A laser test monitoring system based on image vision

Abstract

The application relates to a laser test monitoring system based on image vision, which comprises a linear motor 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 for collecting motion parameters of the mover trolley; the linear motor further comprises a vision tracking module arranged on the mover trolley; the monitoring device comprises a sensor module for collecting the motion parameters of the mover trolley in real time and a driving mechanism for adjusting the real-time focusing of the vision tracking module by the sensor module; the sensor module and the driving mechanism are electrically connected with the controller; the monitoring system can accurately and real-timely monitor the operation of the linear motor, better adjusts the medical distribution system, and thus improves the accuracy, efficiency and stability of the medical distribution system.

Description

Technical Field

[0001] This invention relates to the field of medical delivery technology, and in particular to a laser testing and monitoring system based on image vision. Background Technology

[0002] With the rapid development of the global healthcare industry, hospitals and medical institutions are increasingly demanding automated logistics, precise control, and efficient operations. Traditional manual delivery methods are gradually revealing their limitations in the face of complex hospital environments and high-intensity logistical needs. Therefore, more advanced technologies are needed to address these challenges, and linear motor technology is one of the key new technologies. As a drive technology that provides smooth and precise linear motion, linear motors offer advantages such as fast response speed, high positioning accuracy, and compact structure. These advantages have led to their increasingly widespread application in the field of medical delivery. From the automated sorting and precise distribution of medicines to the automated transmission and processing of medical samples such as blood and urine in laboratories, linear motors have helped automate the entire process from receiving to distribution, significantly improving the efficiency and accuracy of medical delivery logistics.

[0003] Given the extremely high requirements for precision, stability, and safety of medical equipment, the following points must be specifically considered when designing and applying a linear motor-based medical delivery system:

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

[0005] (2) High stability. Due to the wear and tear of mechanical components, mechanical transmission systems often experience performance degradation after long-term operation, such as reduced accuracy, response delay, or mechanical failure. These problems can lead to serious consequences in a medical environment, such as misdiagnosis, treatment delay, or equipment downtime.

[0006] Therefore, achieving accurate, efficient, and stable medical delivery is of paramount importance. Summary of the Invention

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

[0008] The technical solution adopted in this invention is 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; the linear motor includes a stator track, a mover trolley running on the stator track, and a medical delivery box mounted on the mover trolley; the system further includes a monitoring device for collecting motion parameters of the mover trolley, the monitoring device being electrically connected to the controller; the linear motor further includes a visual tracking module mounted on the mover trolley, the monitoring device including a sensor module for real-time collection of motion parameters of the mover trolley and a drive mechanism for adjusting the sensor module to focus on the visual tracking module in real time, both the sensor module and the drive mechanism being electrically connected to the controller; the controller controls the drive mechanism to rotate according to whether the sensor module is focusing on the visual tracking module to achieve real-time focusing of the sensor module and the visual tracking module, and after focusing, receives the motion parameters of the mover trolley collected by the sensor module, and judges the running status of the mover trolley based on the motion parameters.

[0009] The beneficial effects of this invention are as follows: Using the aforementioned image-based laser testing and monitoring system, when using a linear motor for medical delivery, a visual tracking module tracks the sensor module in real time. This allows the sensor module to collect the motion parameters of the moving trolley in real time. The controller judges the trolley's operating status based on the collected motion parameters, providing feedback or adjustment. This monitoring system can accurately monitor the linear motor's operation in real time, better adjusting the medical delivery system and thus improving its accuracy, efficiency, and stability.

[0010] Preferably, the drive mechanism includes an X-axis drive motor for adjusting the rotation of the sensor module around its X-axis and a Y-axis drive motor for adjusting the rotation of the sensor module around its Y-axis. Both the X-axis drive motor and the Y-axis drive motor are electrically connected to the controller. With this structure, the controller controls the X-axis drive motor and / or the Y-axis drive motor to adjust the sensor module, which can better align the sensor module with the visual tracking module in real time, achieving automatic tracking and ultimately automatic focusing. This structure is simple and improves monitoring efficiency.

