CN106580696A - Syringe needle video positioning system and operating method of the same - Google Patents
Syringe needle video positioning system and operating method of the same Download PDFInfo
- Publication number
- CN106580696A CN106580696A CN201610993945.7A CN201610993945A CN106580696A CN 106580696 A CN106580696 A CN 106580696A CN 201610993945 A CN201610993945 A CN 201610993945A CN 106580696 A CN106580696 A CN 106580696A
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- China
- Prior art keywords
- syringe needle
- module
- positioning system
- motion
- main body
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000011017 operating method Methods 0.000 title abstract 3
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 25
- 230000004807 localization Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 239000003814 drug Substances 0.000 abstract description 5
- 229930182555 Penicillin Natural products 0.000 abstract 1
- JGSARLDLIJGVTE-MBNYWOFBSA-N Penicillin G Chemical compound N([C@H]1[C@H]2SC([C@@H](N2C1=O)C(O)=O)(C)C)C(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-MBNYWOFBSA-N 0.000 abstract 1
- 239000012452 mother liquor Substances 0.000 abstract 1
- 229940049954 penicillin Drugs 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- 239000010413 mother solution Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
- H04N5/144—Movement detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Pharmacology & Pharmacy (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Artificial Intelligence (AREA)
- Animal Behavior & Ethology (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention discloses a syringe needle video positioning system and an operating method of the same. The syringe needle video positioning system is characterized in that a main body is arranged on a support; visual sensors which are mutually set in a perpendicular way are arranged on two adjacent side surfaces of the main body; a light source is arranged in the main body; the visual sensors are a transverse sensor and a longitudinal sensor, and form rectangular coordinates for detecting the rectangular coordinate parameters of a syringe needle; a motion module is used for clamping a syringe and drives the syringe needle to move; a visual processing module is used for receiving the image data acquired by the visual sensors, obtaining the rectangular coordinate parameters of the syringe needle, and comparing the rectangular coordinate parameters with standard center parameters so as to obtain the relative offset of the syringe needle; and the motion control module is used for controlling the motion module to drive the syringe needle to move to a suitable position according to the processing result of the visual processing module. The syringe needle video positioning system and the operating method of the same can obtain the real offset when the syringe needle moves the standard center and enable the syringe needle to move the standard center, thus guaranteeing that the syringe needle can accurately enter a mother liquor bag and a penicillin medicine bottle for dosage.
Description
Technical field：
The invention belongs to syringe needle field of locating technology, more particularly to a kind of syringe needle video positioning system and its method of work.
Background technology：
With the development of medical apparatus and instruments automatization, increasing hospital carries out the preparation of liquid medicine using automatic dispensing machine,
After syringe is placed, syringe needle penetrates absorption medicine in mother solution bag or XiLin medicine bottle and is prepared.But in practical application mistake
Journey, because syringe needle off center position usually occurs in a variety of causes, causes syringe needle to prick inclined problem and occurs.
The information for being disclosed in the background section is merely intended to increase the understanding of the general background to the present invention, and should not
When the prior art for being considered to recognize or imply in any form the information structure well known to persons skilled in the art.
The content of the invention：
It is an object of the invention to provide a kind of syringe needle video positioning system and its method of work, above-mentioned existing so as to overcome
Defect in technology.
For achieving the above object, the invention provides a kind of syringe needle video positioning system, including：Measurement module, motion mould
Block, control process module；The measurement module includes vision sensor, support, main body, light source；Master is provided with the support
Body, the main body is provided with the vision sensor for being mutually perpendicular to arrange on adjacent two sides, and in the main body light source is provided with；
The vision sensor is lateral pickup, longitudinal sensor, forms rectangular coordinate, the rectangular coordinate parameter of probe head；Institute
Motion module is stated, for clamping syringe, syringe needle motion is driven；The control process module, including motion-control module, vision
Processing module；The vision processing module, for receiving the view data of vision sensor collection, obtains the rectangular coordinate of syringe needle
Parameter, compares with center for standard parameter, obtains the relative displacement of syringe needle；The motion-control module, regards for basis
Feel that the output control motion module that processing module is processed drives syringe needle to move to correct position.
Preferably, in technical scheme, upper cover plate, lower cover are provided with main body, upper cover plate inner side is provided with light source, syringe needle
Positioned between upper cover plate, lower cover.
Preferably, in technical scheme, motion module is mechanical arm, and syringe, the machinery are clamped with mechanical arm
Arm has a three degree of freedom, respectively transverse shifting X, moves up and down Y, vertically moves Z.
