CN113945365A

CN113945365A - Detection system and method for hard endoscope

Info

Publication number: CN113945365A
Application number: CN202111558403.4A
Authority: CN
Inventors: 姚绍卫; 赵建华; 颜廷善; 雷蒙杰
Original assignee: Nanjing Mingrui Testing Technology Co ltd
Current assignee: Nanjing Mingrui Testing Technology Co ltd
Priority date: 2021-12-20
Filing date: 2021-12-20
Publication date: 2022-01-18
Anticipated expiration: 2041-12-20
Also published as: CN113945365B

Abstract

A detection system and method for a rigid endoscope, comprising: the endoscope comprises an adjustable optical platform, an endoscope clamping system and a workbench; the adjustable optical platform and the endoscope clamping system are respectively arranged on two sides of the top of the workbench; the adjustable optical platform comprises a cosine radiator, a measuring mark plate, a front and back adjusting device, a left and right adjusting device, a rotary adjusting device and a vertical adjusting device; the combination of other structures and methods effectively avoids the defects that the measurement of the initial field angle and the viewing direction angle of the endoscope, the measurement of the entrance pupil field angle and the measurement of the image quality, namely the angle resolution, cannot be carried out on a centralized platform, the measurement efficiency of the endoscope is low, and the flexible adjustment of the position of the target plate, the resolution plate, the chuck and the CCD camera cannot be carried out in the detection process in the prior art.

Description

Detection system and method for hard endoscope

Technical Field

The invention relates to the technical field of endoscope detection, in particular to a detection system and method for a hard endoscope.

Background

The hard endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software into a whole. One with an image sensor, optical lens, light source illumination, mechanical device, etc. In particular, hard endoscopes, which play a crucial role in surgical diagnosis and therapy, serve as diagnostic devices and critical guidance devices essential in minimally invasive surgery. The endoscope performance state can be known through daily detection and maintenance of the endoscope, medical accidents caused by the endoscope can be effectively avoided, and clinical use risks are reduced.

However, some medical institutions do not perform measurement and detection work related to a rigid endoscope, and lack regular detection and maintenance measures for a rigid endoscope, and specifically, during measurement and detection of an endoscope, that is, during measurement and detection of an initial angle of view and a direction of view of an endoscope, measurement of an angle of entrance pupil, and measurement of image quality, that is, angular resolution, currently, measurement of an initial angle of view and a direction of view of an endoscope, measurement of an angle of entrance pupil, and measurement of image quality, that is, angular resolution are performed separately on different devices, and measurement of an initial angle of view and a direction of view of an endoscope, measurement of an angle of entrance pupil, and measurement of image quality, that is, angular resolution cannot be performed on one centralized platform, so that measurement efficiency on an endoscope is low, and measurement efficiency on a target plate, a resolution plate, and the like cannot be performed during detection The chuck and the CCD camera are flexibly adjusted in position.

Disclosure of Invention

In order to solve the problems, the invention provides a detection system and a detection method for a rigid endoscope, which effectively overcome the defects that the prior art cannot measure the initial angle of view and the direction of view of the endoscope on a centralized platform, measure the angle of view of the entrance pupil and the image quality, namely the angle resolution, has low measurement efficiency of the endoscope, and cannot flexibly adjust the position of a target measuring plate, a resolution plate, a chuck and a CCD camera in the detection process.

To overcome the deficiencies in the prior art, the present invention provides a solution for a detection system and method for a rigid endoscope, specifically as follows:

a detection system for a rigid endoscope, comprising:

an adjustable optical platform, an endoscope clamping system and a workbench 7;

the adjustable optical platform and the endoscope clamping system are respectively arranged on two sides of the top of the workbench 7;

the adjustable optical platform comprises a cosine radiator 1, a survey mark plate 2, a front and back adjusting device 3, a left and right adjusting device 4, a rotary adjusting device and a vertical adjusting device 6;

the cosine radiator 1 is arranged on the front and rear adjusting device 3, the cosine radiator 1 is connected with a power supply through a switch button, the measuring mark plate 2 is fixed on the cosine radiator 1, one side plate surface of the measuring mark plate 2 is attached to a light emitting surface of the cosine radiator 1 as the right side surface, and an angular displacement sensor connected with a controller is arranged on the measuring mark plate;

the front and back adjusting device 3 is arranged on the vertical adjusting device 6;

the vertical adjusting device 6 is arranged on the left-right adjusting device 4;

the left-right adjusting device 4 is arranged on the rotary adjusting device;

the endoscope clamping system comprises a fixed seat 8, a guide rail seven 9, a first adjusting mechanism 10, a second adjusting mechanism 11 and a third adjusting mechanism 12;

the guide rail seven 9 is arranged at the top of the fixed seat 8, the length of the guide rail seven 9 extends towards the left and right direction, and the adjusting mechanism I10, the adjusting mechanism II 11 and the adjusting mechanism III 12 are movably connected to the guide rail 9 in sequence from left to right;

the controller is also connected with the wireless communication module and is connected with the monitoring platform through the wireless communication module;

the unit running on the monitoring platform comprises:

a receiving unit, configured to receive an information packet of result value information, where the information packet has a sequence tag one;

a processing unit for marking whether the information message is the previous information message of the acquired information message according to the sequence;

the temporary storage unit is used for sending the sequence mark into a temporary storage space for transmitting again if the previous information message is not obtained;

and the traversal unit is used for periodically traversing the temporary storage space for re-delivery, and when the temporary storage space for re-delivery is determined to have the sequence mark with the feeding time interval size not less than the overdue time interval size, transmitting a re-delivery command to the controller, wherein the re-delivery command has the sequence mark with the feeding time interval size not less than the overdue time interval size.

Furthermore, the left side surface of the cosine radiator 1 is arranged on a first sliding block and a second sliding block of a front and back adjusting device 3, and the front and back adjusting device 3 comprises a first guide rail 3-1, a second guide rail 3-2, a first screw rod 3-3, a first screw rod nut 3-8, a first stepping motor 3-4, a first stepping motor driver 3-9, a controller 3-10, a first fixing plate 3-5, a first sliding block 3-6 and a second sliding block 3-7;

the first sliding block 3-6 and the second sliding block 3-7 are movably arranged in the first guide rail 3-1 and the second guide rail 3-2 respectively, the length directions of the first guide rail 3-1 and the second guide rail 3-2 extend towards the front and back directions, and the first guide rail 3-1 and the second guide rail 3-2 are arranged on the first fixing plate 3-5 from top to bottom;

the output end of the first stepping motor 3-4 is connected with one end of the first screw rod 3-3, the first screw rod nut 3-8 is sleeved on the first screw rod 3-3, the first screw rod nut 3-8 is fixedly connected with the second slider 3-7, the first stepping motor 3-4 is connected with the first stepping motor driver 3-9, and the first stepping motor driver 3-9 is connected with the controller.

Further, the vertical adjusting device 6 comprises a guide rail III 6-1, a guide rail IV 6-2, a screw rod II 6-3, a screw rod nut II 6-8, a stepping motor II 6-4, a stepping motor driver II 6-9, a fixing plate II 6-5, a sliding block III 6-6 and a sliding block IV 6-7;

the third sliding block 6-6 and the fourth sliding block 6-7 are fixedly connected with the first fixing plate;

the third sliding block 6-6 and the second sliding block 6-7 are movably arranged in the third guide rail 6-1 and the fourth guide rail 6-2 respectively, the length directions of the third guide rail 6-1 and the fourth guide rail 6-2 are vertically extended, and the third guide rail 6-1 and the fourth guide rail 6-2 are arranged on the second fixing plate 6-5 in sequence from front to back;

the output end of the second stepping motor 6-4 is connected with one end of the second screw rod 6-3, the second screw rod nut 6-8 is sleeved on the second screw rod 6-3, the second screw rod nut 6-8 is fixedly connected with the fourth slider 6-7, the second stepping motor 6-4 is connected with the second stepping motor driver 6-9, and the second stepping motor driver 6-9 is connected with the controller.