[0011] Preferably, the visual tracking module includes a visual tracking area and a laser velocity area adjacent to the visual tracking area. The sensor module includes a visual sensor for capturing the visual tracking area and a laser velocity sensor for real-time acquisition of the speed, displacement, and acceleration of the laser velocity area. Both the visual sensor and the laser velocity sensor are electrically connected to the controller. The controller controls the rotation of the X-axis drive motor and / or the Y-axis drive motor based on whether the visual sensor has captured the visual tracking area, so as to achieve real-time focusing of the laser velocity sensor and the laser velocity area. After focusing, it receives the speed, displacement, and acceleration of the laser velocity area acquired by the laser velocity sensor, and judges the running status of the moving trolley based on the speed, displacement, and acceleration. With this structure, the visual sensor captures the visual tracking area in real time, achieving the effect of automatic focusing of the laser velocity sensor and the laser velocity area without manual adjustment. This allows for more accurate tracking of the speed, displacement, and acceleration of the laser velocity area as the moving trolley moves, 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 moving trolley. The visual tracking module includes a module body located at the front end of the moving trolley, and the visual tracking area and the laser speed area are located on the front end face of the module body. With this structure, the visual tracking module is placed at the front end of the moving trolley, which facilitates focusing by the sensor module. Moreover, this structure is simple and can improve monitoring efficiency.

[0013] Preferably, the monitoring device is mounted on the stator track and located in front of the moving trolley in the direction of motion, with the sensor module facing the visual tracking module. This structure facilitates the sensor module's tracking of the visual tracking module, enabling better focusing of the laser speed sensor and the laser speed region. The structure is simple and improves monitoring efficiency.

[0014] Preferably, the monitoring device is mounted on the stator track and 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 vision sensor on the sensor module captures the vision tracking area, thereby completing the focusing of the laser speed sensor and the laser speed area. Attached Figure Description

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

[0016] Figure 2 This is a schematic diagram of the monitoring device in this invention;

[0017] Figure 3 This is a schematic diagram of the sensor module's structure when it rotates in this invention;

[0018] Figure 4 This is a schematic diagram of the structure of the moving trolley in this invention;

[0019] Figure 5 This is a control principle diagram of a laser testing and monitoring system based on image vision according to the present invention;

[0020] Figure 6 This is a schematic diagram of the structure of a laser testing and monitoring system based on image vision according to Embodiment 2 of the present invention;

[0021] Figure 7 This is a schematic diagram illustrating the calculation principle for collecting motion data of the moving trolley in Embodiment 2 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 Implementation

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

[0024] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0025] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0026] In the description of the embodiments of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] Example 1

[0028] This 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; as shown below. 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 mounted 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 this configuration, the monitoring device 3 is electrically connected to the controller; the linear motor also includes a visual tracking module mounted on the moving trolley 1, and the monitoring device 3 is mounted on the stator track 2 and located in front of the moving trolley 1 in the direction of movement; the monitoring device 3 includes a sensor module 301 for real-time acquisition of the motion parameters of the moving trolley 1 and a drive mechanism for adjusting the sensor module 301 to focus on the visual tracking module in real time, both the sensor module 301 and the drive mechanism are electrically connected to the controller, and the sensor module 301 faces the visual tracking module; the controller controls the drive mechanism to rotate according to whether the sensor module 301 is focused on the visual tracking module so that the sensor module 301 and the visual tracking module are in real-time focus, and after focusing, receives the motion parameters of the moving trolley 1 acquired by the sensor module 301, and judges the running status of the moving trolley 1 based on the motion parameters.

[0029] Figure 1 In the laser testing and monitoring system for image vision, when using a linear motor for medical delivery, the sensor module 301 and the vision tracking module are first used for focusing. After focusing is completed, the sensor module 301 collects the motion parameters of the moving trolley 1 to achieve accurate collection of the motion parameters of the moving trolley 1. The controller judges the operation status of the moving trolley 1 based on the collected motion parameters of the moving trolley 1. If an abnormality occurs, the controller will control the alarm system connected to it to issue an alarm, or the controller will control the moving trolley 1 to perform feedback adjustment.

[0030] In practical applications, the moving trolley 1 begins to accelerate under the electromagnetic force of the stator coil on the stator track 2. During operation, the laser testing and monitoring system based on image vision described in this invention monitors the speed of the moving trolley 1 in real time. The sensor module 301 uploads the speed, acceleration, and displacement of the moving trolley 1 to the controller in real time. The controller compares these motion parameters with the set parameters. When the speed of the moving 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 moving trolley 1. If necessary, it will also adjust the electromagnetic force to be opposite to the speed to achieve the purpose of rapid deceleration of the moving trolley 1. When the speed of the moving 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 moving trolley 1. If necessary, it will also adjust the electromagnetic force to be opposite to the speed to increase the electromagnetic force and thus increase the speed until the speed is within the standard range.

[0031] The image vision-based laser testing and monitoring system described in this invention can accurately monitor the operation of linear motors in real time, allowing for better adjustments to the medical delivery system and thus improving its accuracy, efficiency, and stability.

