CN106773007B - Industrial endoscope - Google Patents
Industrial endoscope Download PDFInfo
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- CN106773007B CN106773007B CN201710106130.7A CN201710106130A CN106773007B CN 106773007 B CN106773007 B CN 106773007B CN 201710106130 A CN201710106130 A CN 201710106130A CN 106773007 B CN106773007 B CN 106773007B
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- assembly
- handle assembly
- industrial endoscope
- camera
- insertion tube
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
- G02B23/2484—Arrangements in relation to a camera or imaging device
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
The invention provides an industrial endoscope, which comprises a handle assembly, an insertion tube assembly connected to the handle assembly, at least one traction wire, a camera assembly, a main control module arranged in the handle assembly and a coordinate sensor in communication connection with the main control module, wherein one end of the insertion tube assembly is connected to the handle assembly, the other end of the insertion tube assembly is connected to the camera assembly, one end of each traction wire is connected to the handle assembly, the other end of each traction wire penetrates through the insertion tube assembly and is connected to the camera assembly, and the industrial endoscope also comprises the main control module and the coordinate sensor which are arranged in the handle assembly, monitors displacement signals of the traction wires and transmits the displacement signals to the main control module. The industrial endoscope can accurately judge the position of the defect of the object to be detected.
Description
Technical Field
The invention relates to the technical field of nondestructive testing, in particular to an industrial endoscope.
Background
The industrial endoscope can be used for inspection and observation of places which are high in temperature, toxic, nuclear radiation and can not be directly observed by human eyes, is mainly used in the detection fields of automobiles, aircraft engines, pipelines, mechanical parts and the like, and can realize nondestructive detection without disassembling or damaging assembly and equipment to stop running. However, the existing industrial endoscope cannot display the position information of the probe in real time, and is not beneficial to judging the accurate position of the defect.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide an industrial endoscope, which aims to monitor the position information of a camera assembly and facilitate the judgment of the position of a defect.
The invention provides an industrial endoscope, which comprises a handle assembly, an insertion tube assembly connected to the handle assembly, at least one traction wire, a camera assembly, a main control module arranged in the handle assembly and a coordinate sensor in communication connection with the main control module, wherein one end of the insertion tube assembly is connected to the handle assembly, the other end of the insertion tube assembly is connected to the camera assembly, one end of each traction wire is connected to the handle assembly, the other end of each traction wire penetrates through the insertion tube assembly and is connected to the camera assembly, and the coordinate sensor monitors displacement signals of the traction wires and transmits the displacement signals to the main control module.
The industrial endoscope further comprises a wireless transmission module arranged in the handle assembly, a signal transmission cable penetrating through the handle assembly and the insertion tube assembly, one end of the signal transmission cable is connected with the wireless transmission module and a signal transmission terminal in parallel, and the other end of the signal transmission cable is connected with the camera assembly.
Preferably, the industrial endoscope further comprises a host, a channel is arranged on the host, a PCB connecting terminal is arranged in the channel, the handle assembly is detachably fixed in the channel, and the signal transmission terminal is connected with the PCB connecting terminal.
Preferably, the wireless transmission module is wirelessly connected with a mobile terminal.
Preferably, the industrial endoscope further comprises a power supply module arranged in the handle assembly, and the power supply module is electrically connected with the wireless transmission module and the main control module.
Preferably, the industrial endoscope further comprises an LED lamp and an illumination optical cable, the LED lamp is arranged on the handle assembly, the LED lamp is electrically connected with the power module, one end of the illumination optical cable is connected to the LED lamp, and the other end of the illumination optical cable penetrates through the handle assembly and the insertion tube assembly and is connected to the camera assembly.
Preferably, the handle assembly comprises:
a housing;
the swing rod is accommodated in the shell;
the base is fixed on the shell, one end of the traction wire is connected to the swing rod, and the other end of the traction wire penetrates through the base and the inserting pipe assembly and is connected to the camera assembly;
the swing shaft is accommodated in the shell and comprises a hemispherical first end and a second end connected to the first end, the first end is elastically abutted against the swing rod, and the second end is connected to the base;
the rocker is connected to one end, far away from the swing shaft, of the swing rod and is exposed out of the shell.
Preferably, at least one swing arm is arranged at the end of the swing rod, each swing arm is connected with a traction wire, and the traction wire penetrates through the base and the insertion pipe assembly to be connected with the camera assembly.
Preferably, the handle assembly further comprises at least one spring tube, and each spring tube is sleeved outside one traction wire.