Further, the left-right adjusting device 4 comprises a guide rail five 4-1, a guide rail six 4-2, a screw rod three 4-3, a screw rod nut three 4-8, a stepping motor three 4-4, a stepping motor driver three 4-9, a fixing plate three 4-5, a slide block five 4-6 and a slide block six 4-7;

the five sliding blocks 4-6 and the six sliding blocks 4-7 are fixedly connected with the second fixing plate;

the slide block five 4-6 and the slide block six 4-7 are movably arranged in the guide rail five 4-1 and the guide rail six 4-2 respectively, the length directions of the guide rail five 4-1 and the guide rail six 4-2 extend towards the left and right directions, and the guide rail five 4-1 and the guide rail six 4-2 are arranged on the fixed plate three 4-5 in sequence from front to back;

the output end of the stepping motor III 4-4 is connected with one end of the screw rod III 4-3, the screw rod nut III 4-8 is sleeved on the screw rod III 4-3, the screw rod nut III 4-8 is fixedly connected with the slide block V4-7, the stepping motor III 4-4 is connected with the stepping motor driver III 4-9, and the stepping motor driver III 4-9 is connected with the controller.

Further, the rotation adjusting means includes: 5-1 parts of a base, 5-2 parts of a worm wheel, 5-3 parts of a worm, 5-4 parts of a stepping motor, 5-5 parts of a turntable and 5-6 parts of a stepping motor driver;

the third fixing plate 4-5 is fixed on the turntable 5-5;

the base 5-1 is fixed on the workbench 7, the base 5-1 is provided with a stepping motor four 5-4, the output end of the stepping motor 5-4 is connected with one end of a worm 5-3, the worm 5-3 is meshed with a worm wheel 5-2, the turntable 5-5 is connected with the worm wheel, the stepping motor four 5-4 is connected with a stepping motor driver four 5-6, and the stepping motor driver four 5-6 is connected with the controller.

Further, the adjusting mechanism I10 comprises a sliding block seven 10-1, an X-axis fine adjustment platform I10-2, a Z-axis fine adjustment platform I10-3, a quick-assembly base I10-4, a vertical telescopic rod I10-5 and a clamp head I10-6;

the sliding block seven 10-1 is movably arranged in the guide rail seven 9, and the sliding block seven 10-1, the X-axis fine adjustment platform I10-2, the Z-axis fine adjustment platform I10-3, the fast-assembly base I10-4, the vertical telescopic rod I10-5 and the clamp head I10-6 are sequentially connected in the direction from bottom to top.

Further, the second adjusting mechanism 11 comprises a slide block eight 11-1, an X-axis fine adjusting platform two 11-2, a Z-axis fine adjusting platform two 11-3, a fast-assembling base two 11-4, a vertical telescopic rod two 11-5 and a chuck two 11-6;

the eight sliding block 11-1 is movably arranged in the guide rail seven 9, and the eight sliding block 11-1, the X-axis fine adjustment platform II 11-2, the Z-axis fine adjustment platform II 11-3, the fast-assembly base II 11-4, the vertical telescopic rod II 11-5 and the chuck II 11-6 are sequentially connected in the direction from bottom to top.

Further, the adjusting mechanism III 12 comprises a slide block nine 12-1, an X-axis fine adjustment platform III 12-2, a Z-axis fine adjustment platform III 12-3, a fast-assembly base III 12-4, a Z-axis lifting platform 12-5 and a mounting seat 12-6;

the slider nine 12-1 is movably arranged in the guide rail seven 9, and the slider nine 12-1, the X-axis fine adjustment platform three 12-2, the Z-axis fine adjustment platform three 12-3, the fast-assembly base three 12-4, the Z-axis lifting platform 12-5 and the mounting seat 12-6 are sequentially connected in the direction from bottom to top.

A method for a detection system of a rigid endoscope, comprising the steps of:

step 1: the endoscope is fixed on an endoscope clamping system, namely, a CCD camera is installed on an installation seat and connected with a controller, an endoscope lens is installed on a lens of the CCD camera and an optical axis of the endoscope lens is kept to be coincident with an optical axis of a lens of the CCD camera, then the endoscope is fixed through an optical bayonet of the endoscope lens, so that a visual axis of the endoscope is coincident with the optical axis of the endoscope lens and kept horizontal, and then an optical lens body of the endoscope is clamped by a first clamping head and a second clamping head;

step 2: measuring an initial angle of view and an angle of view;

and step 3: measuring the entrance pupil field angle;

and 4, step 4: measuring image quality, namely angle resolution;

and 5: and transmitting the obtained result values of the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution to a monitoring platform in real time for displaying so as to monitor in real time.

In the present invention, the step 2 specifically includes:

the controller controls a third stepping motor driver of the left-right adjusting device to operate a third stepping motor, the third stepping motor drives a fifth sliding block and a sixth sliding block to move so as to pull a third screw rod to move so as to move a measuring board to 50mm of optical working distance of the endoscope, a switch button is pressed to illuminate a cosine radiator, a concentric circle type differentiation ring is arranged on the measuring board, a central cross line is marked on the differentiation ring, scales with mm as a unit are arranged on the central cross line, each circle in the concentric circles represents one differentiation ring, an image of the measuring board is collected by the endoscope through a CCD camera and is sent to the controller, the largest visible differentiation ring on the image of the measuring board is determined visually and is used as the differentiation ring for deducing an initial field angle, the diameter D of the differentiation ring of the initial field angle is obtained according to the scales on the central line of the cross, and is recorded in the controller so as to deduce the initial field angle, finally, the controller operates the first stepping motor by controlling the first stepping motor driver of the front and back adjusting device, operates the third stepping motor by controlling the third stepping motor driver of the left and right adjusting device, operates the fourth stepping motor by controlling the fourth stepping motor driver of the rotary adjusting device and operates the second stepping motor by controlling the second stepping motor driver of the vertical adjusting device, so that the visual axis of the endoscope is perpendicular to the right wall surface of the target plate and faces the center of the target plate, and the angular displacement sensor transmits the rotating angle value of the target plate into the controller as a visual angle;

the method for deducing the initial field angle comprises the following steps: the diameter D of the differentiation ring on the measuring board for deducing the initial field angle is calculated by the formula:

wherein:βto representThe initial field of view in degrees, d represents the optical working distance in millimeters, and the diameter of the ring is known from a prior measurement, from which the initial field of view can be derived.

In the present invention, the step 3 specifically includes: under the condition that the visual axis of the endoscope is perpendicular to the right wall surface of the target plate and is directly opposite to the center of the target plate, the target plate is moved along the optical axis direction of the endoscope by using a controller to operate a stepping motor III through controlling a stepping motor driver III of a left-right adjusting device, so that the minimum differentiation ring of the target plate is superposed with the visual field of a CCD (charge coupled device) camera and is perpendicular to the visual axis of the endoscope, two marks are respectively made at the top point of the tail end of the endoscope and the center position of the differentiation ring of the target plate, a length measuring tool is used for measuring the distance between the two marks, and the distance between the two marks is registered as d in millimeter unit₁And operating the third stepping motor to move the target plate along the optical axis direction by using the controller through controlling the third stepping motor driver of the left-right adjusting device again so that the maximum differentiation ring of the target coincides with the field of view and is perpendicular to the optical axis of the endoscope, and measuring and registering the distance d between the top of the end of the endoscope and the central position of the differentiation ring of the target by using the length measuring tool_2，d₂In mm, from which the entrance pupil field angle is calculated

And the distance between the entrance pupil and the vertex

；

The calculated entrance pupil field angle

And the distance between the entrance pupil and the vertex

The method comprises the following steps: the measuring mark is marked with a maximum differentiation ring and a minimum differentiation ring, the diameters of the maximum differentiation ring and the minimum differentiation ring are respectively 25mm and 50mm, and the calculation formula of the entrance pupil field angle is as follows:

the vertex distance calculation formula is as follows:

。

in the present invention, the step 4 specifically includes: disconnecting the switch button, then detaching the mark measuring plate and fixing the replacing component distinguishing plate on the cosine radiating body, wherein one side plate surface of the mark measuring plate is attached to the luminous surface of the cosine radiating body as the right side surface, operating the distinguishing plate by the controller through controlling the third step motor driver of the left and right adjusting device to move the third step motor along the optical axis direction to fix the distinguishing plate at the optical working distance set by the endoscope, pressing the switch button to illuminate the cosine radiating body, operating the first step motor by controlling the first step motor driver of the front and rear adjusting device, operating the third step motor by controlling the third step motor driver of the left and right adjusting device, operating the fourth step motor by controlling the fourth step motor driver of the rotary adjusting device or operating the second step motor by controlling the second step motor driver of the vertical adjusting device to adjust the position of the distinguishing plate or adjust the angle of the distinguishing plate, adjusting the experimental pattern with the identifiable limit to a field position corresponding to the test, acquiring an image for the resolution plate through the endoscope by a CCD industrial camera, transmitting the image to a controller, and determining the angular resolution of the endoscope by visually measuring the number of identifiable lines per millimeter with lp/mm as a unit for the image;

determining the angular resolution of an endoscope

The method comprises the following steps: the angle resolution calculation formula is as follows:

wherein: r (d) represents the number of limit discernable line pairs per millimeter in lp/mm, a represents the endoscope tip to entrance pupil distance in millimeters, and d represents the optical working distance in millimeters.