The method of work of syringe needle video positioning system, its step is：
(1) mechanical arm Y-direction movement, drives syringe needle to enter between upper cover plate, lower cover, opens light source, laterally
Sensor, the rectangular coordinate Data Concurrent of longitudinal sensor detection syringe needle deliver to vision processing module；
(2) view data that vision processing module receives lateral pickup, longitudinal sensor is detected, to view data point
Do not carry out localization criteria center, positioning syringe needle to process, center for standard is set to into the origin of X-Z coordinate axess, obtain the right angle of syringe needle
Coordinate simultaneously obtains X to X, Z axis projection1And Z1, syringe needle is obtained to true excursions amount X of center for standard1Mm and Z1mm；
(3) motion-control module is according to X1And Z1Value, control machinery arm drives syringe needle transverse shifting X1Mm, indulges
To mobile Z1Mm, now syringe needle be moved at center for standard, reach syringe needle positioning.
Preferably, in technical scheme, the process step at localization criteria center changed for color space → set monitored area
→ rim detection → characteristic matching.
Preferably, in technical scheme, the process step for positioning syringe needle is gray level image → binaryzation → contour detecting → spy
Levy matching.
Preferably, in technical scheme, vision processing module carry out localization criteria center, positioning syringe needle process while,
Coordinate system and yardstick are calibrated.
Compared with prior art, the present invention has the advantages that：
Syringe needle video positioning system can pass through the rectangular coordinate data of vision sensor probe head, with center for standard ginseng
Number is compared, and obtains syringe needle to the true excursions amount of center for standard, drives syringe needle to be moved to center for standard by motion module
Place, it is ensured that syringe needle accurately this such as mother solution bag and XiLin medicine bottle can be made up a prescription.
Description of the drawings：
Fig. 1 is syringe needle video positioning system structural representation of the present invention；
Fig. 2 is mechanical arm X-direction structural representation of the present invention；
Fig. 3 is mechanical arm Y of the present invention, Z-direction structural representation；
Fig. 4 is vision processing module workflow diagram of the present invention；
Fig. 5 is motion-control module coordinates of motion schematic diagram of the present invention；
Reference is：1- lateral pickups, 2- longitudinal sensors, 3- supports, 4- main bodys, 5- light sources, 6- upper cover plates, 7-
Lower cover, 8- mechanical arms.
Specific embodiment：
The specific embodiment of the present invention is described in detail below, it is to be understood that protection scope of the present invention is not
Limited by specific embodiment.
Explicitly indicate that unless otherwise other, otherwise in entire disclosure and claims, term " including " or its change
Change such as "comprising" or " including " etc. and will be understood to comprise stated element or ingredient, and do not exclude other units
Part or other ingredients.
As Figure 1-3, a kind of syringe needle video positioning system, including：Measurement module, motion module, control process module；
The measurement module includes vision sensor, support 3, main body 4, light source 5；Main body 4, the main body 4 are provided with the support 3
It is provided with adjacent two sides and is provided with upper cover plate 6, lower cover in the vision sensor for being mutually perpendicular to arrange, the main body 4
7, the inner side of upper cover plate 6 is provided with light source 5, and syringe needle is located between upper cover plate 6, lower cover 7, and light source 5 is LED；The visual sensing
Device is lateral pickup 1, longitudinal sensor 2, forms rectangular coordinate, the rectangular coordinate parameter of probe head；The motion module
For mechanical arm 8, syringe is clamped with mechanical arm 8, the mechanical arm 8 has three degree of freedom, respectively laterally moves
Dynamic X, move up and down Y, vertically move Z, the mechanical arm 8 drives syringe needle motion；The control process module, including motion control
Molding block, vision processing module；The vision processing module, for receiving the view data of vision sensor collection, obtains pin
The rectangular coordinate parameter of head, compares with center for standard parameter, obtains the relative displacement of syringe needle；The motor control mould
Block, the output control motion module for being processed according to vision processing module drives syringe needle to move to correct position.
As illustrated in figures 4-5, the method for work of syringe needle video positioning system, its step is：
(1) mechanical arm 8Y directions movement, drives syringe needle to enter between upper cover plate 6, lower cover 7, opens light source 5,
Lateral pickup 1, the rectangular coordinate Data Concurrent of the detection syringe needle of longitudinal sensor 2 deliver to vision processing module；
(2) view data that vision processing module receives lateral pickup 1, longitudinal sensor 2 is detected, to view data
Color space conversion → setting monitored area → rim detection → characteristic matching → localization criteria center, gray level image are carried out respectively
→ binaryzation → contour detecting → characteristic matching → positioning syringe needle process, by center for standard the origin of X-Z coordinate axess is set to, and is obtained
The rectangular coordinate of syringe needle simultaneously obtains X to X, Z axis projection1And Z1, syringe needle is obtained to true excursions amount X of center for standard1Mm and
Z1mm；
(3) motion-control module is according to X1And Z1Value, control machinery arm 8 drives syringe needle transverse shifting X1Mm, indulges
To mobile Z1Mm, now syringe needle be moved at center for standard, reach syringe needle positioning.
