of quickly decelerating the mover trolley 1; when the movement speed of the mover trolley 1 is lower than the set lower speed limit, the controller will increase the electromagnetic force by changing the current, thereby increasing the speed of the mover trolley 1. If necessary, the electromagnetic force will be adjusted to the opposite situation of the speed, increasing the electromagnetic force to increase the speed until the speed is within the standard range.

[0031] The image vision-based laser test monitoring system described in the present invention can accurately monitor the operation of the linear motor in real time and better adjust the medical delivery system, thereby improving the accuracy, efficiency and stability of the medical delivery system.

[0032] like Figure 2 As shown, the driving mechanism includes an X-axis driving motor 307 for adjusting the sensor module 301 to rotate around its X-axis and a Y-axis driving motor 306 for adjusting the sensor module 301 to rotate around its Y-axis, and the X-axis driving motor 307 and the Y-axis driving motor 306 are both electrically connected to the controller; Figure 2 In the embodiment, the monitoring device 3 includes an upper support component 304 and a lower support component 305 rotatably connected to the upper support component 304, the lower support component 305 is located below the upper support component 304, the sensor module 301 is arranged in the upper support component 304, the X-axis drive motor 307 is rotatably connected to the upper support component 304, and is rotatably connected to the sensor module 301; the Y-axis drive motor 306 is arranged in the lower support component 305, and the Y-axis drive motor 306 is rotatably connected to the upper support component 304; Figure 3 As shown, the X-axis drive motor 307 drives the sensor module 301 to rotate around its X-axis, and the Y-axis drive motor 306 drives the upper support component 304 to rotate around its Y-axis, so that the sensor module 301 rotates around its Y-axis. With this structure, the controller controls the X-axis drive motor 307 and / or the Y-axis drive motor 306 to adjust the sensor module 301, which can better enable the sensor module 301 to be aligned with the visual tracking module in real time, achieve the purpose of automatic tracking, and finally realize automatic focusing. The structure is simple and improves monitoring efficiency.

[0033] like Figure 4As shown, the visual tracking module includes a visual tracking area 103 and a laser speed area 102 adjacent to the visual tracking area 103, the sensor module 301 includes a visual sensor for capturing the visual tracking area 103 and a laser speed sensor 303 for real-time acquisition of motion parameters of the laser speed area 102, the motion parameters are speed, displacement and acceleration, the visual sensor and the laser speed sensor 303 are both electrically connected to the controller; the controller is used to control the X-axis drive motor 307 and / or the Y-axis drive motor 306 to rotate according to whether the visual sensor captures the visual tracking area 103 to achieve real-time focusing of the laser speed sensor 303 and the laser speed area 102, and after focusing, receive the speed, displacement and acceleration of the laser speed area 102 acquired by the laser speed sensor 303, and judge the operation of the mover 1 according to the speed, displacement and acceleration; Figure 3 In the present invention, a visual sensor is used to capture the visual tracking area 103 in real time, which has the effect of automatically focusing the laser speed sensor 303 and the laser speed area 102 without manual adjustment. As a result, the speed, displacement and acceleration of the moving vehicle 1 can be more accurately measured through the laser speed sensor 303 and the laser speed area 102, thereby improving the accuracy, efficiency and stability of the medical delivery system.

[0034] The model of the visual sensor is Photonis / Exosens NOCTURN XL. Photonis / Exosens' Nocturn XL is a camera product optimized for low-light imaging. The Nocturn XL series camera uses Lynx CMOS imaging sensor, has 10 / 8-bit digital output and LDVS (Long Distance Video System) function, and is particularly suitable for imaging needs in low-light environments.

[0035] The model of the laser speed sensor 303 is: ProSpeed ​​LSV-2100.