In step 5, the method for transmitting the obtained result values of the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution to the monitoring platform in real time in the format of the information message by the controller for displaying specifically includes:

step 5-1: the monitoring platform receives an information message of result value information through the controller;

step 5-2: the monitoring platform determines whether the information message is the previous information message of the acquired information message according to the sequence mark one;

step 5-3: if the previous information message is not obtained, the monitoring platform sends the sequence mark to a temporary storage space for transmitting again;

step 5-4: periodically executing traversal on the temporary storage space for re-transmission;

step 5-5: when a sequence mark having a feeding period size not less than an overdue period size in the buffer space for retransmission is recognized, a retransmission command is transmitted to the controller.

Further, in step 5-1, after the monitoring platform obtains the information packet, the monitoring platform can also determine whether the information packet is a header packet, which specifically includes:

step 5-1-1: the monitoring platform receives information messages through the controller;

step 5-1-2: the monitoring platform determines whether the information message is the first message or not;

step 5-1-3: when the sequence mark II of the information message is identified to be the same as the sequence mark in the temporary storage space for transmitting again, deleting the same sequence mark in the temporary storage space for transmitting again;

step 5-1-4: and starting another round of periodic finishing time interval of the result value information, setting zero to a temporary storage space for retransmission, and discarding the retransmitted information message in the periodic finishing time interval of the previous result value information when the retransmitted information message in the periodic finishing time interval of the previous result value information is obtained.

The step 5 further comprises:

step 5-a-1, when the time interval during which the monitoring platform does not obtain the information message is not less than the preset maximum receiving time interval, the monitoring platform transmits a detection message to the controller;

step 5-a-2, the monitoring platform determines whether the response message of the detection message is obtained through the controller;

step 5-a-3, the monitoring platform determines whether the controller is on-line or not;

and 5-a-4, transmitting a detection message back to the controller at each preset time interval of the monitoring platform, and stopping when the number of the transmitted detection messages is equal to the preset number of the detection messages or the response messages of the detection messages are received.

The identification method of the sequence mark two comprises the following steps:

the sequence mark of the first message is zero;

when the sequence mark of the current information message is second X, and the time distance between the information message transmitted in the current 1ms and the previous information message is Yms, if the controller only transmits one information message in the current 1ms, the sequence mark of the information message transmitted in the current 1ms is second X + Y, wherein X is not lower than one, Y is higher than one, and X and Y are both natural numbers;

if Z information messages are transmitted in the current 1ms, the highest sequence mark transmitted in the current 1ms is X + Y + Z-1.

After the controller transmits Z information messages in the current 1ms, when the time interval for transmitting the later information message and the current information message is Ums, if X + Y + U is higher than X + Y + Z-1, the sequence mark II of the later information message is X + Y + U;

and if the X + Y + U is not higher than the X + Y + Z-1, the sequence mark two of the next information message is regarded as X + Y + Z.

The invention has the beneficial effects that:

through adjustable optics platform, endoscope clamping system and workstation, just can realize carrying out the measurement of the initial angle of view and the angle of sight of endoscope on a concentrated platform, carry out the survey of entrance pupil angle of view and carry out the survey of image quality promptly angle resolution, the endoscope measurement efficiency has been improved, install the CCD camera on the mount pad earlier and link to each other the CCD camera with the controller, when needing to adjust the position of CCD camera, can adjust the position of CCD camera in the horizontal direction through the slider in the removal guide rail seven and adjust X axle fine setting platform three, and can adjust the CCD camera in vertical position through adjusting Z axle fine setting platform three in addition. In addition, when the first chuck and the second chuck are used for clamping an optical lens body of the endoscope, and the positions of the first chuck and the second chuck are required to be adjusted, the position of the first chuck in the horizontal direction can be adjusted by moving a sliding block seventh in a guide rail seventh and adjusting a first X-axis fine adjustment platform, and the position of the first chuck in the horizontal direction can be adjusted by adjusting a first Z-axis fine adjustment platform and a first vertical telescopic rod; the horizontal position of the second chuck can be adjusted by moving the eighth slide block in the guide rail seventh and adjusting the second X-axis fine adjustment platform, and the vertical position of the second chuck can be adjusted by adjusting the second Z-axis fine adjustment platform and the second vertical telescopic rod, so that the purpose of flexibly adjusting the positions of the second chuck and the CCD camera can be realized; the mode that the controller runs step motor one through the step motor driver one of controlling adjusting device around controlling, runs step motor three through the step motor driver three of controlling adjusting device about, runs step motor four through the step motor driver four of controlling rotatory adjusting device and runs step motor two through the step motor driver two of controlling vertical adjusting device makes the visual axis of endoscope and the right wall of target finding board perpendicular and face the center of target finding board specifically includes: the controller operates the first stepping motor by controlling the first stepping motor driver of the front and back adjusting device, the first traction screw rod drives the first sliding block and the second sliding block to move back and forth, so that the position of the measuring plate in the front and back direction can be adjusted, the controller operates the third stepping motor by controlling the third stepping motor driver of the left and right adjusting device, the traction screw rod three drives the slide block five and the slide block six to move left and right, so that the position of the measuring target plate in the left and right direction can be adjusted, the rotating disc can rotate by controlling the stepping motor driver IV of the rotation adjusting device to operate the stepping motor IV, so as to adjust the position of the measuring mark plate in the circumferential direction, the second stepping motor driver of the vertical adjusting device is controlled to operate the second stepping motor, so that the second lead screw can be pulled to drive the third sliding block and the fourth sliding block to vertically move, and the position of the marking plate in the vertical direction can be adjusted. Therefore, the position of the measuring target plate can be adjusted in all directions of up-down, left-right, vertical and circumferential directions in such a mode. The method for adjusting the position of the resolution plate or adjusting the angle of the resolution plate by the controller comprises the following steps of controlling a first step motor driver of a front and back adjusting device to operate a first step motor, controlling a third step motor driver of a left and right adjusting device to operate a third step motor, controlling a fourth step motor driver of a rotary adjusting device to operate a fourth step motor or controlling a second step motor driver of a vertical adjusting device to operate a second step motor, and the method comprises the following steps: the controller operates the first stepping motor by controlling the first stepping motor driver of the front and back adjusting device, the first traction screw rod drives the first sliding block and the second sliding block to move back and forth, so that the position of the resolution plate in the front and back direction can be adjusted, the controller operates the third stepping motor by controlling the third stepping motor driver of the left and right adjusting device, the traction screw rod three drives the slide block five and the slide block six to move left and right, so that the position of the resolution plate in the left and right direction can be adjusted, the rotating disc can rotate by controlling the stepping motor driver IV of the rotation adjusting device to operate the stepping motor IV, so as to adjust the position of the resolution plate on the circumferential direction, the second stepping motor driver of the vertical adjusting device is controlled to operate the second stepping motor, so that the second lead screw can be pulled to drive the third sliding block and the fourth sliding block to vertically move, and the position of the resolution plate on the vertical direction can be adjusted. Thus, the position of the resolution plate can be adjusted in all directions of up-down, left-right, vertical and circumferential directions. The defects that in the prior art, the measurement of the initial field angle and the viewing direction angle of the endoscope on a centralized platform, the measurement of the entrance pupil field angle and the measurement of the image quality, namely the angle resolution, are not realized, the measurement efficiency of the endoscope is low, and the flexible adjustment of the position of a target measuring plate, a resolution plate, a chuck and a CCD camera cannot be realized in the detection process are effectively overcome.

Drawings

FIG. 1 is a flow chart of a method of the present invention for a detection system for a rigid endoscope;

FIG. 2 is a block diagram of a detection system for a rigid endoscope in accordance with the present invention;

FIG. 3 is a block diagram of a fore-aft adjustment device according to the present invention;

fig. 4 is a block diagram of a vertical adjustment mechanism according to the present invention.

Fig. 5 is a structural view of the left-right adjusting device according to the present invention.

Fig. 6 is a structural view of a rotation adjusting device according to the present invention.

Fig. 7 is a structural diagram of a first adjusting mechanism according to the invention.

Fig. 8 is a structural diagram of a second adjusting mechanism according to the present invention.