Preferably, the insertion tube assembly includes a wear tube connected to the handle assembly and a snake bone segment connected to the wear tube connected to the camera head assembly.
In order to achieve the purpose, when the industrial endoscope provided by the invention is used for detection, the traction wire is driven by the control handle assembly so as to control the position of the camera assembly, and the displacement signal of the tractor is monitored by the coordinate sensor and is transmitted to the main control module; the main control module calculates to obtain the position information of the camera assembly, and the position information is displayed through the external display equipment, so that an operator can obtain the position of the defect in the object to be detected, and the detection convenience of the industrial endoscope is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of an embodiment of an industrial endoscope according to the present invention;
FIG. 2 is a schematic structural diagram of a main body of the industrial endoscope of the present invention;
FIG. 3 is a schematic structural view of one embodiment of the handle assembly and insertion tube assembly of FIG. 1;
fig. 4 is an enlarged view of a portion a in fig. 3.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
18 | |
| 10 | |
19 | |
| 11 | |
20 | |
| 12 | |
21 | Wear- |
| 13 | |
22 | |
| 14 | |
30 | |
| 141 | |
40 | |
| 142 | |
50 | |
| 15 | |
60 | |
| 16 | |
70 | |
| 17a | Pendulum |
80 | Lighting |
| 17b | |
90 | Main unit |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "riveted", "connected", "fixed", and the like are to be construed broadly, e.g., "fixed" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The present invention provides an industrial endoscope 100.
Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of an industrial endoscope according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a main body of the industrial endoscope of the present invention; FIG. 3 is a schematic structural view of one embodiment of the handle assembly and insertion tube assembly of FIG. 1; fig. 4 is an enlarged view of a portion a in fig. 3.
This industry endoscope 100, including handle assembly 10, connect in the intubate subassembly 20, an at least pull wire 15 of handle assembly 10 and camera subassembly 30, intubate subassembly 20 one end connect in handle assembly 10, the other end connect in camera subassembly 30, each pull wire 15 one end connect in handle assembly 10, the other end runs through intubate subassembly 20 and connect in camera subassembly 30, industry endoscope still including set up in host system in handle assembly 10 and with host system communication connection's coordinate inductor 19, coordinate inductor 19 monitors the displacement signal of pull wire 15 to transmit this displacement signal for host system.
Further, the master control module of the invention can be an STM32 series chip module or a 32-bit ARM microcontroller.
When the industrial endoscope 100 of the technical scheme of the invention is used for detection, the handle assembly 10 is controlled to drive the traction wire 15 so as to control the position of the camera assembly 30, the coordinate sensor 19 monitors a displacement signal of the tractor 15, and the displacement signal is transmitted to the main control module; the main control module calculates to obtain the position information of the camera assembly 30, and displays the position information through an external display device, so that an operator can obtain the position of the defect in the object to be detected, and the detection convenience of the industrial endoscope 100 is greatly improved.
The industrial endoscope 100 further comprises a wireless transmission module 40 arranged in the handle assembly 10, and a signal transmission cable passing through the handle assembly 10 and the insertion tube assembly 20, wherein one end of the signal transmission cable is connected with the wireless transmission module 40 and a signal transmission terminal in parallel, and the other end of the signal transmission cable is connected with the camera assembly 30.
The insertion tube assembly 20 is detachably connected with the handle assembly 10, so that the insertion tube assembly 20 with different sizes and specifications can be conveniently replaced according to actual needs.
The camera assembly 30 of the present invention converts an image signal into an electrical signal, and the electrical signal is transmitted to the wireless transmission module 40 or the signal transmission terminal through the signal transmission cable, and the wireless transmission module 40 and the signal transmission terminal are provided, so that the camera assembly can be wirelessly connected to an external device or can be wired.
The industrial endoscope 100 further comprises a host 90, a channel is arranged on the host 90, a PCB connecting terminal is arranged in the channel, the handle assembly 20 is detachably fixed in the channel, and the signal transmission terminal is connected with the PCB connecting terminal.
According to the technical scheme, the handle assembly 20 of the industrial endoscope 100 is detachably connected with the main machine 90, and when the inner space of an object to be detected is small, the main machine 90 can be detached, so that the application range of the industrial endoscope 100 is widened. Meanwhile, the handle assembly 20 is detachably connected with the main machine 90, so that the replacement of the insertion tube assembly 20 and the camera assembly 30 is facilitated.
Further, host 90 is provided with a display screen for displaying image information and positional information of camera assembly 30.
The wireless transmission module 40 is wirelessly connected with a mobile terminal 50.