[0032] like Figure 2 As shown, the drive mechanism includes an X-axis drive motor 307 for adjusting the rotation of the sensor module 301 around its X-axis and a Y-axis drive motor 306 for adjusting the rotation of the sensor module 301 around its Y-axis. Both the X-axis drive motor 307 and the Y-axis drive motor 306 are electrically connected to the controller. Figure 2 In the monitoring device 3, an upper support component 304 and a lower support component 305 rotatably connected to the upper support component 304 are included. The lower support component 305 is located below the upper support component 304. A sensor module 301 is disposed within the upper support component 304. An X-axis drive motor 307 is rotatably connected to the upper support component 304 and rotatably connected to the sensor module 301. A Y-axis drive motor 306 is disposed within the lower support component 305 and 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, thereby causing the sensor module 301 to rotate 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 align the sensor module 301 with the visual tracking module in real time, achieving the purpose of automatic tracking and ultimately realizing automatic focusing. This 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 velocity 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 velocity sensor 303 for real-time acquisition of motion parameters of the laser velocity area 102. The motion parameters are velocity, displacement, and acceleration. Both the visual sensor and the laser velocity sensor 303 are 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 has captured the visual tracking area 103, so as to achieve real-time focusing of the laser velocity sensor 303 and the laser velocity area 102. After focusing, it receives the velocity, displacement, and acceleration of the laser velocity area 102 acquired by the laser velocity sensor 303, and judges the running status of the moving trolley 1 based on the velocity, displacement, and acceleration. Figure 3 In this system, a visual sensor is used to capture the visual tracking area 103 in real time, which enables the laser speed sensor 303 and the laser speed area 102 to automatically focus without manual adjustment. This allows for more accurate tracking of the speed, displacement, and acceleration of the moving trolley 1 by 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 aforementioned vision sensor is the Photonis / Exosens NOCTURN XL; the Photonis / Exosens Nocturn XL is a camera product specifically optimized for low-light imaging. The Nocturn XL series cameras use a Lynx CMOS imaging sensor, featuring 10 / 8-bit digital output and LDVS (Long Distance Video System) functionality, making them particularly suitable for imaging needs in low-light environments.

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

[0036] Example 2

[0037] This invention relates to a laser testing and 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; as 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 mounted 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 another configuration, the monitoring device 3 is positioned on the stator track 2 and located on one side of the stator track 2. The linear motor also includes a visual tracking module mounted on the mover trolley 1. The monitoring device 3 includes a sensor module 301 for real-time acquisition of motion parameters of the mover trolley 1 and a drive mechanism for adjusting the sensor module 301 to focus on the visual tracking module in real time. Both the sensor module 301 and the drive mechanism are electrically connected to the controller. The controller controls the drive mechanism to rotate based on whether the sensor module 301 is focused on the visual tracking module, so that the sensor module 301 and the visual tracking module are in real-time focus. After focusing, the controller receives the motion parameters of the mover trolley 1 acquired by the sensor module 301 and determines the operating status of the mover trolley 1 based on the motion parameters.

[0038] Figure 6 In the laser testing and monitoring system using image vision, when using a linear motor for medical delivery, the sensor module 301 and the vision tracking module first focus the system. After focusing, the sensor module 301 collects the motion parameters of the moving trolley 1. The monitoring device 3 is set on the stator track 2 and located on one side of the stator track 2. During the movement of the moving trolley, since the sensor module 301 is locked to the vision tracking module, it adjusts in real time with the movement of the moving trolley 1. The sensor module 301 simultaneously records the motion data of the moving trolley 1 in real time. The recorded motion data is the data on the hypotenuse between the sensor module 301 and the vision tracking module, such as... Figure 7 As shown, the length of the hypotenuse is set as L, and the length in the perpendicular direction is H. Therefore, 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, thereby achieving the effect of accurately collecting the motion parameters of the moving trolley 1. The controller judges the operation status of the moving trolley 1 based on the collected motion parameters of the moving trolley 1. If an abnormality occurs, the controller will control the alarm system connected to it to issue an alarm, or the controller will control the moving trolley 1 to perform feedback adjustment.

[0039] In practical applications, the moving trolley 1 begins to accelerate under the electromagnetic force of the stator coil on the stator track 2. During operation, the laser testing and monitoring system based on image vision described in this invention monitors the speed of the moving trolley 1 in real time. The sensor module 301 uploads the speed, acceleration, and displacement of the moving trolley 1 to the controller in real time. The controller compares these motion parameters with the set parameters. When the speed of the moving 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 moving trolley 1. If necessary, it will also adjust the electromagnetic force to be opposite to the speed to achieve the purpose of rapid deceleration of the moving trolley 1. When the speed of the moving 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 moving trolley 1. If necessary, it will also adjust the electromagnetic force to be opposite to the speed to increase the electromagnetic force and thus increase the speed until the speed is within the standard range.