Fig. 9 is a structural view of a third adjustment mechanism according to the present invention.

Detailed Description

The invention will be further described with reference to the following figures and examples.

As shown in fig. 1 to 9, a detection system for a rigid endoscope includes:

an adjustable optical platform, an endoscope clamping system and a workbench 7;

the cosine radiator 1 is arranged on the front and rear adjusting device 3, the cosine radiator 1 is connected with a power supply through a switch button, the measuring mark plate 2 is fixed on the cosine radiator 1, one side plate surface of the measuring mark plate 2 is attached to a light emitting surface of the cosine radiator 1 as the right side surface, and the measuring mark plate is provided with an angular displacement sensor;

the left-right adjusting device 4 is arranged on the rotary adjusting device;

the controller is also connected with the wireless communication module and is connected with the monitoring platform through the wireless communication module; the monitoring platform can be a laptop or a PC in a wireless network such as a WLAN, a GPRS network, a 3G network or a 4G network. The wireless communication module can be a WIFI module, a GPRS module, a 3G module, or a 4G module.

The unit running on the monitoring platform comprises:

a receiving unit, configured to receive an information packet of result value information, where the information packet has a sequence flag one;

The left side surface of the cosine radiator 1 is arranged on a first sliding block and a second sliding block of a front and back adjusting device 3, and the front and back adjusting device 3 comprises a first guide rail 3-1, a second guide rail 3-2, a first screw rod 3-3, a first screw rod nut 3-8, a first stepping motor 3-4, a first stepping motor driver 3-9, a controller 3-10, a first fixing plate 3-5, a first sliding block 3-6 and a second sliding block 3-7; the controllers 3-10 can be single-chip microcomputers or upper computers.

The vertical adjusting device 6 comprises a guide rail III 6-1, a guide rail IV 6-2, a screw rod II 6-3, a screw rod nut II 6-8, a stepping motor II 6-4, a stepping motor driver II 6-9, a fixing plate II 6-5, a sliding block III 6-6 and a sliding block IV 6-7;

The left-right adjusting device 4 comprises a guide rail five 4-1, a guide rail six 4-2, a screw rod three 4-3, a screw rod nut three 4-8, a stepping motor three 4-4, a stepping motor driver three 4-9, a fixing plate three 4-5, a sliding block five 4-6 and a sliding block six 4-7;

The rotation adjustment device includes: 5-1 parts of a base, 5-2 parts of a worm wheel, 5-3 parts of a worm, 5-4 parts of a stepping motor, 5-5 parts of a turntable and 5-6 parts of a stepping motor driver;

the third fixing plate 4-5 is fixed on the turntable 5-5;

the base 5-1 is fixed on the workbench 7, the base 5-1 is provided with a stepping motor four 5-4, the output end of the stepping motor 5-4 is connected with one end of a worm 5-3, the worm 5-3 is meshed with a worm wheel 5-2, the turntable 5-5 is connected with the worm wheel, the stepping motor four 5-4 is connected with a stepping motor driver four 5-6, and the stepping motor driver four 5-6 is connected with the controller. The types of the first stepping motor driver, the second stepping motor driver, the third stepping motor driver and the fourth stepping motor driver can be BJD986 type stepping motor drivers, and the types of the first stepping motor driver, the second stepping motor driver, the third stepping motor driver and the fourth stepping motor driver are JS-50T; the controller can be an STC12C type chip.

The adjusting mechanism I10 comprises a sliding block seven 10-1, an X-axis fine adjustment platform I10-2, a Z-axis fine adjustment platform I10-3, a quick-assembly base I10-4, a vertical telescopic rod I10-5 and a clamp head I10-6; the model of the X-axis fine tuning platform I is as follows: model number of LGX60-C, Z axle fine tuning platform I: LZ60, model number of fast-assembling base I: QR 60.

The second adjusting mechanism 11 comprises a slide block eight 11-1, an X-axis fine adjustment platform two 11-2, a Z-axis fine adjustment platform two 11-3, a fast-assembly base two 11-4, a vertical telescopic rod two 11-5 and a chuck two 11-6; the model of the X-axis fine tuning platform II is as follows: model number of LGX60-C, Z axle fine tuning platform two: model of LZ60, fast-assembling base II: QR 60.

The third adjusting mechanism 12 comprises a slide block nine 12-1, an X-axis fine adjustment platform three 12-2, a Z-axis fine adjustment platform three 12-3, a fast-assembly base three 12-4, a Z-axis lifting platform 12-5 and a mounting seat 12-6; model number of the X-axis fine tuning platform III: model number of LGX60-C, Z axle fine tuning platform III: model of LZ60, fast-assembling base III: the model of the QR60 and the Z-axis lifting platform is LWZ 25-L70.

A method for a detection system for a rigid endoscope, comprising the steps of:

step 1: the endoscope is fixed on an endoscope clamping system, namely, a CCD camera is installed on an installation seat and connected with a controller, an endoscope lens is installed on a lens of the CCD camera and an optical axis of the endoscope lens is kept to be coincident with an optical axis of a lens of the CCD camera, then the endoscope is fixed through an optical bayonet of the endoscope lens, so that a visual axis of the endoscope is coincident with the optical axis of the endoscope lens and kept horizontal, and then an optical lens body of the endoscope is clamped by a first clamping head and a second clamping head; when the CCD camera is installed on the installation seat and connected with the controller, and the position of the CCD camera needs to be adjusted, the position of the CCD camera in the horizontal direction can be adjusted by moving the sliding block in the guide rail seven 9 and adjusting the X-axis fine adjustment platform III, and the position of the CCD camera in the vertical direction can be adjusted by adjusting the Z-axis fine adjustment platform III. In addition, when the first chuck and the second chuck are used for clamping an optical lens body of an endoscope, when the positions of the first chuck and the second chuck are required to be adjusted, the position of the first chuck in the horizontal direction can be adjusted by moving a sliding block seventh in a guide rail seventh and adjusting a first X-axis fine adjustment platform, and the position of the first chuck in the horizontal direction can be adjusted by adjusting a first Z-axis fine adjustment platform 10-3 and a first vertical telescopic rod 10-5; the position of the second chuck in the horizontal direction can be adjusted by moving the eighth slide block in the guide rail seventh and adjusting the second X-axis fine adjustment platform, and the position of the second chuck in the vertical direction can be adjusted by adjusting the second Z-axis fine adjustment platform and the second vertical telescopic rod;

step 2: measuring an initial angle of view and an angle of view;

and step 3: measuring the entrance pupil field angle;

and 4, step 4: measuring image quality, namely angle resolution;

In the present invention, the step 2 specifically includes:

the controller controls a third stepping motor driver of the left-right adjusting device to operate a third stepping motor, the third stepping motor drives a fifth sliding block and a sixth sliding block to move so as to pull a third screw rod to move so as to move a measuring board to 50mm of optical working distance of the endoscope, a switch button is pressed to illuminate a cosine radiator, a concentric circle type differentiation ring is arranged on the measuring board, a central cross line is marked on the differentiation ring, scales with mm as a unit are arranged on the central cross line, each circle in the concentric circles represents one differentiation ring, an image of the measuring board is collected by the endoscope through a CCD camera and is sent to the controller, the largest visible differentiation ring on the image of the measuring board is determined visually and is used as the differentiation ring for deducing an initial field angle, the diameter D of the differentiation ring of the initial field angle is obtained according to the scales on the central line of the cross, and is recorded in the controller so as to deduce the initial field angle, finally, the controller operates the first stepping motor by controlling the first stepping motor driver of the front and back adjusting device, operates the third stepping motor by controlling the third stepping motor driver of the left and right adjusting device, operates the fourth stepping motor by controlling the fourth stepping motor driver of the rotary adjusting device and operates the second stepping motor by controlling the second stepping motor driver of the vertical adjusting device, so that the visual axis of the endoscope is perpendicular to the right wall surface of the target plate and faces the center of the target plate, specifically, the visual axis of the endoscope is perpendicular to the right wall surface of the target plate and faces the center of the target plate by observing that the central line of the visual field of the CCD camera is superposed with the central line of the target plate, and the angular displacement sensor transmits the rotating angle value of the target plate to the controller as a viewing angle; the mode that the controller runs step motor one through the step motor driver one of controlling adjusting device around controlling, runs step motor three through the step motor driver three of controlling adjusting device about, runs step motor four through the step motor driver four of controlling rotatory adjusting device and runs step motor two through the step motor driver two of controlling vertical adjusting device makes the visual axis of endoscope and the right wall of target finding board perpendicular and face the center of target finding board specifically includes: the controller operates the first stepping motor by controlling the first stepping motor driver of the front and back adjusting device, the first traction screw rod drives the first sliding block and the second sliding block to move back and forth, so that the position of the measuring plate in the front and back direction can be adjusted, the controller operates the third stepping motor by controlling the third stepping motor driver of the left and right adjusting device, the traction screw rod three drives the slide block five and the slide block six to move left and right, so that the position of the measuring target plate in the left and right direction can be adjusted, the rotating disc can rotate by controlling the stepping motor driver IV of the rotation adjusting device to operate the stepping motor IV, so as to adjust the position of the measuring mark plate in the circumferential direction, the second stepping motor driver of the vertical adjusting device is controlled to operate the second stepping motor, so that the second lead screw can be pulled to drive the third sliding block and the fourth sliding block to vertically move, and the position of the marking plate in the vertical direction can be adjusted. Therefore, the position of the measuring target plate can be adjusted in all directions of up-down, left-right, vertical and circumferential directions in such a mode.