[0036] Embodiment 2

[0037] The present invention relates to a laser test monitoring system based on image vision, such as Figure 6 As shown, it includes a linear motor for medical delivery and a controller electrically connected to the linear motor; Figure 6As shown, the linear motor includes a stator track 2, a mover trolley 1 running on the stator track 2, and a medical delivery box 101 arranged on the mover trolley 1; the mover trolley 1 is electrically connected to the controller; the system also includes a monitoring device 3 for collecting motion parameters of the mover trolley 1, and the monitoring device 3 is electrically connected to the controller; Figure 6 In the embodiment, the monitoring device 3 is arranged in another way. The monitoring device 3 is arranged on the stator track 2 and is located on one side of the stator track 2. The linear motor also includes a visual tracking module arranged on the mover car 1; the monitoring device 3 includes a sensor module 301 for real-time acquisition of motion parameters of the mover car 1 and a driving mechanism for adjusting the sensor module 301 to focus on the visual tracking module in real time. The sensor module 301 and the driving mechanism are both electrically connected to the controller; the controller is used to control the driving mechanism to rotate according to whether the sensor module 301 focuses on the visual tracking module to achieve real-time focusing of the sensor module 301 and the visual tracking module, and after focusing, receives the motion parameters of the mover car 1 acquired by the sensor module 301, and judges the operation status of the mover car 1 according to the motion parameters.

[0038] Figure 6 In the image vision laser test monitoring system, when using a linear motor for medical delivery, the sensor module 301 and the visual tracking module are first used for focusing. After the focusing is completed, the motion parameters of the mover trolley 1 are collected through the sensor module 301. The monitoring device 3 is arranged on the stator track 2 and is located on one side of the stator track 2. During the movement of the mover, since the sensor module 301 is locked to the visual tracking module, it is adjusted in real time with the operation of the mover trolley 1. The sensor module 301 also records the motion data of the mover trolley 1 in real time. At this time, the recorded motion data is the data on the hypotenuse between the sensor module 301 and the visual tracking module, such as Figure 7 As shown, the length of the hypotenuse is set to L, and the length of the vertical straight line is H, so the data needs to be converted according to H=L×cosα. The angle α is obtained by the rotation angle of the Y-axis drive motor 306, so as to achieve the effect of accurately collecting the motion parameters of the mover 1; the controller determines the operation of the mover 1 according to the collected motion parameters of the mover 1. If an abnormality occurs, the controller will control the alarm system connected to it to remind the alarm, or the controller will control the mover 1 to perform feedback adjustment.

[0039] In actual application, the mover trolley 1 starts to run with acceleration under the action of the electromagnetic force of the stator coil of the stator track 2. During the operation, the image vision-based laser test monitoring system of the present invention will monitor the speed of the mover trolley 1 in real time during operation. The sensor module 301 uploads the speed, acceleration and displacement of the mover trolley 1 to the controller in real time. The controller compares these motion parameters with the set parameters. When the running speed of the mover trolley 1 exceeds the set upper speed limit, the controller will reduce the electromagnetic force by changing the current, thereby reducing the speed of the mover trolley 1. If necessary, the electromagnetic force will be adjusted to the opposite situation of the speed, so as to achieve the purpose of quickly decelerating the mover trolley 1; when the movement speed of the mover trolley 1 is lower than the set lower speed limit, the controller will increase the electromagnetic force by changing the current, thereby increasing the speed of the mover trolley 1. If necessary, the electromagnetic force will be adjusted to the opposite situation of the speed, increasing the electromagnetic force to increase the speed until the speed is within the standard range.

[0040] The image vision-based laser test monitoring system described in the present invention can accurately monitor the operation of the linear motor in real time and better adjust the medical delivery system, thereby improving the accuracy, efficiency and stability of the medical delivery system.

[0041] In practical applications, the laser speed sensor 303 uses the Doppler effect to measure the speed of an object. When a laser beam is irradiated onto a moving object, the frequency of the reflected laser beam changes. This frequency change is proportional to the moving speed of the object, and the sensor calculates the speed of the object by measuring this frequency change. Specifically, the sensor emits a laser beam, and when the laser beam encounters a moving object, the frequency of the reflected laser beam changes, and the sensor calculates the speed of the object by detecting this frequency change. The main features of the laser speed sensor 303 are: 1. High precision: The laser speed sensor 303 can achieve high-precision speed measurement, and the accuracy can usually reach the sub-millimeter level; 2. High-speed measurement: Due to its working principle, the speed sensor can measure the speed of an object in a very short time, and is suitable for objects moving at high speed; 3. Long distance measurement: The laser beam can travel a long distance in the air without significant attenuation, so the speed sensor has a long measurement distance; 4. Non-contact measurement: The sensor adopts a non-contact measurement method to avoid interference and damage caused by contact, and will not have additional effects on the measured object.

