CN107432731A - Endoscope and endoscopic detection method - Google Patents
Endoscope and endoscopic detection method Download PDFInfo
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- CN107432731A CN107432731A CN201710768342.1A CN201710768342A CN107432731A CN 107432731 A CN107432731 A CN 107432731A CN 201710768342 A CN201710768342 A CN 201710768342A CN 107432731 A CN107432731 A CN 107432731A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00193—Optical arrangements adapted for stereoscopic vision
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Abstract
The present invention provides a kind of endoscope and endoscopic detection method.Endoscope includes laser ranging unit, direction adjustment unit, data processing unit and modeling display unit.Laser ranging unit includes at least one laser range sensor, to be measured by the distance between laser range sensor pair and object to be measured；Direction adjustment unit is fixed with laser ranging unit, is adjusted with the measurement direction to laser ranging unit, obtain under different directions with the distance between object to be measured data；Data processing unit is electrically connected with laser ranging unit, and to adjust the distance, data are handled, and obtain the three dimensional point cloud of object to be measured；Model display unit to be electrically connected with data processing unit, to be modeled to obtain corresponding threedimensional model according to three dimensional point cloud, and threedimensional model is shown.The endoscope can directly obtain the distance between measurand, the high 3-D view of generation measurement accuracy, to improve diagnosis efficiency, reduce diagnosis difficulty.
Description
Technical field
The present invention relates to technical field of medical instruments, in particular to a kind of endoscope and endoscopic detection method.
Background technology
With the continuous development of scientific technology, patient bore's (such as oral cavity, abdominal cavity, stomach etc.) is entered in the prior art
The medical technology that detection is peeped in row is also progressively developing.At present, the endoscope for inside peeping detection technique generally use is to be based on image
The endoscope that transmission or optical image acquisition device are formed, this endoscope are entered by the internal cavity-like condition of one or more cameras
Row IMAQ, and the image collected is shown to the mode of medical worker, make medical worker internal according to the image of display
Chamber is diagnosed.But this endoscope can not directly show the depth information between the endoscope and tested inner chamber, it is necessary to
Medical worker is judged the image shown according to galore experience, and it is interior with being tested could preliminarily to perceive the endoscope
Depth information between chamber.And the image for being shown to medical worker of this endoscope can be by the image quality system of camera
About, the image definition that is obtained by this endoscope is not high, resolution ratio is not also high, to medical worker to being tested inner chamber situation
Diagnosis brings great puzzlement, greatly increases the misdiagnosis rate of medical worker.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, it is an object of the invention to provide a kind of endoscope and interior detection is peeped
Method.The endoscope the distance between can be obtained directly under different measurement directions with measurand, and correspondingly generates survey
Accuracy of measurement is high, the 3-D view of good, high resolution the measurand of definition, to improve the diagnosis efficiency of medical worker, reduces
The diagnosis difficulty of medical worker.
For endoscope, preferred embodiments of the present invention provide a kind of endoscope.The endoscope includes laser ranging
Unit, direction adjustment unit, data processing unit and modeling display unit；
The laser ranging unit includes at least one laser range sensor, and the laser ranging unit is swashed by described
Ligh-ranging sensor measures to the distance between endoscope and object to be measured；
The direction adjustment unit is fixed with the laser ranging unit, with the measurement direction to the laser ranging unit
It is adjusted, obtains the distance number between endoscope that laser ranging unit measures under different measurement directions and object to be measured
According to；
The data processing unit and the laser ranging unit are electrically connected with, with to laser ranging unit in different measurements
The range data measured under direction is handled, and obtains the three dimensional point cloud of the object to be measured；
The modeling display unit is electrically connected with the data processing unit, with the three-dimensional point according to the object to be measured
Cloud data carry out three-dimensional modeling, obtain threedimensional model corresponding to the object to be measured, and the threedimensional model is shown.
In preferred embodiments of the present invention, above-mentioned laser ranging unit also includes sight glass head, the sight glass head bag
Fixed pedestal is included, the laser range sensor is arranged in correspondence with the fixed pedestal, to be installed on the sight glass head.
In preferred embodiments of the present invention, above-mentioned direction adjustment unit includes driving structure, and the driving structure is set
It is fixedly connected in the sight glass head and with the fixed pedestal, to drive the fixed pedestal to sense the laser ranging
The measurement direction of device is adjusted.