wherein:βdenotes the initial field angle in degrees, d denotes the angle in milliThe optical working distance is meter, the diameter of the division ring is determined in advance and known, the initial field angle can be deduced according to the formula, division main rings in an arc line state are marked at intervals of 10 degrees on the measuring board, the division main rings are marked with corresponding degree marks, and 4 division secondary rings representing an arc line state of 2 degrees are subdivided between every two division main rings.

In the present invention, the step 3 specifically includes: under the condition that the visual axis of the endoscope is perpendicular to the right wall surface of the target plate and is directly opposite to the center of the target plate, the target plate is moved along the optical axis direction of the endoscope by using a controller to operate a stepping motor III through controlling a stepping motor driver III of a left-right adjusting device, so that the minimum differentiation ring of the target plate is superposed with the visual field of a CCD (charge coupled device) camera and is perpendicular to the visual axis of the endoscope, two marks are respectively made at the top point of the tail end of the endoscope and the center position of the differentiation ring of the target plate, a length measuring tool such as a graduated scale is used for measuring the distance between the two marks, and the distance between the two marks is registered as d in millimeter unit₁And operating the third stepping motor to move the target plate along the optical axis direction by using the controller through controlling the third stepping motor driver of the left-right adjusting device again so that the maximum differentiation ring of the target coincides with the field of view and is perpendicular to the optical axis of the endoscope, and measuring and registering the distance d between the top of the end of the endoscope and the central position of the differentiation ring of the target by using the length measuring tool_2，d₂In mm, from which the entrance pupil field angle is calculated

And the distance between the entrance pupil and the vertex

；

The calculated entrance pupil field angle

And the distance between the entrance pupil and the vertex

The method comprises the following steps: the measuring mark is marked with a maximum differentiation ringAnd a minimum differentiation ring, the diameters of the maximum differentiation ring and the minimum differentiation ring are respectively 25mm and 50mm, and the calculation formula of the entrance pupil field angle is as follows:

the vertex distance calculation formula is as follows:

。

in the present invention, the step 4 specifically includes: disconnecting the switch button, then detaching the mark measuring plate and fixing the replacing component distinguishing plate on the cosine radiating body, wherein one side plate surface of the mark measuring plate is attached to the luminous surface of the cosine radiating body as the right side surface, operating the distinguishing plate by the controller through controlling the third step motor driver of the left and right adjusting device to move the third step motor along the optical axis direction to fix the distinguishing plate at the optical working distance set by the endoscope, pressing the switch button to illuminate the cosine radiating body, operating the first step motor by controlling the first step motor driver of the front and rear adjusting device, operating the third step motor by controlling the third step motor driver of the left and right adjusting device, operating the fourth step motor by controlling the fourth step motor driver of the rotary adjusting device or operating the second step motor by controlling the second step motor driver of the vertical adjusting device to adjust the position of the distinguishing plate or adjust the angle of the distinguishing plate, adjusting the experimental pattern with the identifiable limit to a field position corresponding to the test, acquiring an image for the resolution plate through the endoscope by a CCD industrial camera, transmitting the image to a controller, and determining the angular resolution of the endoscope by visually measuring the number of identifiable lines per millimeter with lp/mm as a unit for the image; the method for adjusting the position of the resolution plate or adjusting the angle of the resolution plate by the controller comprises the following steps of controlling a first step motor driver of a front and back adjusting device to operate a first step motor, controlling a third step motor driver of a left and right adjusting device to operate a third step motor, controlling a fourth step motor driver of a rotary adjusting device to operate a fourth step motor or controlling a second step motor driver of a vertical adjusting device to operate a second step motor, and the method comprises the following steps: the controller operates the first stepping motor by controlling the first stepping motor driver of the front and back adjusting device, the first traction screw rod drives the first sliding block and the second sliding block to move back and forth, so that the position of the resolution plate in the front and back direction can be adjusted, the controller operates the third stepping motor by controlling the third stepping motor driver of the left and right adjusting device, the traction screw rod three drives the slide block five and the slide block six to move left and right, so that the position of the resolution plate in the left and right direction can be adjusted, the rotating disc can rotate by controlling the stepping motor driver IV of the rotation adjusting device to operate the stepping motor IV, so as to adjust the position of the resolution plate on the circumferential direction, the second stepping motor driver of the vertical adjusting device is controlled to operate the second stepping motor, so that the second lead screw can be pulled to drive the third sliding block and the fourth sliding block to vertically move, and the position of the resolution plate on the vertical direction can be adjusted. Thus, the position of the resolution plate can be adjusted in all directions of up-down, left-right, vertical and circumferential directions.

Determining the angular resolution of an endoscope

In step 5, the controller transmits the obtained result values of the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution to the monitoring platform in real time in the format of the information message for displaying so as to monitor in real time, and the result values of the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution which are to be detected by the controller are usually increased continuously; under specific application, result value information is often transmitted through a wireless link; the wireless transmission standard has its own drawbacks, such as the fact that the device has a lot of frequency in the outside, another device is blocked, or the magnetic field is disturbed, so that the transmission of the result value information is often hindered.

In the face of the phenomenon of loss of result value information transmission, the monitoring platform often transmits a piece of identification information to the controller as soon as obtaining the information message, so that the result value information is obtained by identification, namely, the information message is not lost; when the time interval is higher than a set time interval, if the controller does not obtain the identification information transmitted by the monitoring platform, the information message can be identified to be lost, and the activation result value information is transmitted again; the method has small probability of retransmission due to the loss of the message when the information quantity of the result value is not high, and has a barrier when the information quantity of the result value is high, so that the result value information is accumulated to form unsmooth transmission.

Therefore, through improvement, in step 5, the method for transmitting the obtained result value, such as the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution, to the monitoring platform in real time in the format of an information message by the controller specifically includes:

the monitoring platform receives an information message through the controller, wherein the information message has an effective value of result value information, a sequence mark one and a sequence mark two.

Here, further, when the information message is a first message, the sequence tag one and the sequence tag two are both sequence tags of the first message; when the information message is not the first message, the sequence mark of the information message is the sequence mark of the previous information message of the information message, and the sequence mark of the information message is the sequence mark of the information message.

Furthermore, the sequence marks of the information messages, namely the sequence mark II are different from the sequence marks of other information messages; when the information message is not the first message, the sequence mark of the information message is the sequence mark of the previous information message of the information message.

The former information message of the information message in the invention is the former information message transmitted by the controller before transmitting the information message; the sequence tag of the information message is the sequence tag two of the previous information message.

the monitoring platform marks a previous information message which is determined to be the information message or not according to the sequence; that is, after the monitoring platform obtains the information message, the comparison can be performed according to the sequence mark two in the information message and the sequence mark two in the previous information message, if the sequence mark two with the previous information message is identified to be the same as the sequence mark one in the information message, the previous information message representing that the previous information message is the previous information message of the information message, and the previous information message obtaining the information message can be identified.

according to the step 5-2, if the fact that the sequence mark two in the previous information message is not the same as the sequence mark one of the information message is determined, the monitoring platform does not obtain the previous information message; therefore, the previous message is required to be transmitted again when the previous message is lost.

The monitoring platform sends the sequence mark of the information message into a temporary storage space for retransmission and transmits a retransmission command to the controller at a proper time point; the missing previous message can be retransmitted.

periodically executing traversal on the temporary storage space for re-transmission; a periodic time period can be identified; each time a predetermined period of time, a round of the buffer space for retransmission is performed.

