Industrial endoscope pipeline elbow locking and rocker cooperative fine adjustment control method and system

Abstract

The present application relates to a kind of industrial endoscope pipeline elbow locking and rocker collaborative fine adjustment control method and system, method includes: in response to locking instruction, record current rocker ADC value as locking reference value;In locking state, according to the comparison result of real-time ADC value and preset condition, integral update is carried out to locking reference value;According to the numerical interval where locking reference value is located, dynamic selection integral step length, large step length is used in central region, small step length is used in edge region;Linear mapping is carried out to the updated locking reference value as rudder PWM target value;Drive rudder to drive probe snake bone bending;The present application realizes the integrated control of elbow keeping and fine adjustment in locking state, without repeated unlocking / locking operation, greatly improve detection efficiency and control precision.

Description

Technical Field

[0001] This invention relates to the field of industrial endoscope technology, and more specifically, to a method for locking the bend angle of an industrial endoscope pipeline and coordinating fine-tuning with a rocker arm. Background Technology

[0002] Industrial endoscopes are widely used in non-destructive testing fields such as internal inspection of aero-engines, maintenance of power equipment, and quality control in automobile manufacturing. Their pipeline bending system is used to control the bending direction of the probe at the front end of the insertion tube, enabling the probe to flexibly pass through narrow and complex pipes and achieve comprehensive observation of the inner wall of the object being inspected.

[0003] There are two main types of methods for controlling the bend angle of existing industrial endoscopes: First, there is manual mechanical control, which directly drives the traction steel wire to bend the snake bone through a joystick or knob. The position of the joystick directly determines the bending angle of the probe. The operator must keep the joystick in position during the test to maintain the bending angle, which causes hand fatigue. Secondly, there is the pure electric guidance technology. The movement of the control lever is driven by a servo motor to change the angle of the probe. However, in most products, the probe automatically returns to a straight state after the joystick returns to center, which cannot be conveniently maintained at the testing site. Although some products have a "one-key electronic lock" function, the joystick is completely disabled after locking, and it is impossible to make fine adjustments to the locked position. If fine adjustments are required, the joystick must be unlocked first, then adjusted, and finally locked again. The operation steps are cumbersome and seriously affect the testing efficiency.

[0004] Furthermore, when observing minute defects such as pipe cracks and welds, it is often necessary to make millimeter-level fine-tuning angle changes on the probe while maintaining its general position in order to adjust to the best observation angle. Existing technology lacks a control scheme that can still achieve fine-tuning through a joystick in the locked state, which limits the detection accuracy and operational efficiency.

[0005] Therefore, how to solve the problem that the rocker arm of an industrial endoscope cannot simultaneously maintain its position and make fine adjustments after the corner is locked is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a method for locking the bend angle of an industrial endoscope pipeline and a control system for fine-tuning the joint with a rocker arm, in view of the above-mentioned defects of the prior art.

[0007] The technical solution adopted by this invention to solve its technical problem is: A method for controlling the bend angle of an industrial endoscope tubing and coordinating it with a rocker arm for fine-tuning is constructed, comprising the following steps: S1: In response to the lock command, record the current ADC sampling value of the joystick as the lock reference value, which corresponds to the current bend position of the endoscope probe; S2: In the locked state, continuously read the real-time ADC value of the joystick, and update the locking reference value by integration based on the comparison result between the real-time ADC value and preset conditions. When the real-time ADC value is greater than the first threshold, it enters the positive integration mode and increases the locked reference value by one integration step. When the real-time ADC value is less than the second threshold, it enters the reverse integration mode and locks the reference value by decreasing one integration step. When the real-time ADC value is between the first threshold and the second threshold, it is determined to be an intermediate dead zone, and the locked reference value remains unchanged. S3: Dynamically select the value of the integration step size based on the current numerical range of the locked reference value; When the locked reference value is located in the preset center region, the first integration step size is used; When the locked reference value is located in the edge region outside the center region, the second integration step size is used; Wherein, the first integration step size is greater than the second integration step size; S4: Linearly map the integral-updated lock reference value to the servo motor's PWM target value; S5: Drive the servo motor to bend the probe snake bone according to the PWM target value, so as to maintain and fine-tune the bend position.

[0008] The industrial endoscope pipeline bend angle locking and rocker arm coordinated fine adjustment control method of the present invention, wherein in step S3, the central region is the middle range of the ADC range, and the edge region is the range close to the maximum or minimum value of the ADC range.

[0009] The industrial endoscope pipeline bend angle locking and rocker-assisted fine-tuning control method of the present invention, wherein in step S3, the first integration step size is 30 to 50 ADC units, and the second integration step size is 3 to 15 ADC units.