In preferred embodiments of the present invention, the number of above-mentioned fixed pedestal, the number of the driving structure swash with described
The number of ligh-ranging sensor is identical.
In preferred embodiments of the present invention, the number of above-mentioned laser range sensor is four, one of Laser Measuring
It is arranged on away from sensor at the center on the sight glass head, arrange by rotational symmetry in isosceles triangle for the other three laser range sensor
Around being listed at the center on the sight glass head.
In preferred embodiments of the present invention, above-mentioned modeling display unit includes three-dimensional modeling module and model shows mould
Block；
The three-dimensional modeling module is used to carry out three-dimensional modeling according to the three dimensional point cloud of object to be measured, obtains described treat
Survey threedimensional model corresponding to object；
The model display module is electrically connected with the three-dimensional modeling module, for showing to the threedimensional model
Show.
For endoscopic detection method, preferred embodiments of the present invention provide a kind of endoscopic detection method, applied to above-mentioned
Endoscope.The endoscopic detection method includes：
The distance between endoscope under different measurement directions and object to be measured are measured, obtain corresponding to distance number
According to；
The endoscope and the distance between object to be measured data measured is handled, obtains the three of the object to be measured
Tie up cloud data；
Three-dimensional modeling is carried out according to the three dimensional point cloud of the object to be measured, obtained three-dimensional corresponding to the object to be measured
Model, and the threedimensional model is shown.
It is above-mentioned to the distance between endoscope under different measurement directions and object to be measured in preferred embodiments of the present invention
The step of measuring, obtaining corresponding range data includes：
The measurement direction of laser ranging unit is adjusted according to preset direction adjustable strategies, makes the laser ranging list
Member measures to the distance between laser ranging unit under different measurement directions and object to be measured, obtains under different measurement directions
Corresponding range data.
In preferred embodiments of the present invention, the above-mentioned endoscope to measuring enters with the distance between object to be measured data
The step of going and handle, obtaining the three dimensional point cloud of the object to be measured includes：
Coordinate Conversion is carried out to the distance between laser ranging unit under different measurement directions and object to be measured data, obtained
Three-dimensional coordinate corresponding to each measured point of measurand under the same coordinate system, so as to obtain the three-dimensional point cloud number of the object to be measured
According to.
In preferred embodiments of the present invention, above-mentioned endoscopic detection method also includes：
It is configured to adjust the preset direction adjustable strategies of endoscope measurement direction.
In terms of existing technologies, preferred embodiments of the present invention provide endoscope and endoscopic detection method have with
Lower beneficial effect：The endoscope the distance between can be obtained directly under different measurement directions with measurand, and correspondingly
Measurement accuracy height, the 3-D view of good, high resolution the measurand of definition are generated, to improve the diagnosis of medical worker effect
Rate, reduce the diagnosis difficulty of medical worker.Specifically, the endoscope includes laser ranging unit, direction adjustment unit, data
Processing unit and modeling display unit；The laser ranging unit includes at least one laser range sensor, the Laser Measuring
The distance between endoscope and object to be measured are measured by the laser range sensor away from unit；The direction adjustment
Unit is fixed with the laser ranging unit, is adjusted with the measurement direction to the laser ranging unit, is obtained Laser Measuring
Between the endoscope and object to be measured that are measured away from unit under different measurement directions apart from data；The data processing unit
It is electrically connected with the laser ranging unit, is entered with the range data measured under different measurement directions laser ranging unit
Row processing, obtains the three dimensional point cloud of the object to be measured；The modeling display unit and the data processing unit are electrical
Connection, to carry out three-dimensional modeling according to the three dimensional point cloud of the object to be measured, obtain three-dimensional corresponding to the object to be measured
Model, and the threedimensional model is shown, so as to be provided to medical worker, measurement accuracy is high, definition is good, high resolution
Measurand 3-D view, to improve the diagnosis efficiency of medical worker, reduce the diagnosis difficulty of medical worker.
To enable the above objects, features and advantages of the present invention to become apparent, present pre-ferred embodiments cited below particularly,
And accompanying drawing appended by coordinating, it is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of the claims in the present invention protection domain, for those of ordinary skill in the art, do not paying creative work
Under the premise of, other related accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of block diagram for the endoscope that preferred embodiments of the present invention provide.
Fig. 2 is a kind of structural representation of the laser ranging unit shown in Fig. 1 that preferred embodiments of the present invention provide.