Further, in step 5-3, when the sequence mark one of the information messages is sent into the temporary storage space for transmitting again, the time consumption accumulation of the sent sequence mark one is synchronously started until the sending process is finished; when the wheels execute the traversal of the temporary storage space for re-transmission, if the temporary storage space for re-transmission is determined to have a sequence mark with a feeding time interval size not less than the overdue time interval size, a re-transmission command is transmitted to the controller, wherein the re-transmission command has a sequence mark with the feeding time interval size not less than the overdue time interval size. The time-out period can be the maximum allowable time period of the series marks of the information message to be sent.

Often, the controller needs to have a time span after the message is transmitted.

The introduction of the overdue time interval is to prevent the generation of the situation that the controller has transmitted the information message, but the monitoring platform has not obtained the information message due to time consumption; each wheel executes traversal on the temporary storage space for re-transmission, and if a sequence mark with the size of a feeding time period not less than the size of an overdue time period is found in the temporary storage space for re-transmission, a re-transmission command can be transmitted to the controller; in addition, the size of the periodic time interval for periodically traversing the temporary storage space for re-transmission is larger than the size of the overdue time interval; if the temporary storage space for retransmission has a sequence mark, traversing a non-overdue sequence mark in a round of traversal, ignoring the non-overdue sequence mark, and temporarily not transmitting the retransmission command according to the non-overdue sequence mark; if the overdue time interval is not lower than the regular time interval, the sequence mark without overdue is usually traversed for a plurality of turns, and the load of result value information handling of the monitoring platform is increased; the periodic interval is greater than the timeout interval to ensure that a retransmit command is not transmitted if a sequence tag that is not expired is traversed; then the unexpired sequence tag must be expired when the next round is traversed; the retransmission command can be transmitted, so that the result value information processing amount of the monitoring platform can be reduced, and the result value information processing speed can be improved.

In step 5, the controller transmits the obtained result values of the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution to the monitoring platform in real time in the format of the information message for display, each information message is provided with a sequence mark I and a sequence mark II, and after the monitoring platform obtains the information message, the monitoring platform can determine whether the information message is the previous information message of the information message according to the sequence mark I in the information message; when the previous message is not obtained, the sequence mark I can be sent into a temporary storage space for transmitting again; when the temporary storage space for re-transmission has the sequence mark with the size of the feeding time interval not less than the overdue time interval, the re-transmission command can be transmitted to the controller; the controller can transmit the message with the sequence mark as the retransmitted message and the message with the same sequence mark as the retransmitted message after acquiring the retransmitted command, so as to achieve retransmission after the message is lost; by using the method, the monitoring platform can transmit the identification information without the controller transmitting an information message, thereby greatly reducing the transmission of the result value information, reducing the occupation of the bit rate of the wireless network and being difficult to generate obstruction under the condition of high information content of the result value; and can also achieve the retransmission after the information message is lost.

the monitoring platform determines whether the information message is the first message or not. That is, according to step 5-1, if the message is the first message, the sequence tag of the message is the same as the sequence tag two; if the information message is not the first message, the sequence mark one and the sequence mark two of the information message are different.

Therefore, when the monitoring platform obtains the information message, whether the information message is the first message or not can be determined according to the fact that the sequence mark I and the sequence mark II in the information message are not the same; if the monitoring platform determines that the sequence mark I is the same as the sequence mark II, the monitoring platform can determine that the information message is a first message; if the monitoring platform determines that the sequence mark I is different from the sequence mark II, the monitoring platform can determine that the information message is not the first message.

when the monitoring platform identifies that the information message is not the first message, if the sequence mark two of the identified information message is the same as the sequence mark in the buffer area, the information message is represented as a message to be transmitted again; when the retransmitted message is obtained, the same sequence mark in the temporary storage space for retransmission can be deleted, and retransmission of a lost message can be achieved; therefore, the temporary storage space for re-transmission can be repeatedly used, and the information storage space of the result value of the monitoring platform can be reduced.

In addition, when the information message received by the monitoring platform is the retransmitted information message, whether the previous information message of the retransmitted information message is obtained or not can be identified according to the sequence mark of the retransmitted information message, and the identification process is as described in step 5-2; if the previous message of the retransmitted message is not obtained, the sequence mark one of the retransmitted message can be sent into the temporary storage space for retransmission; so as to transmit the re-transmission command; thus, the previous information message which is not obtained can be obtained in sequence according to the currently obtained information message; the situation that a plurality of information messages are continuously lost can be handled; the obtained message which can be transmitted again is taken up and traced back one by one, and the process is not finished until all the message which is lost is transmitted again.

When the monitoring platform determines that the information message is the first message, starting another round of periodic arrangement time period of result value information, and emptying a temporary storage space for transmitting again; after the first message is obtained, if the retransmitted message in the regular arrangement time period of the previous result value information is also obtained, the retransmitted message in the regular arrangement time period of the previous result value information is discarded; therefore, the result value information in the regular arrangement period of the previous round of result value information can be prevented from being doped into the regular arrangement period of the round of result value information, and the defect of disturbing the inventory of the round of result value information is eliminated.

That is, how to identify the obtained information message as the information message of the periodic arrangement period of the previous round of result value information can have the following two types of modes:

the first type of mode is: and if the obtained second sequence mark of the target information message is higher than the second sequence mark of the last non-retransmitted information message, judging that the target information message is the retransmitted information message in the regular arrangement time period of the previous result value information.

And the monitoring platform registers a second sequence mark of the last non-retransmission information message obtained before the first message is obtained.

When the first message is obtained, the sequence mark two of the first message is accumulated by starting again; then in a smaller time distance range after the first message is obtained, the obtained sequence mark two of the information messages in the round of regular arrangement time period is the sequence mark two of the information messages which cannot be transmitted again higher than the last sequence mark two of the information messages in the previous round of regular arrangement time period in the smaller time distance range; in addition, information messages in the regular arrangement time period of the previous round of result value information cannot be transmitted to the monitoring platform after a large time period; therefore, if the sequence mark two of the obtained target information message is determined to be not lower than the sequence mark two of the last non-retransmitted information message, the obtained target information message can be represented as the information message in the previous round of regular arrangement time interval or the retransmitted information message.

The second type of mode is: and if the result obtained by subtracting the time-consuming period from the obtained sequence mark of the target information message is not lower than the set time period critical number, judging that the target information message is the retransmitted information message in the regular arrangement time period of the previous result value information.

And starting the time-use accumulation at the time point of obtaining the first message to obtain the time-use period.

If the result obtained by subtracting the timing time interval from the sequence mark two of the obtained target information message is not lower than the set time interval critical number, the obtained target information message can be judged to be the retransmitted information message in the regular arrangement time interval of the previous result value information; the sequence mark II of the information message of the round of regular settling time interval is positively correlated with the timing time interval. The result obtained by subtracting the time period from the information message of the current round of regular arrangement time period is lower than the set time period critical number; therefore, when the result obtained by subtracting the timing time period from the obtained sequence mark two of the target information message is not lower than the set time period critical number, the target information message can be judged to be the retransmitted information message in the regular arrangement time period of the previous result value information.

In step 5, if the monitoring platform does not obtain the information message transmitted by the controller for a long time, the monitoring platform can also transmit a detection message to the controller, so that the monitoring platform can determine that the information message is not obtained because the controller is not on-line or actually the controller does not transmit the information message; therefore, the step 5 further comprises:

and when the time interval during which the monitoring platform does not obtain the information message is not less than the preset maximum receiving time interval, the monitoring platform transmits a detection message to the controller.

Here, the detection message has a sequence number two of the last non-retransmitted message obtained by the monitoring platform before the time period when no information message is obtained, so as to identify whether the controller determines whether the last non-retransmitted message is transmitted or not after transmitting the message.