Vision processing module is carried out while localization criteria center, positioning syringe needle process is carried out to coordinate system and yardstick
Calibration.
The purpose of selecting and describing the exemplary embodiment is that explaining that the certain principles and its reality of the present invention should
With so that those skilled in the art can realize and using the present invention a variety of exemplaries and
A variety of selections and change.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (7)
1. syringe needle video positioning system, it is characterised in that：Including：Measurement module, motion module, control process module；The survey
Amount module includes vision sensor, support, main body, light source；Main body is provided with the support, on the adjacent two sides of the main body
It is provided with the vision sensor for being mutually perpendicular to arrange, in the main body light source is provided with；The vision sensor is laterally biography
Sensor, longitudinal sensor, form rectangular coordinate, the rectangular coordinate parameter of probe head；The motion module, for clamping injection
Device, drives syringe needle motion；The control process module, including motion-control module, vision processing module；The visual processes mould
Block, for receiving the view data of vision sensor collection, obtains the rectangular coordinate parameter of syringe needle, carries out with center for standard parameter
Compare, obtain the relative displacement of syringe needle；The motion-control module, for the output control processed according to vision processing module
Motion module drives syringe needle to move to correct position.
2. syringe needle video positioning system according to claim 1, it is characterised in that：Be provided with the main body upper cover plate,
Lower cover, upper cover plate inner side is provided with light source, and syringe needle is placed between upper cover plate, lower cover.
3. syringe needle video positioning system according to claim 1, it is characterised in that：The motion module is mechanical arm,
Be clamped with syringe on mechanical arm, the mechanical arm has a three degree of freedom, respectively transverse shifting X, move up and down Y,
Vertically move Z.
4. the method for work of syringe needle video positioning system, its step is：
(1) mechanical arm Y-direction movement, drives syringe needle to enter between upper cover plate, lower cover, opens light source, laterally sensing
Device, the rectangular coordinate Data Concurrent of longitudinal sensor detection syringe needle deliver to vision processing module；
(2) view data that vision processing module receives lateral pickup, longitudinal sensor is detected, enters respectively to view data
Row localization criteria center, positioning syringe needle are processed, and center for standard is set to into the origin of X-Z coordinate axess, obtain the rectangular coordinate of syringe needle
And obtain X to X, Z axis projection1And Z1, syringe needle is obtained to true excursions amount X of center for standard1Mm and Z1mm；
(3) motion-control module is according to X1And Z1Value, control machinery arm drives syringe needle transverse shifting X1Mm, longitudinal direction is moved
Dynamic Z1Mm, now syringe needle be moved at center for standard, reach syringe needle positioning.
5. the method for work of syringe needle video positioning system according to claim 4, it is characterised in that：Localization criteria center
Monitored area → rim detection → characteristic matching is changed → set to process step for color space.
6. the method for work of syringe needle video positioning system according to claim 4, it is characterised in that：The process of positioning syringe needle
Step is gray level image → binaryzation → contour detecting → characteristic matching.
7. the method for work of syringe needle video positioning system according to claim 4, it is characterised in that：Vision processing module exists
While carrying out localization criteria center, positioning syringe needle process, coordinate system and yardstick are calibrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610993945.7A CN106580696A (en) | 2016-11-09 | 2016-11-09 | Syringe needle video positioning system and operating method of the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610993945.7A CN106580696A (en) | 2016-11-09 | 2016-11-09 | Syringe needle video positioning system and operating method of the same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106580696A true CN106580696A (en) | 2017-04-26 |
Family
ID=58591292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610993945.7A Pending CN106580696A (en) | 2016-11-09 | 2016-11-09 | Syringe needle video positioning system and operating method of the same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106580696A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106491358A (en) * | 2016-10-31 | 2017-03-15 | 成都杰仕德科技有限公司 | A kind of positioner and method for automated dispensing system |
| CN109352665A (en) * | 2018-10-23 | 2019-02-19 | 深圳市卫邦科技有限公司 | A kind of localization method of dispensation apparatus, positioning system and the robot that makes up a prescription |
| CN110405788A (en) * | 2019-07-31 | 2019-11-05 | 深圳市桑谷医疗机器人有限公司 | A kind of operating system of intravenous pharmacy allotment robot |
| CN116079744A (en) * | 2023-03-27 | 2023-05-09 | 超音速人工智能科技股份有限公司 | Mechanical arm contact pin positioning method, automatic contact pin mechanism and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106491358A (en) * | 2016-10-31 | 2017-03-15 | 成都杰仕德科技有限公司 | A kind of positioner and method for automated dispensing system |
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| CN116079744A (en) * | 2023-03-27 | 2023-05-09 | 超音速人工智能科技股份有限公司 | Mechanical arm contact pin positioning method, automatic contact pin mechanism and storage medium |
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