[0010] The industrial endoscope pipeline bend angle locking and rocker-assisted fine-tuning control method of the present invention further includes an integral limiting step in step S2: when the locking reference value reaches the maximum or minimum value of the ADC range, the integral update is stopped.

[0011] The industrial endoscope tubing bend locking and rocker-assisted fine-tuning control method of the present invention, wherein in step S4, the linear mapping is achieved by the following formula: PWM_target=((PWM_max-PWM_min)×Lock_ADC+(ADC_max×PWM_min-ADC_min×PWM_max)) / (ADC_max-ADC_min) Wherein, ADC_max and ADC_min are the maximum and minimum values ​​of the ADC range, respectively; PWM_max and PWM_min are the maximum and minimum values ​​of the servo PWM signal, respectively; Lock_ADC is the lock reference value; and PWM_target is the servo PWM target value.

[0012] The industrial endoscope tubing bend locking and rocker arm coordinated fine-tuning control method of the present invention further includes: In the locked state, when the real-time ADC value returns to the intermediate dead zone, the probe bend angle automatically maintains the current position, and the operator can release the joystick to perform other operations.

[0013] The industrial endoscope tubing bend locking and joystick coordinated fine-tuning control method of the present invention, wherein the locking command in S1 is triggered by a physical button on the operating handle or by a virtual button on the touch screen.

[0014] The industrial endoscope pipeline bend angle locking and rocker arm coordinated fine-tuning control method of the present invention, wherein in step S2, the first threshold is set to 1900, the second threshold is set to 1200, and the ADC value range corresponding to the intermediate dead zone is 1200 to 1900.

[0015] The industrial endoscope pipeline bend angle locking and rocker arm coordinated fine-tuning control method of the present invention, wherein in step S3, the ADC value range corresponding to the central region is 1600 to 1800.

[0016] An industrial endoscope tubing bend locking and rocker-assisted fine-tuning control system, wherein the system includes: A joystick is used to output analog voltage signals; An ADC acquisition module is used to convert the analog voltage signal into a digital ADC value; Servo motor, used to drive the probe's snake-like shape to bend; A controller configured to perform the control method as described above.

[0017] The beneficial effects of this invention are as follows: 1. Significantly improved control efficiency: When locked, pushing the joystick allows for fine-tuning of the bend angle, and releasing the joystick automatically maintains the new locked position, eliminating the need for repeated unlocking / locking operations, greatly reducing hand fatigue and improving the efficiency of long-term testing operations.

[0018] 2. Adaptive step size enables precise control: By using a dynamic step size switching mechanism that uses a large step size in the central area and a small step size in the edge area, it can quickly overcome the misalignment of the mechanical structure and ensure the resolution of fine bending angle adjustment when observing minute defects.

[0019] 3. Low cost and high return: No additional hardware costs are required. The operation performance of existing electronically controlled curved endoscopes can be improved simply by optimizing the algorithm. It is particularly suitable for high-precision application scenarios such as internal blade inspection of aerospace engines and observation of gaps in precision gear sets.

[0020] 4. True position holding function: The integral mechanism in the locked state effectively solves the problem of automatic angle reset after the joystick returns to center, realizing stable holding of the probe angle. The operator can free up their hands to take pictures, record videos, adjust the LED brightness and other operations. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a flowchart of a preferred embodiment of the industrial endoscope pipeline bend angle locking and rocker arm coordinated fine-tuning control method of the present invention; Figure 2 This is a block diagram illustrating the principle of the industrial endoscope pipeline bend locking and rocker-assisted fine-tuning control system according to a preferred embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0023] The preferred embodiment of the present invention provides a method for controlling the bend angle locking of industrial endoscope tubing and the coordinated fine-tuning of a rocker arm, such as... Figure 1 As shown, it includes the following steps: S1: In response to the lock command, record the current ADC sampling value of the joystick as the lock reference value, which corresponds to the current bend position of the endoscope probe; After the operator adjusts the probe to the target observation position using the joystick, and presses the lock button (such as a physical button on the control handle or a virtual button on the touch screen), the system immediately records the current joystick ADC sampling value as the lock reference value Lock_ADC.

[0024] This locking reference value is essentially a digital bend position marker that uniquely corresponds to the current bend angle of the probe.

[0025] For example, when the joystick ADC value is 1700, Lock_ADC = 1700, and the corresponding probe bend angle is approximately 30°. Through this step, the system switches the probe bend angle state from "real-time joystick control" to "digital lock control," laying the foundation for subsequent fine-tuning in the locked state.