Fig. 3 is a kind of block diagram of the modeling display unit shown in Fig. 1 that preferred embodiments of the present invention provide.
Fig. 4 is a kind of schematic flow sheet for the endoscopic detection method that preferred embodiments of the present invention provide.
Fig. 5 is another schematic flow sheet for the endoscopic detection method that preferred embodiments of the present invention provide.
Icon：100- endoscopes；110- laser ranging units；111- laser range sensors；112- sight glass head；113-
Fixed pedestal；120- directions adjustment unit；121- driving structures；130- data processing units；140- models display unit；141-
Three-dimensional modeling module；142- model display modules.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
The distance between how one kind is provided can directly obtain under different measurement directions with measurand, and correspondingly give birth to
Into measurement accuracy is high, 3-D view of good, high resolution the measurand of definition, to improve the diagnosis efficiency of medical worker,
Reduce the endoscope of the diagnosis difficulty of medical worker, be the technical problem for being badly in need of solving to those skilled in the art.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Fig. 1 is refer to, is a kind of block diagram for the endoscope 100 that preferred embodiments of the present invention provide.In this hair
In bright embodiment, the endoscope 100 is used for peeping detection, institute in patient bore's (such as oral cavity, abdominal cavity, stomach etc.) progress
The distance between state endoscope 100 and can directly obtain under different measurement directions with measurand, and correspondingly generate measurement essence
Degree is high, the 3-D view of good, high resolution the measurand of definition, for medical worker according to corresponding image to tested pair
As peeping detection in progress, the diagnosis efficiency of medical worker is improved, reduces the diagnosis difficulty of medical worker.Wherein, described tested pair
As being above-mentioned patient bore.In the present embodiment, the endoscope 100 includes：Laser ranging unit 110, direction adjustment
Unit 120, data processing unit 130 and modeling display unit 140.
In the present embodiment, the laser ranging unit 110 is used to enter the distance between endoscope 100 and object to be measured
Row measurement.Specifically, the laser ranging unit 110 projects laser to measurand, and receives and reflected by the measurand
Or scattering laser, by compare projection light and receive light between time difference or phase difference, obtain endoscope 100 with it is to be measured right
As the distance between data.
Fig. 2 is refer to, is one kind of the laser ranging unit 110 shown in Fig. 1 of preferred embodiments of the present invention offer
Structural representation.In embodiments of the present invention, the laser ranging unit 110 includes at least one laser range sensor 111,
The laser range sensor 111 is directed at the measurand, and the laser ranging unit 110 is sensed by the laser ranging
Device 111 measures to the distance between endoscope 100 and object to be measured.
In the present embodiment, the laser range sensor 111 includes laser beam transmitter and laser pickoff, described to swash
Ligh-ranging sensor 111 projects laser by the laser beam transmitter to the measurand, and passes through the laser pick-off
Device receives the laser for being reflected or being scattered by the measurand, to measure between the laser ranging unit 110 and object to be measured
Distance.
In the present embodiment, the laser ranging unit 110 also includes sight glass head 112, and the sight glass head 112 includes
Fixed pedestal 113.The laser range sensor 111 is arranged in correspondence with the fixed pedestal 113, by the Laser Measuring
The sight glass head 112 is installed on away from sensor 111.In the present embodiment, the shape on the sight glass head 112 can be, but
It is not limited to, circle, ellipse, rectangle etc..In an embodiment of the present embodiment, the shape on the sight glass head 112 is excellent
Elect circle as.
In the present embodiment, the direction adjustment unit 120 is used to enter the measurement direction of the laser ranging unit 110
Row adjustment so that the laser ranging unit 110 can between the endoscope 100 and measurand of different measurement directions away from
From measuring, laser ranging unit 110 that the laser ranging unit 110 measures under different measurement directions is obtained with treating
Survey the distance between object data.
In the present embodiment, the direction adjustment unit 120 can be to the laser according to preset direction adjustable strategies
The measurement direction of range cells 110 is adjusted, wherein, the preset direction adjustable strategies can be the control laser ranging
Laser range sensor 111 in unit 110 relative to the sight glass head 112 periodically from left to right, from right to left, from
Go up downwards or object to be measured is scanned or controlled from bottom to top the laser range sensor 111 relative to institute
Sight glass head 112 is stated rotatably to be scanned object to be measured；The direction adjustment unit 120 can respond the behaviour of medical worker
Make, the measurement direction of laser ranging unit 110 according to the demand modeling of medical worker.