Further, if the controller obtains the detection message, the controller transmits a response message of the detection message to the monitoring platform; in addition, the detection message contains a sequence mark II of the last non-retransmitted information message obtained by the monitoring platform; the controller can identify whether the controller transmits the last non-retransmitted information message or not after the controller transmits the last non-retransmitted information message according to the sequence mark II of the last non-retransmitted information message obtained by the monitoring platform; if the controller transmits the message after transmitting the last message which is not transmitted again, the controller represents that the information messages are not obtained by the monitoring platform, and the information messages are required to be transmitted again when the information messages are lost.

the monitoring platform determines whether the response message of the detection message is obtained through the controller.

when the monitoring platform obtains a response message of the detection message through the controller, the monitoring platform determines that the controller is not online; when the controller is online, there are two types of conditions;

one type of situation is: comparing with the step 5-a-1, the controller determines that the controller only transmits the response message of the detection message to the monitoring platform after transmitting the last non-retransmitted information message and when the information message is not transmitted according to the second sequence mark of the last non-retransmitted information message obtained by the monitoring platform in the detection message;

another type of situation is: the controller determines that the information message is transmitted after the last non-retransmitted information message is transmitted according to the sequence mark II of the last non-retransmitted information message obtained by the monitoring platform in the detection message; after the last information message which is not transmitted again is transmitted, the controller can be identified to transmit the information message, but the monitoring platform is not obtained, and the information message is lost; the controller transmits an information message which is not obtained by the monitoring platform to the monitoring platform; when the sequence mark in the information message obtained by the monitoring platform is the sequence mark two of the last non-retransmitted information message obtained before the time period of the information message which is not obtained, the monitoring platform determines that the information message is the retransmitted information message.

When the monitoring platform does not obtain the response message of the detection message in the set time period, the monitoring platform transmits a detection message to the controller at each time interval set in advance, and then the monitoring platform transmits a detection message to the controller at each time interval set in advance.

If the number of the transmitted detection messages is equal to the number of the preset detection messages, the monitoring platform determines that the controller is not on line, and then the transmission of the detection messages is stopped; or when the controller obtains the response message of the detection message, the transmission of the detection message is stopped.

In addition, the sequence mark two of each information message is different from the sequence marks of other information messages and is positively correlated with the time-consuming period of starting timing from the first message. The second sequence mark is identified by the controller; the identification method of the sequence mark two comprises the following steps:

the sequence mark of the first message is zero;

when the sequence mark of the current information message is second X, and the time distance between the information message transmitted in the current 1ms and the previous information message is Yms, if the controller only transmits one information message in the current 1ms, the sequence mark of the information message transmitted in the current 1ms is second X + Y, wherein X is not lower than one, Y is higher than one, and X and Y are both natural numbers; that is, if only one information message is transmitted in 1ms, the sequence mark two of the information message is the ms quantity of the information message which is executed from the first message and consumes time and is accumulated; thus, the sequence labels of the information messages are different and are arranged in sequence.

However, in a particular application, the controller often does not transmit an information message in 1 ms. If a plurality of information messages are transmitted in 1ms, if sequence marks two of the plurality of information messages transmitted in 1ms are all ms of time consumed and accumulated by the first message, the condition that the sequence marks two of the plurality of information messages are the same is accompanied, and if more than one information message is lost in the plurality of information messages according to the result value information transmission mode of the controller, which information message is to be transmitted again cannot be identified according to the sequence mark one of the next information message.

Therefore, when the controller needs to transmit a plurality of information messages in 1ms, the sequence marks of the information messages are different, and the sequence marks of the whole information messages are in direct proportion to the time-consuming period of time for executing time-consuming accumulation from the first message; when the controller transmits Z information messages in the current 1ms, the sequence mark two of the information messages transmitted in the current 1ms is sequentially from X + Y to X + Y + Z-1, wherein Z is a natural number higher than one; thus, the sequence labels of a plurality of information messages transmitted in 1m are different, and the proportional correlation with the time-consuming period of time for executing time-consuming accumulation from the head message can be maintained.

Further, if Z information messages are transmitted in the current 1ms, the highest sequence mark transmitted in the current 1ms is X + Y + Z-1.

After the controller transmits Z information messages in the current 1ms, and when the time interval for transmitting the later information message and the current information message is Ums, the controller needs to execute expression according to two types of conditions:

if the X + Y + U is higher than the X + Y + Z-1, the sequence mark II of the next information message is X + Y + U; here, X + Y + U uses the current ms amount as a condition, increasing the transmission time interval to the next information packet. I.e. in the normal case the sequence number of this latter information message is marked two. If X + Y + U is higher than X + Y + Z-1, it represents that the sequence mark of the information message transmitted by the current ms number does not have adverse effect on the sequence mark of the next information message, and then the sequence mark two of the next information message can be directly used.

If the sequence flag two X of the previous information packet is one, and the time interval Y between the information packet transmitted in the current 1ms and the previous information packet is 2ms, then three information packets Z are transmitted in the current 1 ms; then, the sequence flag two sequence of the information packet transmitted within the current 1ms is: three, four and five. Therefore, if the transmission time interval U of the information message transmitted in the next information message and the current 1ms is 4ms, if the sequence mark of the next information message is X + Y + U, the adverse effect of the sequence mark two of the information message with the previous time interval cannot be suffered, i.e. no collision is generated; thus, since X + Y + U is higher than X + Y + Z-1, the sequence tag two of this information message is: x + Y + U, i.e., seven.

If the X + Y + U is not higher than the X + Y + Z-1, the sequence mark of the information message transmitted by the current ms quantity forms adverse effect on the sequence mark of the next information message; the sequence tag of the next message is changed; that is, the sequence tag two of this information message can be identified as X + Y + Z. That is, the sequence number of the information message with the second highest sequence number in the information message transmitted by the current 1ms is regarded as the sequence number of the information message with the second highest sequence number in the next information message, and the sequence number of the information message with the second highest sequence number is increased by 1.

Illustratively, if the sequence flag two X of the previous information packet is 1, the time interval size Y of the retransmission of the current 1ms information packet and the transmission of the previous information packet is 2ms, and three information packets with Z of three are transmitted in the current 1 ms; then, the sequence flag two sequence of the information packet transmitted in the current 1ms is: three, four and five; if the time interval U between the transmission of the information message transmitted in the current 1ms and the next information message is 2ms, if the sequence mark two X + Y + U of the next information message is five, and the information message with the sequence mark two is generated in the information message transmitted in the current 1 ms; therefore, if the sequence mark two of the latter message is determined to be five, the adverse effect is obtained, and collision is generated; therefore, since X + Y + U is not higher than X + Y + Z-1, the sequence tag of the next message is X + Y + Z, namely six.

Therefore, each information message is provided with a sequence mark I and a sequence mark II, and after the monitoring platform obtains the information message, the monitoring platform can determine whether the information message is the previous information message of the information message according to the sequence mark I in the information message; when the previous message is not obtained, the sequence mark I can be sent into a temporary storage space for transmitting again; when the temporary storage space for re-transmission has the sequence mark with the size of the feeding time interval not less than the overdue time interval, the re-transmission command can be transmitted to the controller; the controller can transmit the message with the sequence mark as the retransmitted message and the message with the same sequence mark as the retransmitted message after acquiring the retransmitted command, so as to achieve retransmission after the message is lost; by using the method, the monitoring platform can transmit the identification information without the controller transmitting an information message, thereby greatly reducing the transmission of the result value information, reducing the occupation of the bit rate of the wireless network and being difficult to generate obstruction under the condition of high information content of the result value; and can also achieve the retransmission after the information message is lost.

The present invention has been described above in an illustrative manner by way of embodiments, and it will be apparent to those skilled in the art that the present disclosure is not limited to the embodiments described above, and various changes, modifications and substitutions can be made without departing from the scope of the present invention.

Claims

1. A detection system for a rigid endoscope, comprising:

the endoscope comprises an adjustable optical platform, an endoscope clamping system and a workbench;

the adjustable optical platform and the endoscope clamping system are respectively arranged on two sides of the top of the workbench;

the adjustable optical platform comprises a cosine radiator, a measuring mark plate, a front and back adjusting device, a left and right adjusting device, a rotary adjusting device and a vertical adjusting device;

the cosine radiator is arranged on the front and rear adjusting devices and is connected with the power supply through a switch button, the marking plate is fixed on the cosine radiator, one side plate surface of the marking plate is attached to the light emitting surface of the cosine radiator as the right side surface, and the marking plate is provided with an angular displacement sensor connected with the controller;

the front and back adjusting device is arranged on the vertical adjusting device;

the vertical adjusting device is arranged on the left and right adjusting device;

the left and right adjusting device is arranged on the rotary adjusting device;

the endoscope clamping system comprises a fixed seat, a guide rail seven, a first adjusting mechanism, a second adjusting mechanism and a third adjusting mechanism;

the guide rail seven is arranged at the top of the fixed seat, the length of the guide rail seven extends towards the left and right direction, and the adjusting mechanism I, the adjusting mechanism II and the adjusting mechanism III are movably connected to the guide rail according to the sequence from left to right;

the unit running on the monitoring platform comprises:

2. The detection system for the hard endoscope, according to claim 1, characterized in that the left side surface of the cosine radiator is arranged on a first slide block and a second slide block of a front and back adjusting device, the front and back adjusting device comprises a first guide rail, a second guide rail, a first screw rod nut, a first stepping motor driver, a controller, a first fixing plate, a first slide block and a second slide block;

the first sliding block and the second sliding block are respectively movably arranged in the first guide rail and the second guide rail, the length directions of the first guide rail and the second guide rail extend towards the front and back direction, and the first guide rail and the second guide rail are arranged on the first fixing plate from top to bottom;

the output end of the first stepping motor is connected with one end of the first screw rod, the screw nut is sleeved on the first screw rod, the first screw nut is fixedly connected with the second sliding block, the first stepping motor is connected with the first stepping motor driver, and the first stepping motor driver is connected with the controller.