[0026] This step enables digital locking of the corner position, replacing the traditional mechanical manual holding, fundamentally eliminating hand fatigue caused by the operator holding the joystick position for a long time, and significantly improving the comfort and sustainability of long-term inspection operations.

[0027] S2: In the locked state, continuously read the real-time ADC value of the joystick, and update the locking reference value by integration based on the comparison result between the real-time ADC value and preset conditions. When the real-time ADC value is greater than the first threshold, it enters the positive integration mode and increases the locked reference value by one integration step. When the real-time ADC value is less than the second threshold, it enters the reverse integration mode and locks the reference value by decreasing one integration step. When the real-time ADC value is between the first threshold and the second threshold, it is determined to be an intermediate dead zone, and the locked reference value remains unchanged. Once the system enters the locked state, it continuously reads the real-time ADC value of the joystick at a fixed frequency (e.g., 100Hz). As an example, the first threshold is set to 1900, the second threshold is set to 1200, and the ADC value range corresponding to the dead zone is 1200 to 1900.

[0028] When the operator pushes the joystick forward and the real-time ADC value exceeds 1900, the system determines it as a positive deviation, enters positive integration mode, increases Lock_ADC by one integration step, and drives the probe to bend in the positive direction; When the operator pulls the joystick backward and the real-time ADC value is lower than 1200, the system determines that it is a reverse deviation, enters the reverse integration mode, reduces Lock_ADC by one integration step, and drives the probe to bend in the opposite direction. When the operator releases or slightly touches the joystick, the real-time ADC value falls between 1200 and 1900. The system determines this to be a dead zone, keeps Lock_ADC unchanged, and maintains the probe angle stably at the current position.

[0029] This step achieves three key technical effects by setting up an intermediate dead zone and an points update mechanism: Firstly, the dead zone effectively filters out minor jitter and noise interference from the joystick, preventing unnecessary shaking of the probe. Secondly, the integral update makes the direction of the joystick's deviation determine the direction of the bend adjustment, rather than the absolute position of the joystick. This is fundamentally different from the traditional solution that directly maps the joystick position to the bend. Third, the joystick is no longer disabled in the locked state, and the operator can adjust the angle in real time by pushing the joystick, which completely solves the problem of the joystick becoming completely ineffective after the traditional one-click lock.

[0030] S3: Dynamically select the value of the integration step size based on the current numerical range of the locked reference value; When the locked reference value is located in the preset center region, the first integration step size is used; When the locked reference value is located in the edge region outside the center region, the second integration step size is used; Wherein, the first integration step size is greater than the second integration step size; As an example, the central region is the middle range of the ADC range, preferably the ADC value range corresponding to the central region is 1600 to 1800; the edge region is the range close to the maximum or minimum value of the ADC range, that is, the region where the ADC value is less than 1600 or greater than 1800.

[0031] When Lock_ADC is located in the central region between 1600 and 1800, the system adopts a first integration step size, which is 30 to 50 ADC units (preferably 40 ADC units) as an example.

[0032] When Lock_ADC is located in the edge region outside the center region, the system adopts a second integration step size, which is 3 to 15 ADC units (preferably 8 ADC units) as an example.

[0033] Through this dynamic step-size switching mechanism, the system provides differentiated adjustment sensitivity at different corner positions.

[0034] This step is the core innovation for achieving high-precision control. A large step size is used in the central area (where the probe is nearly straight), enabling it to quickly overcome the mechanical backlash of the serpentine structure and traction cable, avoiding the discomfort of "empty travel" caused by this backlash. A small step size is used in the edge area (where the probe is at a large bend), providing higher angular resolution. This allows the operator to make millimeter-level fine adjustments to the probe's bend angle, meeting the optimal viewing angle adjustment requirements for minute defects such as pipe cracks and welds. This adaptive step size design balances the dual needs of rapid response and high-precision control.

[0035] S4: Linearly map the integral-updated lock reference value to the servo motor's PWM target value; The Lock_ADC, after integral updating, is converted into the servo's PWM target value using a linear mapping formula. As an example, the linear mapping is implemented using the following formula: PWM_target=((PWM_max-PWM_min)×Lock_ADC+(ADC_max×PWM_min-ADC_min×PWM_max)) / (ADC_max-ADC_min) Where ADC_max and ADC_min are the maximum and minimum values ​​of the ADC range, respectively; PWM_max and PWM_min are the maximum and minimum values ​​of the servo PWM signal, respectively; Lock_ADC is the lock reference value; and PWM_target is the servo PWM target value. For example, when the ADC range is 0~4095 and the PWM range is 500~2500 microseconds, Lock_ADC=2048 corresponds to PWM_target=1500 microseconds, which is the servo's mid-position.