In the present embodiment, the direction adjustment unit 120 includes driving structure 121, and the driving structure 121 is arranged on
It is fixedly connected in the sight glass head 112 and with the fixed pedestal 113, to drive the fixed pedestal 113 to be moved, makes
The measurement direction of laser range sensor 111 on the fixed pedestal 113 follows the direction of motion of the fixed pedestal 113 to enter
Row adjustment.
In the present embodiment, the driving structure 121 can control deflection laser range sensor 111 by micro electro mechanical device
Measurement direction, wherein the micro electro mechanical device may be, but not limited to, the anchor chain structure based on electrostatically actuated, based on micro- electricity
The structure of sub- valve, the micro-actuator based on piezoelectric membrane, the Micropump based on fluid or based on memorial alloy, magnetostriction, electroluminescent
Structure of phase transformation etc..In the present embodiment, the driving structure 121 can be right by adjusting the laser range sensor 111
The azimuth answered and the mode of the angle of pitch, adjust the measurement direction of the laser range sensor 111.
In the present embodiment, the number of the fixed pedestal 113, the number of the driving structure 121 and the Laser Measuring
Number away from sensor 111 is identical, with by corresponding fixed pedestal 113 and driving structure 121 to laser range sensor 111
Measurement direction be adjusted.
In an embodiment of the present embodiment, the number of the laser range sensor 111 is preferably four.Wherein
One laser range sensor 111 is arranged at the center on the sight glass head 112, to be used as whole laser ranging unit 110
Datum mark；Rotational symmetry is arranged in the sight glass head 112 to the other three laser range sensor 111 in isosceles triangle
Center at around, to be measured to the distance between endoscope 100 and object to be measured.
Referring once again to Fig. 1, in the present embodiment, the data processing unit 130 is used to exist to laser ranging unit 110
The range data measured under different measurement directions is handled, and obtains the three dimensional point cloud of the object to be measured.Specifically,
The data processing unit 130 with the laser ranging unit 110 by way of being electrically connected with, from the laser ranging unit
Distance between acquisition laser ranging unit 110 measures under different measurement directions at 110 endoscope 100 and object to be measured
Data, and integration processing correspondingly is carried out to the range data under each measurement direction, generate and treated under the same coordinate system to described
The three-dimensional coordinate of each measured point of object is surveyed, so as to obtain the three dimensional point cloud of the object to be measured.
In the present embodiment, the modeling display unit 140 is used for according to the generation pair of the three dimensional point cloud of object to be measured
The threedimensional model answered, and the threedimensional model is shown, so that medical worker enters according to corresponding image to measurand
Detection is peeped in row, improves the diagnosis efficiency of medical worker, reduces the diagnosis difficulty of medical worker.Specifically, the modeling display
Unit 140 obtains institute by way of being electrically connected with the data processing unit 130 at the data processing unit 130
The three dimensional point cloud of object to be measured is stated, and three-dimensional modeling is carried out according to the three dimensional point cloud of the object to be measured, obtains institute
State threedimensional model corresponding to object to be measured.
Fig. 3 is refer to, is one kind of the modeling display unit 140 shown in Fig. 1 of preferred embodiments of the present invention offer
Block diagram.In embodiments of the present invention, the modeling display unit 140 includes three-dimensional modeling module 141 and model is shown
Module 142.
In the present embodiment, the three-dimensional modeling module 141 is used to establish threedimensional model, the modeling display unit 140
Three-dimensional modeling is carried out according to the three dimensional point cloud of object to be measured by the three-dimensional modeling module 141, it is described to be measured right to obtain
As corresponding threedimensional model.
In the present embodiment, the model display module 142 is electrically connected with the three-dimensional modeling module 141, with institute
State after three-dimensional modeling module 141 sets up threedimensional model corresponding to object to be measured, the threedimensional model is shown.
Fig. 4 is refer to, is a kind of schematic flow sheet for the endoscopic detection method that preferred embodiments of the present invention provide.At this
In inventive embodiments, the endoscopic detection method is applied to above-mentioned endoscope 100, with to object to be measured carry out in peep detection,
The diagnosis efficiency of medical worker is improved, reduces the diagnosis difficulty of medical worker.Below to the tool of the endoscopic detection method shown in Fig. 4
Body flow and step are described in detail.