[0040] The image vision-based laser testing and monitoring system described in this invention can accurately monitor the operation of linear motors in real time, allowing for better adjustments to the medical delivery system and thus improving its accuracy, efficiency, and stability.

[0041] In practical applications, the laser speed sensor 303 utilizes the Doppler effect to measure the speed of an object. When a laser beam strikes a moving object, the frequency of the reflected laser beam changes. This frequency change is proportional to the object's speed, and the sensor calculates the object's speed 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 changes. The sensor calculates the object's speed 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, typically reaching sub-millimeter level accuracy; 2. High-speed measurement: Due to its working principle, the speed sensor can measure the speed of an object in a very short time, making it suitable for high-speed moving objects; 3. Long range: The laser beam can travel a long distance in the air without significant attenuation, thus the speed sensor has a long measurement range; 4. Non-contact measurement: The sensor uses a non-contact measurement method, avoiding interference and damage caused by contact, and also without producing additional effects on the measured object.

[0042] In practical applications, visual target tracking refers to the detection, extraction, recognition, and tracking of moving targets in an image sequence to obtain the target's motion parameters, such as position, velocity, acceleration, and trajectory. This allows for further processing and analysis, achieving a deeper understanding of the target's behavior and enabling more advanced detection tasks. Region-based tracking stems from the idea of ​​tracking a region or a portion of an image. Therefore, by convention, we represent the target object with a bounding box. To track the target contained within the bounding box, we need to define a suitable region. The visual tracking sensor 302 features: 1. High precision; the visual tracking sensor 302 can achieve high-resolution image acquisition, possessing high spatial and temporal resolution. This makes it highly valuable in high-precision measurement and control fields, such as automated production lines, medical diagnosis, and quality inspection; 2. Non-contact: The visual tracking sensor 302 uses a non-contact method for measurement, eliminating the need for physical contact and protecting the object being measured; 3. High sensitivity: The visual tracking sensor 302 has high sensitivity, capable of detecting changes even with small variations, ensuring high accuracy; 4. Reliability: The visual tracking sensor 302 has strong self-monitoring and self-diagnostic capabilities, enabling timely detection and alarm of abnormal situations, ensuring the normal operation of the sensor; 5. Adaptability: The visual tracking sensor 302 can adapt to various light sources, environments, and scenarios, enabling image capture and processing, and adapting to complex and varied object surface shapes and color characteristics.

Claims

1. A laser testing and monitoring system based on image vision, characterized in that: The system includes a linear motor for medical delivery and a controller electrically connected to the linear motor; the linear motor includes a stator track (2), a mover trolley (1) running on the stator track (2), and a medical delivery box (101) mounted on the mover trolley (1); the system also includes a monitoring device (3) for collecting motion parameters of the mover trolley (1), the monitoring device (3) being electrically connected to the controller; the linear motor also includes a visual tracking module mounted on the mover trolley (1), and the monitoring device (3) includes a sensor module for real-time collection of motion parameters of the mover trolley (1). (301) and a drive mechanism for adjusting the sensor module (301) to focus on the visual tracking module in real time. The sensor module (301) and the drive mechanism are both electrically connected to the controller. The controller is used to control the drive mechanism to rotate according to whether the sensor module (301) is focusing on the visual tracking module so that the sensor module (301) and the visual tracking module are in real time. After focusing, the controller receives the motion parameters of the moving trolley (1) collected by the sensor module (301) and judges the running status of the moving trolley (1) according to the motion parameters. The drive mechanism includes an X-axis drive motor (307) for adjusting the rotation of the sensor module (301) around its X-axis and a Y-axis drive motor (306) for adjusting the rotation of the sensor module (301) around its Y-axis. Both the X-axis drive motor (307) and the Y-axis drive motor (306) are electrically connected to the controller. 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 the speed, displacement and acceleration of the laser speed area (102). The visual sensor and the laser speed sensor (303) are 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 that the laser speed sensor (303) and the laser speed area (102) are focused in real time. After focusing, the controller receives the speed, displacement and acceleration of the laser speed area (102) acquired by the laser speed sensor (303) and judges the running status of the moving trolley (1) based on the speed, displacement and acceleration.

2. The laser testing and monitoring system based on image vision according to claim 1, characterized in that: The visual tracking module is located at the front end of the moving trolley (1). The visual tracking module includes a module body located at the front end of the moving trolley (1). The visual tracking area (103) and the laser speed area (102) are located on the front end face of the module body.

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

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

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