[0042] In practical applications, visual target tracking refers to the detection, extraction, identification and tracking of moving targets in image sequences, obtaining the motion parameters of the moving targets, such as position, velocity, acceleration and motion trajectory, so as to carry out the next step of processing and analysis, realize the understanding of the behavior of the moving targets, and complete a higher level of detection tasks. Region-based tracking comes from the idea of ​​tracking a region or part of an image. Therefore, by convention, we will use a bounding box to represent the target object. In order to track the target contained in the bounding box, we need to define a suitable area. The characteristics of the visual tracking sensor 302 are: 1. High precision; the visual tracking sensor 302 can achieve high-resolution image acquisition with high spatial resolution and temporal resolution. This makes it have high application value in the field of high-precision measurement and control, such as automated production lines, medical diagnosis and quality inspection; 2. Non-contact: The visual tracking sensor 302 adopts a non-contact method for measurement, does not require physical contact, and can protect the object being measured; 3. High sensitivity: The visual tracking sensor 302 has high sensitivity and can detect changes under small changes, ensuring high-accuracy detection; 4. Reliability: The visual tracking sensor 302 has strong self-monitoring and self-diagnosis capabilities, and can promptly detect and alarm abnormal situations to ensure the normal operation of the sensor; 5. Adaptability: The visual tracking sensor 302 can adapt to a variety of light sources, environments and scenes, can complete image capture and processing, and adapt to complex and changeable surface morphology and color characteristics of objects.

Claims

1. A laser test monitoring system based on image vision, characterized in that: The invention comprises a linear motor for performing medical delivery and a controller electrically connected to the linear motor; the linear motor comprises a stator track (2), a moving carriage (1) running on the stator track (2), and a medical delivery box (101) arranged on the moving carriage (1); the system further comprises a monitoring device (3) for collecting motion parameters of the moving carriage (1), the monitoring device (3) being electrically connected to the controller; the linear motor further comprises a visual tracking module arranged on the moving carriage (1), the monitoring device (3) comprising a sensor module for collecting motion parameters of the moving carriage (1) in real time (301) and a driving mechanism for adjusting the sensor module (301) to focus on the visual tracking module in real time, the sensor module (301) and the driving mechanism are both electrically connected to the controller; the controller is used to control the driving mechanism to rotate according to whether the sensor module (301) focuses on the visual tracking module to achieve real-time focusing of the sensor module (301) and the visual tracking module, and after focusing, receive the motion parameters of the moving vehicle (1) collected by the sensor module (301), and judge the operation status of the moving vehicle (1) according to the motion parameters.

2. The laser test monitoring system based on image vision according to claim 1, characterized in that: The driving mechanism comprises an X-axis driving motor (307) for adjusting the sensor module (301) to rotate around its X-axis and a Y-axis driving motor (306) for adjusting the sensor module (301) to rotate around its Y-axis, and both the X-axis driving motor (307) and the Y-axis driving motor (306) are electrically connected to the controller.

3. The laser test monitoring system based on image vision according to claim 2, characterized in that: The visual tracking module comprises a visual tracking area (103) and a laser speed area (102) adjacent to the visual tracking area (103); the sensor module (301) comprises a visual sensor for capturing the visual tracking area (103) and a laser speed sensor (303) for real-time acquisition of the speed, displacement and acceleration of the movement of the laser speed area (102); the visual sensor and the laser speed sensor (303) are both electrically connected to the controller; the controller is used to control the X-axis drive motor (307) and / or the Y-axis drive motor (306) to rotate according to whether the visual sensor captures the visual tracking area (103) so as to achieve real-time focusing of the laser speed sensor (303) and the laser speed area (102); after focusing, the controller receives the speed, displacement and acceleration of the movement of the laser speed area (102) acquired by the laser speed sensor (303); and judges the operation of the movable vehicle (1) according to the speed, displacement and acceleration.

4. A laser test monitoring system based on image vision according to claim 1, 2 or 3, characterized in that: The visual tracking module is located at the front end of the mover vehicle (1), and the visual tracking module comprises a module body located at the front end of the mover vehicle (1), and the visual tracking area (103) and the laser speed area (102) are located at the front end surface of the module body.

5. The laser test monitoring system based on image vision according to claim 4, characterized in that: The monitoring device (3) is arranged on the stator track (2) and is located in front of the moving direction of the mover vehicle (1), and the sensor module (301) is directly opposite to the visual tracking module.

6. The laser test monitoring system based on image vision according to claim 4, characterized in that: The monitoring device (3) is arranged on the stator track (2) and is located on one side of the stator track (2).

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