In embodiments of the present invention, the endoscopic detection method comprises the following steps：
Step S210, the distance between endoscope 100 under different measurement directions and object to be measured are measured, obtained pair
The range data answered.
In the present embodiment, it is described that the distance between endoscope 100 under different measurement directions and object to be measured are surveyed
The step of measuring, obtaining corresponding range data includes：
The measurement direction of laser ranging unit 110 is adjusted according to preset direction adjustable strategies, makes the Laser Measuring
The distance between laser ranging unit 110 under different measurement directions and object to be measured are measured away from unit 110, obtain difference
Corresponding range data under measurement direction.
Wherein, above-mentioned steps S210 coordinates execution jointly from the laser ranging unit 110 and direction adjustment unit 120,
To get the distance between laser ranging unit 110 and object to be measured data under different measurement directions.
Step S220, the endoscope 100 and the distance between object to be measured data measured is handled, obtained described
The three dimensional point cloud of object to be measured.
In the present embodiment, the described pair of endoscope 100 measured is handled with the distance between object to be measured data,
The step of obtaining the three dimensional point cloud of the object to be measured includes：
Coordinate Conversion is carried out to the distance between laser ranging unit 110 under different measurement directions and object to be measured data,
Three-dimensional coordinate corresponding to each measured point of measurand under the same coordinate system is obtained, so as to obtain the three-dimensional point cloud of the object to be measured
Data.
Wherein, above-mentioned steps S220 is performed by the data processing unit 130, with according to the distance under different measurement directions
Data obtain the three dimensional point cloud of object to be measured.
Step S230, three-dimensional modeling is carried out according to the three dimensional point cloud of the object to be measured, obtains the object to be measured
Corresponding threedimensional model, and the threedimensional model is shown.
In the present embodiment, above-mentioned steps S230 is performed by the modeling display unit 140, with three according to object to be measured
Threedimensional model corresponding to cloud data generation is tieed up, and the threedimensional model is shown.
Fig. 5 is refer to, is another schematic flow sheet for the endoscopic detection method that preferred embodiments of the present invention provide.
In the embodiment of the present invention, the endoscopic detection method can also include：
Step S209, it is configured to adjust the preset direction adjustable strategies of the measurement direction of endoscope 100.
In the present embodiment, the preset direction adjustable strategies are applied to direction adjustment unit 120, and the direction adjustment is single
Member 120 can be adjusted by performing the preset direction adjustable strategies to the measurement direction of laser ranging unit 110.
In summary, in the endoscope and endoscopic detection method that preferred embodiments of the present invention provide, the endoscope
It the distance between can directly obtain under different measurement directions with measurand, and correspondingly generate that measurement accuracy is high, definition
The 3-D view of good, high resolution measurand, to improve the diagnosis efficiency of medical worker, the diagnosis for reducing medical worker is difficult
Degree.Specifically, the endoscope includes laser ranging unit, direction adjustment unit, data processing unit and modeling display unit；
The laser ranging unit includes at least one laser range sensor, and the laser ranging unit is passed by the laser ranging
Sensor measures to the distance between endoscope and object to be measured；The direction adjustment unit is consolidated with the laser ranging unit
It is fixed, it is adjusted with the measurement direction to the laser ranging unit, obtains laser ranging unit and surveyed under different measurement directions
The distance between the endoscope and object to be measured measured data；The data processing unit electrically connects with the laser ranging unit
Connect, handled with the range data measured under different measurement directions laser ranging unit, obtain the object to be measured
Three dimensional point cloud；The modeling display unit is electrically connected with the data processing unit, with according to the object to be measured
Three dimensional point cloud carry out three-dimensional modeling, obtain threedimensional model corresponding to the object to be measured, and the threedimensional model is entered
Row display, measurement accuracy is high, 3-D view of good, high resolution the measurand of definition so as to being provided to medical worker, with
The diagnosis efficiency of medical worker is improved, reduces the diagnosis difficulty of medical worker.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of endoscope, it is characterised in that the endoscope includes laser ranging unit, direction adjustment unit, data processing
Unit and modeling display unit；
The laser ranging unit includes at least one laser range sensor, and the laser ranging unit passes through the Laser Measuring
The distance between endoscope and object to be measured are measured away from sensor；
The direction adjustment unit is fixed with the laser ranging unit, to be carried out to the measurement direction of the laser ranging unit
Adjustment, obtain between endoscope that laser ranging unit measures under different measurement directions and object to be measured apart from data；
The data processing unit and the laser ranging unit are electrically connected with, with to laser ranging unit in different measurement directions
Under the range data that measures handled, obtain the three dimensional point cloud of the object to be measured；
The modeling display unit is electrically connected with the data processing unit, with the three-dimensional point cloud number according to the object to be measured
According to three-dimensional modeling is carried out, threedimensional model corresponding to the object to be measured is obtained, and the threedimensional model is shown.