3. The detection system for the hard endoscope, as recited in claim 1, wherein the vertical adjustment device comprises a third guide rail, a fourth guide rail, a second lead screw nut, a second stepping motor driver, a second fixing plate, a third slide block and a fourth slide block;

the third sliding block and the fourth sliding block are fixedly connected with the first fixing plate;

the third sliding block and the second sliding block are movably arranged in the third guide rail and the fourth guide rail respectively, the length directions of the third guide rail and the fourth guide rail are vertically extended, and the third guide rail and the fourth guide rail are arranged on the second fixing plate in sequence from front to back;

the output end of the second stepping motor is connected with one end of the second screw rod, the screw rod nut is sleeved on the second screw rod, the second screw rod nut is fixedly connected with the fourth sliding block, the second stepping motor is connected with the second stepping motor driver, and the second stepping motor driver is connected with the controller.

4. The detection system for the hard endoscope, according to claim 1, characterized in that the left-right adjusting device comprises a fifth guide rail, a sixth guide rail, a third screw rod nut, a third stepping motor driver, a third fixed plate, a fifth slide block and a sixth slide block;

the fifth sliding block and the sixth sliding block are fixedly connected with the second fixing plate;

the five slide blocks and the six slide blocks are respectively movably arranged in the five guide rails and the six guide rails, the length directions of the five guide rails and the six guide rails extend towards the left and right direction, and the five guide rails and the six guide rails are arranged on the third fixed plate in sequence from front to back;

the output end of the third stepping motor is connected with one end of the third screw rod, the third screw rod nut is sleeved on the third screw rod, the third screw rod nut is fixedly connected with the fifth sliding block, the third stepping motor is connected with the third stepping motor driver, and the third stepping motor driver is connected with the controller.

5. A detection system for a hard endoscope according to claim 1 and characterized in that said rotation adjustment means comprises: the base, the worm wheel, the worm, the stepping motor IV, the turntable and the stepping motor driver IV;

the third fixing plate is fixed on the turntable;

the base is fixed on the workbench, a stepping motor IV is arranged on the base, the output end of the stepping motor is connected with one end of a worm, the worm is meshed with a worm wheel, the turntable is connected with the worm wheel, the stepping motor IV is connected with a stepping motor driver IV, and the stepping motor driver IV is connected with a controller.

6. The detection system for the hard endoscope, as recited in claim 1, wherein the first adjustment mechanism comprises a seventh sliding block, a first X-axis fine adjustment platform, a first Z-axis fine adjustment platform, a first quick-assembly base, a first vertical telescopic rod and a first clamping head;

the sliding block seventh, the X-axis fine adjustment platform I, the Z-axis fine adjustment platform I, the fast-assembly base I, the vertical telescopic rod I and the chuck I are sequentially connected in the direction from bottom to top;

the adjusting mechanism II comprises an eighth sliding block, an X-axis fine adjustment platform II, a Z-axis fine adjustment platform II, a quick-assembly base II, a vertical telescopic rod II and a chuck II;

the eight sliding block, the X-axis fine adjustment platform II, the Z-axis fine adjustment platform II, the fast-assembly base II, the vertical telescopic rod II and the chuck II are sequentially connected in the direction from bottom to top;

the third adjusting mechanism comprises a ninth sliding block, a third X-axis fine adjusting platform, a third Z-axis fine adjusting platform, a third fast-assembling base, a Z-axis lifting platform and a mounting seat;

nine mobilizable settings of slider are in guide rail seven, nine, X axle fine setting platform three, Z axle fine setting platform three, fast-assembling base three, Z axle lift platform 1 and mount pad set up according to linking to each other in proper order from the orientation up down.

7. A method for a detection system for a rigid endoscope, comprising the steps of:

step 2: measuring an initial angle of view and an angle of view;

and step 3: measuring the entrance pupil field angle;

and 4, step 4: measuring image quality, namely angle resolution;

and 5: and transmitting the obtained result values of the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution to a monitoring platform in real time for displaying.

8. The method for a detection system of a hard endoscope according to the claim 7, characterized in that said step 2 comprises in particular:

wherein:βdenotes the initial field angle in degrees, d denotes the optical working distance in millimeters, and the diameter of the ring is measured in advanceThe initial field angle can be deduced according to the formula, which is known;

the step 3 specifically includes: under the condition that the visual axis of the endoscope is perpendicular to the right wall surface of the target plate and is directly opposite to the center of the target plate, the target plate is moved along the optical axis direction of the endoscope by using a controller to operate a stepping motor III through controlling a stepping motor driver III of a left-right adjusting device, so that the minimum differentiation ring of the target plate is superposed with the visual field of a CCD (charge coupled device) camera and is perpendicular to the visual axis of the endoscope, two marks are respectively made at the top point of the tail end of the endoscope and the center position of the differentiation ring of the target plate, a length measuring tool is used for measuring the distance between the two marks, and the distance between the two marks is registered as d in millimeter unit₁And operating the third stepping motor to move the target plate along the optical axis direction by using the controller through controlling the third stepping motor driver of the left-right adjusting device again so that the maximum differentiation ring of the target coincides with the field of view and is perpendicular to the optical axis of the endoscope, and measuring and registering the distance d between the top of the end of the endoscope and the central position of the differentiation ring of the target by using the length measuring tool_2，d₂In mm, from which the entrance pupil field angle is calculated

And the distance between the entrance pupil and the vertex

；

The calculated entrance pupil field angle

And the distance between the entrance pupil and the vertex

the vertex distance calculation formula is as follows:

；

disconnecting the switch button, then detaching the mark measuring plate and fixing the replacing component distinguishing plate on the cosine radiating body, wherein one side plate surface of the mark measuring plate is attached to the luminous surface of the cosine radiating body as the right side surface, operating the distinguishing plate by the controller through controlling the third step motor driver of the left and right adjusting device to move the third step motor along the optical axis direction to fix the distinguishing plate at the optical working distance set by the endoscope, pressing the switch button to illuminate the cosine radiating body, operating the first step motor by controlling the first step motor driver of the front and rear adjusting device, operating the third step motor by controlling the third step motor driver of the left and right adjusting device, operating the fourth step motor by controlling the fourth step motor driver of the rotary adjusting device or operating the second step motor by controlling the second step motor driver of the vertical adjusting device to adjust the position of the distinguishing plate or adjust the angle of the distinguishing plate, adjusting the experimental pattern with the identifiable limit to a field position corresponding to the test, acquiring an image for the resolution plate through the endoscope by a CCD industrial camera, transmitting the image to a controller, and determining the angular resolution of the endoscope by visually measuring the number of identifiable lines per millimeter with lp/mm as a unit for the image;

determining the angular resolution of an endoscope

9. The method for the detection system of the hard endoscope according to the claim 7, characterized in that in the step 5, the method for the controller to transmit the obtained result value of the initial field angle, the viewing direction angle, the pupil field angle or the angle resolution to the monitoring platform in real time in the form of the information message for displaying comprises the following steps:

10. The method of claim 9, wherein after the monitoring platform obtains the information message in step 5-1, the monitoring platform further determines whether the information message is a header message, and specifically comprises:

step 5-1-4: starting another round of periodic finishing time period of the result value information, setting zero to a temporary storage space for retransmission, and discarding the retransmitted information message in the periodic finishing time period of the previous result value information when the retransmitted information message in the periodic finishing time period of the previous result value information is obtained;

the step 5 further comprises:

step 5-a-4, transmitting a detection message back to the controller at each time interval preset by the monitoring platform, and stopping when the number of the transmitted detection messages is equal to the number of the preset detection messages or the response messages of the detection messages are received;

the sequence mark of the first message is zero;

if Z information messages are transmitted in the current 1ms, the highest sequence mark transmitted in the current 1ms is X + Y + Z-1;