[0036] This step precisely converts the digitized locking reference value into the physical drive signal of the servo motor through linear mapping, ensuring a linear correspondence between the locking reference value and the probe bend angle. This allows the operator to obtain a predictable and consistent bend angle response with every joystick operation, improving the intuitiveness and accuracy of the operation.

[0037] S5: Drive the servo motor to bend the probe snake bone according to the PWM target value, so as to maintain and fine-tune the bend position.

[0038] After receiving the target PWM value, the servo motor rotates to the corresponding angle position, causing the probe's serpentine structure to bend via the traction cable, thus bringing the probe to the target bend angle. Since the locked reference value remains unchanged when no joystick deviation signal is received, the servo motor continuously outputs a constant driving torque, keeping the probe bend angle stably maintained at the current position. When the operator pushes the joystick to trigger an integral update, the locked reference value changes gradually, and the servo motor rotates slowly accordingly, achieving smooth fine-tuning of the bend angle.

[0039] This step completes the closed loop of execution from digital control signals to physical bending actions. The servo motor's continuous holding torque ensures the probe's positional stability in the locked state, preventing any shift in the probe's bending angle even under external vibrations or gravity. Simultaneously, smooth fine-tuning prevents collision damage to the inspected object from sudden bending angle changes, ensuring inspection safety.

[0040] Preferably, S2 also includes an integration limiting step: when the locked reference value reaches the maximum or minimum value of the ADC range, the integration update is stopped.

[0041] When Lock_ADC reaches the maximum value (e.g., 4095) or minimum value (e.g., 0) of the ADC range through integral updates, the system automatically stops further integral updates, regardless of whether the joystick is still in a deflected state.

[0042] Integral limiting is an important safety measure to prevent integral saturation. Without limiting, if the Lock_ADC exceeds the ADC range, the PWM target value will exceed the physical movement range of the servo. This can cause the servo to stall, overheat, or be damaged, or even break the traction cable or cause the probe to bend excessively and permanently deform. This step ensures that the system can operate safely under any extreme conditions, improving the reliability and service life of the product.

[0043] Preferably, the method further includes: in the locked state, when the real-time ADC value returns to the middle dead zone, the probe bend angle is automatically maintained at the current position, and the operator can release the joystick to perform other operations.

[0044] After the operator completes the angle adjustment and releases the joystick, the joystick automatically returns to center under the action of the spring, and the real-time ADC value returns to the middle dead zone of 1200 to 1900. At this time, Lock_ADC remains unchanged at the value after the last integral update, and the probe angle automatically maintains the position just adjusted. The operator can completely release the joystick and free up their hands to perform other operations such as taking pictures, recording videos, adjusting LED brightness, and recording detection data.

[0045] This step achieves an integrated control experience of "adjust, stop, and lock as needed." Unlike traditional solutions that require unlocking, adjusting, and relocking, operators only need to push the joystick to adjust the angle and release it to automatically maintain the position. The operation steps are reduced from three to one, increasing efficiency by approximately 50%. Furthermore, the ability to perform other operations after releasing the joystick allows a single person to complete complex testing tasks, reducing labor costs.

[0046] Preferably, the locking command in S1 is triggered by a physical button on the control handle or by a virtual button on the touch screen.

[0047] There are two ways to trigger the locking command: one is through a physical button (such as a backlit self-locking button) on the operating handle, which enters the locked state when pressed and unlocks when pressed again; the other is through a virtual button on the endoscope host touch screen, which sends the locking command when clicked.

[0048] Physical buttons are suitable for blind operation, allowing operators to complete locking operations without looking at the controller while observing the screen, making them ideal for scenarios requiring full concentration on the test screen. Virtual buttons, on the other hand, are easy to integrate into existing touchscreen interfaces, eliminating the need for additional hardware buttons and reducing manufacturing costs. The two methods complement each other, allowing users to choose freely based on their actual usage habits.

[0049] Preferably, in S2, the first threshold is set to 1900, the second threshold is set to 1200, and the ADC value range corresponding to the intermediate dead zone is 1200 to 1900.

[0050] This threshold setting is based on an optimized selection of the 12-bit ADC range (0~4095). The dead zone range of 1200 to 1900 occupies approximately 17% of the full range, which is wide enough to filter out the natural centering deviation of the joystick and the slight oscillation of the mechanical spring, but not so wide that the operator would need to push the joystick significantly to trigger the bend angle adjustment, thus achieving a good balance between anti-interference and operational sensitivity.