2. endoscope according to claim 1, it is characterised in that the laser ranging unit also includes sight glass head, institute
Stating sight glass head includes fixed pedestal, and the laser range sensor is arranged in correspondence with the fixed pedestal, to be installed on
The sight glass head.
3. endoscope according to claim 2, it is characterised in that the direction adjustment unit includes driving structure, described
Driving structure is arranged in the sight glass head and is fixedly connected with the fixed pedestal, to drive the fixed pedestal to described
The measurement direction of laser range sensor is adjusted.
4. endoscope according to claim 3, it is characterised in that the number of the fixed pedestal, the driving structure
Number is identical with the number of the laser range sensor.
5. endoscope according to claim 4, it is characterised in that the number of the laser range sensor is four, its
In a laser range sensor be arranged at the center on the sight glass head, the other three laser range sensor is in isosceles triangle
Around ground rotational symmetry is arranged at the center on the sight glass head.
6. endoscope according to claim 1, it is characterised in that it is described modeling display unit include three-dimensional modeling module and
Model display module；
The three-dimensional modeling module is used to carry out three-dimensional modeling according to the three dimensional point cloud of object to be measured, and it is described to be measured right to obtain
As corresponding threedimensional model；
The model display module is electrically connected with the three-dimensional modeling module, for being shown to the threedimensional model.
A kind of 7. endoscopic detection method, applied to the endoscope described in any one in claim 1-6, it is characterised in that institute
Stating endoscopic detection method includes：
The distance between endoscope under different measurement directions and object to be measured are measured, obtain corresponding range data；
The endoscope and the distance between object to be measured data measured is handled, obtains the three-dimensional point of the object to be measured
Cloud data；
Three-dimensional modeling is carried out according to the three dimensional point cloud of the object to be measured, obtains three-dimensional mould corresponding to the object to be measured
Type, and the threedimensional model is shown.
8. endoscopic detection method according to claim 7, it is characterised in that it is described to endoscope under different measurement directions with
The distance between object to be measured measures, obtain corresponding to range data the step of include：
The measurement direction of laser ranging unit is adjusted according to preset direction adjustable strategies, makes the laser ranging unit pair
The distance between laser ranging unit and object to be measured measure under different measurement directions, obtain corresponding under different measurement directions
Range data.
9. endoscopic detection method according to claim 8, it is characterised in that the described pair of endoscope measured with it is to be measured right
As the distance between data handled, obtain the three dimensional point cloud of the object to be measured the step of include：
Coordinate Conversion is carried out to the distance between laser ranging unit under different measurement directions and object to be measured data, obtained same
Three-dimensional coordinate corresponding to each measured point of measurand under coordinate system, so as to obtain the three dimensional point cloud of the object to be measured.
10. endoscopic detection method according to claim 8, it is characterised in that the endoscopic detection method also includes：
It is configured to adjust the preset direction adjustable strategies of endoscope measurement direction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710768342.1A CN107432731A (en) | 2017-08-31 | 2017-08-31 | Endoscope and endoscopic detection method |
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| CN201710768342.1A CN107432731A (en) | 2017-08-31 | 2017-08-31 | Endoscope and endoscopic detection method |
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| CN107432731A true CN107432731A (en) | 2017-12-05 |
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| CN201710768342.1A Pending CN107432731A (en) | 2017-08-31 | 2017-08-31 | Endoscope and endoscopic detection method |
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| CN112089389A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Capsule endoscope system with three-dimensional modeling function |
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| CN113925441A (en) * | 2021-12-17 | 2022-01-14 | 极限人工智能有限公司 | Imaging method and imaging system based on endoscope |
| CN113925441B (en) * | 2021-12-17 | 2022-05-03 | 极限人工智能有限公司 | Imaging method and imaging system based on endoscope |
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