When the industrial endoscope 100 according to the technical scheme of the invention needs to be detected in a narrow space such as a small-diameter metal pipeline, the host 90 can be removed, the detection information is transmitted to the mobile terminal 50 through the wireless transmission module 40, the mobile terminal 50 can be a mobile phone, a tablet personal computer and the like, the mobile terminal 50 is located in the signal coverage range of the wireless transmission module 40, and the mobile terminal can convert an electric signal sent by the wireless transmission module 40 into an image signal, so that a tester can conveniently observe the image signal.
The industrial endoscope 100 further comprises a power module 60 disposed in the handle assembly 10, wherein the power module 60 is electrically connected with the wireless transmission module 40 and the main control module.
The power module 60 of the present invention provides a working power supply for the wireless transmission module 40 and the main control module.
The industrial endoscope 100 further comprises an LED lamp 70 disposed on the handle assembly 10, and an illumination optical cable 80, wherein the LED lamp 70 is electrically connected to the power module 60, one end of the illumination optical cable 80 is connected to the LED lamp 70, and the other end thereof penetrates through the handle assembly 10 and the insertion tube assembly 20 and is connected to the camera assembly 30.
The LED lamp 70 of the present invention serves as a light source, and transmits light to the part to be detected through the illumination optical cable 80, so that the camera assembly 30 can capture an image of the part to be detected.
The handle assembly 10 includes:
a housing 11;
a swing link 12 accommodated in the housing;
the base 13 is fixed on the shell, one end of the traction wire 15 is connected to the swing rod 12, and the other end of the traction wire penetrates through the base 13 and the insertion pipe assembly 20 and is connected to the camera assembly 30;
the swing shaft 14 is accommodated in the housing, the swing shaft 14 includes a first end 141 in a hemispherical shape and a second end 142 connected to the first end 141, the first end 141 elastically abuts against the swing rod 12, and the second end 142 is connected to the base 13;
and the rocker 16 is connected to one end of the swing rod 12, which is far away from the swing shaft 14, and is exposed out of the shell 11.
The shell 11 of the handle component 10 of the technical scheme of the invention is provided with a cavity for placing the swing rod 12, the base 13 and the swing shaft 14; the base 13 is fixed to the housing 11 in a manner of fastening, screwing, or the like. The user operates the rocker 16 to drive the rocker 12 to change the angle, and further to drive the pulling wire 15 to displace, so that the snake bone segment 22 bends or turns, and the camera assembly 30 changes the position to reach the detection position.
The handle assembly 10 further comprises a swing shaft limiting ring 17a and an elastic piece 17b, the elastic piece 17b is accommodated in the swing rod 12, the swing shaft limiting ring 17a is covered on the swing rod 12, and the first end 141 penetrates through the swing shaft limiting ring 17a and is abutted to the swing rod 12 through the elastic piece 17 b.
According to the technical scheme of the invention, the second end 142 is connected with the swing rod 12, and the first end 141 is elastically abutted against the base 13 and used for positioning the swing angle of the swing rod 12. When the rocker 16 is operated, the second end 142 swings together with the rocker, the first end 141 is pressed in the base 13 under force, and when the rocker 16 is not operated, the first end 141 is fixed by the elastic pressing force of the base 13, so that the angle and the orientation of the rocker 16 are fixed. Correspondingly, the base 13 is provided with a containing hole, the elastic element 17b is contained in the containing hole, the swing shaft limiting ring 17a is sleeved on the first end 141 and covers the base 13, and therefore the elastic element 17b and the first end 141 are limited between the base 13 and the swing shaft limiting ring 17 a. The fixing mode of the swing shaft limiting ring 17a and the base 13 can adopt a screw connection mode and the like.
The first end 141 abuts against the elastic member 17b, and the friction force between the first end 141 and the swing shaft limiting ring 17a is used for maintaining the position of the swing shaft 14, i.e. the position of the swing link 12. The surfaces of the swing shaft limiting ring 17a and the elastic piece 17b contacting with the first end 141 are all set to be matched spherical surfaces, so that when the rocker 16 is controlled, the position of the first end 141 is easy to change.
At least one swing arm is arranged at the end of the swing rod 12, each swing arm is connected with a traction wire 15, and the traction wire 15 penetrates through the base 13 and the insertion tube assembly 20 to be connected with the camera assembly 30.
In the technical scheme of the invention, a plurality of swing arms, preferably 4 swing arms are formed on the swing rod 12, and each swing arm is connected with a traction wire 15 to drive the snake bone segment 22 to bend or turn, so as to control different positions of the camera assembly 30.