[0051] Preferably, in S3, the ADC value range corresponding to the central region is 1600 to 1800.

[0052] This central region is located in the lower-middle part of the ADC range, corresponding to a near-straight probe position. Within this region, the mechanical play in the snake-like structure and wire rope is most pronounced. Using large step sizes allows for rapid overcoming of this play, preventing the operator from experiencing sluggishness or wasted travel when adjusting near straightness. Simultaneously, the 1600 to 1800 range only occupies approximately 5% of the full range, ensuring that large step sizes are only used when the probe is near straightness, while small step sizes are used for fine control in most other bending areas.

[0053] Example 2 An industrial endoscope tubing bend locking and rocker-assisted fine-tuning control system, such as Figure 2 As shown, the system includes: Joystick 100 is used to output analog voltage signals; ADC acquisition module 101 is used to convert analog voltage signals into digital ADC values; Servo motor 102 is used to drive the probe's snake-like shape to bend; Controller 103 is configured to execute the control method described above; The invention achieves two core innovative functions through software algorithms: locked-state integral fine-tuning and adaptive step size. Since all innovative functions are implemented in software, no additional hardware costs are required, making the invention easy to upgrade and modify existing industrial endoscope products, and thus having good industrial promotion value.

[0054] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for controlling the bend angle of an industrial endoscope pipeline using a rocker arm for coordinated fine-tuning, characterized in that... Includes the following steps: S1: In response to the lock command, record the current ADC sampling value of the joystick as the lock reference value, which corresponds to the current bend position of the endoscope probe; S2: In the locked state, continuously read the real-time ADC value of the joystick, and update the locking reference value by integration based on the comparison result between the real-time ADC value and preset conditions. When the real-time ADC value is greater than the first threshold, it enters the positive integration mode and increases the locked reference value by one integration step. When the real-time ADC value is less than the second threshold, it enters the reverse integration mode and locks the reference value by decreasing one integration step. When the real-time ADC value is between the first threshold and the second threshold, it is determined to be an intermediate dead zone, and the locked reference value remains unchanged. S3: Dynamically select the value of the integration step size based on the current numerical range of the locked reference value; When the locked reference value is located in the preset center region, the first integration step size is used; When the locked reference value is located in the edge region outside the center region, the second integration step size is used; Wherein, the first integration step size is greater than the second integration step size; S4: Linearly map the integral-updated lock reference value to the servo motor's PWM target value; S5: Drive the servo motor to bend the probe snake bone according to the PWM target value, so as to maintain and fine-tune the bend position.

2. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, In S3, the central region is the middle range of the ADC range, and the edge region is the range close to the maximum or minimum value of the ADC range.

3. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, In S3, the first integration step size is 30 to 50 ADC units, and the second integration step size is 3 to 15 ADC units.

4. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, S2 also includes an integration limiting step: when the locked reference value reaches the maximum or minimum value of the ADC range, the integration update is stopped.

5. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, In step S4, the linear mapping is achieved through the following formula: PWM_target = ((PWM_max - PWM_min) × Lock_ADC + (ADC_max × PWM_min -ADC_min × PWM_max)) / (ADC_max - ADC_min) Wherein, ADC_max and ADC_min are the maximum and minimum values ​​of the ADC range, respectively; PWM_max and PWM_min are the maximum and minimum values ​​of the servo PWM signal, respectively; Lock_ADC is the lock reference value; and PWM_target is the servo PWM target value.

6. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, The method also includes: In the locked state, when the real-time ADC value returns to the intermediate dead zone, the probe bend angle automatically maintains the current position, and the operator can release the joystick to perform other operations.

7. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, The locking command in S1 is triggered by a physical button on the control handle or by a virtual button on the touch screen.

8. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, In S2, the first threshold is set to 1900, the second threshold is set to 1200, and the ADC value range corresponding to the intermediate dead zone is 1200 to 1900.

9. The industrial endoscope tubing bend angle locking and rocker arm coordinated fine-tuning control method according to claim 1, characterized in that, In S3, the ADC value range corresponding to the central region is 1600 to 1800.

10. A control system for locking the bend angle of an industrial endoscope pipeline and coordinating with a rocker arm for fine-tuning, characterized in that, The system includes: A joystick is used to output analog voltage signals; An ADC acquisition module is used to convert the analog voltage signal into a digital ADC value; Servo motor, used to drive the probe's snake-like shape to bend; A controller configured to perform the control method as described in any one of claims 1 to 9.

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