The handle assembly 10 further includes at least one spring tube, each spring tube being sleeved outside a pull wire 15.
According to the technical scheme, the spring pipe is sleeved outside each traction wire 15, when the traction wire 15 controls the insertion pipe assembly 20 to bend, the spring pipe enables the bending part to be stressed uniformly, the insertion pipe assembly 20 is prevented from being abraded, and in addition, the spring pipe can effectively prevent a plurality of traction wires 15 from being tangled.
The industrial endoscope 100 further comprises an installation part 18, an LED lamp 70 and an illumination optical cable 80, wherein the installation part 18, the LED lamp 70 and the illumination optical cable 80 are connected to one side, far away from the rocker, of the base 13, the LED lamp is accommodated in a cavity formed by the base and the installation part 18, a through hole communicated with the cavity is formed in the installation part 18, and the illumination optical cable 80 penetrates through the through hole and the insertion tube assembly 20 and is connected to the camera assembly 30.
The mounting portion 18 according to the present invention is used to fix the LED lamp 70 and the illumination optical cable 80.
The insertion tube assembly 20 includes a wear-resistant tube 21 and a snake bone segment 22 connected to the wear-resistant tube 21, the wear-resistant tube 21 is connected to the handle assembly 10, and the snake bone segment 22 is connected to the camera head assembly 30.
The stinger assembly 20 is further sleeved with a layer of tungsten wire mesh and a waterproof film, the tungsten wire mesh is used for protecting the stinger assembly 20 and avoiding abrasion of the stinger assembly, and the waterproof film can prevent moisture from entering the interior of the stinger assembly 20 and affecting the working states of the illumination optical cable 80 and the signal transmission cable. The front end of the snake bone segment 22 is also provided with a fixing piece for fixedly connecting the camera assembly 30.
The snake bone section 22 of the technical scheme of the invention has small bending radius, the direction and the angle of the camera assembly 30 are controlled by the snake bone section 22, the detection is convenient, the inserting tube assembly 20 also comprises a wear-resistant tube 21, and the bending radius of the wear-resistant tube 21 is large and is used for conveying the camera assembly 30 to a part to be detected.
Further, the snake bone segment 22 is formed by connecting a plurality of joint rings, and the number of the joint rings of the snake bone segment 22 can be designed according to the bending degree of the object to be measured.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An industrial endoscope comprises a handle assembly, an insertion tube assembly connected with the handle assembly, at least one traction wire and a camera assembly, one end of the inserting pipe assembly is connected with the handle assembly, the other end of the inserting pipe assembly is connected with the camera head assembly, one end of each traction wire is connected with the handle assembly, the other end of each traction wire penetrates through the inserting pipe assembly and is connected with the camera head assembly, it is characterized in that the industrial endoscope also comprises a main control module arranged in the handle assembly and a coordinate sensor in communication connection with the main control module, the coordinate sensor monitors displacement signals of the traction wire, and transmitting the displacement signal to the main control module, wherein the main control module is used for calculating according to the displacement signal to obtain the position information of the camera assembly and displaying the position information of the camera assembly through an external display device.
2. The industrial endoscope as claimed in claim 1, further comprising a wireless transmission module disposed in the handle assembly, and a signal transmission cable passing through the handle assembly and the insertion tube assembly, wherein one end of the signal transmission cable is connected to the wireless transmission module and a signal transmission terminal in parallel, and the other end is connected to the camera assembly.
3. The industrial endoscope as defined in claim 2, further comprising a main body, wherein the main body is provided with a channel, a PCB board connecting terminal is provided in the channel, the handle assembly is detachably fixed in the channel, and the signal transmission terminal is connected with the PCB board connecting terminal.
4. The industrial endoscope as defined in claim 2, wherein the wireless transmission module is wirelessly connected to a mobile terminal.
5. The industrial endoscope as defined in claim 4, further comprising a power module disposed within the handle assembly, the power module being electrically connected to the wireless transmission module and the master control module.
6. The industrial endoscope as defined in claim 5, further comprising an LED light disposed on the handle assembly and electrically connected to the power module, and an illumination cable having one end connected to the LED light and another end extending through the handle assembly and the insertion tube assembly and connected to the camera assembly.
7. The industrial endoscope of any one of claims 1-6, wherein the handle assembly comprises:
a housing;
the swing rod is accommodated in the shell;
the base is fixed on the shell, one end of the traction wire is connected to the swing rod, and the other end of the traction wire penetrates through the base and the inserting pipe assembly and is connected to the camera assembly;
the swing shaft is accommodated in the shell and comprises a hemispherical first end and a second end connected to the first end, the first end is elastically abutted against the swing rod, and the second end is connected to the base;
the rocker is connected to one end, far away from the swing shaft, of the swing rod and is exposed out of the shell.
8. The industrial endoscope as defined in claim 7, wherein the end of the swing link is provided with at least one swing arm, each swing arm being connected to a pull wire, the pull wires extending through the base and insertion tube assembly and being connected to the camera head assembly.
9. The industrial endoscope as described in claim 7, wherein the handle assembly further comprises at least one spring tube, each spring tube being disposed outside of a pull wire.
10. The industrial endoscope of claim 1, wherein the insertion tube assembly comprises a wear tube and a serpentine bone segment connected to the wear tube, the wear tube being connected to the handle assembly, the serpentine bone segment being connected to the camera head assembly.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106130.7A CN106773007B (en) | 2017-02-24 | 2017-02-24 | Industrial endoscope |
| PCT/CN2017/075457 WO2018152861A1 (en) | 2017-02-24 | 2017-03-02 | Industrial endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710106130.7A CN106773007B (en) | 2017-02-24 | 2017-02-24 | Industrial endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106773007A CN106773007A (en) | 2017-05-31 |
| CN106773007B true CN106773007B (en) | 2020-04-07 |
Family
ID=58959128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710106130.7A Active CN106773007B (en) | 2017-02-24 | 2017-02-24 | Industrial endoscope |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106773007B (en) |
| WO (1) | WO2018152861A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107547874A (en) * | 2017-10-09 | 2018-01-05 | 深圳市古安泰自动化技术有限公司 | Crime scene investigation device |
| CN107561679A (en) * | 2017-10-24 | 2018-01-09 | 深圳市菲比斯科技有限公司 | Industrial endoscope |
| CN109116547A (en) * | 2018-09-26 | 2019-01-01 | 深圳市古安泰自动化技术有限公司 | Endoscope |
| CN109799604A (en) * | 2019-03-05 | 2019-05-24 | 华能国际电力股份有限公司玉环电厂 | A kind of endoscope guiding auxiliary device |
| CN110125074A (en) * | 2019-06-18 | 2019-08-16 | 深圳市古安泰自动化技术有限公司 | Cleaning detector |
| CN113180582A (en) * | 2021-05-18 | 2021-07-30 | 上海享帮检测技术有限公司 | Bronchoscope system |
| WO2024016316A1 (en) * | 2022-07-22 | 2024-01-25 | 北京大学深圳医院 | All-direction-adjustable and position-displaying electronic endoscope |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002264048A (en) * | 2001-03-08 | 2002-09-18 | Hitachi Ltd | Positioning control device for towed mechanism |
| JP6012950B2 (en) * | 2011-10-14 | 2016-10-25 | オリンパス株式会社 | Bending motion system |
| CN103330544B (en) * | 2013-06-18 | 2015-01-21 | 深圳市亚泰光电技术有限公司 | Endoscope bending control mechanism and endoscope |
| CN203658666U (en) * | 2014-01-13 | 2014-06-18 | 郑州九泰科技有限公司 | Waterproof and dustproof industrial endoscope capable of displaying location of defect on inner walls of pipeline and container |
| CN204496100U (en) * | 2014-11-20 | 2015-07-22 | 深圳市永恒丰智能设备有限公司 | A kind of endoscope of being connected with mobile device data and endoscopic system |
| CN204790177U (en) * | 2015-04-24 | 2015-11-18 | 深圳市永恒丰智能设备有限公司 | Realize steering mechanism of diversion turn and have its endoscope system |
| CN105182525B (en) * | 2015-09-22 | 2017-10-27 | 深圳市古安泰自动化技术有限公司 | Endoscope |
| CN205263398U (en) * | 2015-11-11 | 2016-05-25 | 广东月福汽车用品有限公司 | Take cleaning function's hand -held type endoscope |
| CN105902253A (en) * | 2016-04-28 | 2016-08-31 | 深圳市鹏瑞智能图像有限公司 | Endoscope insertion control method and system |
-
2017
- 2017-02-24 CN CN201710106130.7A patent/CN106773007B/en active Active
- 2017-03-02 WO PCT/CN2017/075457 patent/WO2018152861A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018152861A1 (en) | 2018-08-30 |
| CN106773007A (en) | 2017-05-31 |
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