CN114145850A - Intelligent ERCP auxiliary device and automatic control method - Google Patents
Intelligent ERCP auxiliary device and automatic control method Download PDFInfo
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- CN114145850A CN114145850A CN202111464271.9A CN202111464271A CN114145850A CN 114145850 A CN114145850 A CN 114145850A CN 202111464271 A CN202111464271 A CN 202111464271A CN 114145850 A CN114145850 A CN 114145850A
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- 238000007459 endoscopic retrograde cholangiopancreatography Methods 0.000 title claims abstract description 32
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- 239000002872 contrast media Substances 0.000 description 1
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- A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/007—Means for moving conveyor frames and control arrangements therefor
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- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention belongs to the technical field of intelligent equipment, and discloses an intelligent ERCP auxiliary device and an automatic control method, wherein universal rollers are respectively arranged at four corners of the outer bottom wall of a support box, lifting holes are respectively formed in two sides of the bottom wall of the support box, vertical lifting columns are movably sleeved in the lifting holes, the bottom ends of the two lifting columns extend to the lower side of the support box and are fixedly connected with a horizontal lifting plate, a horizontal stabilizing plate is fixed on the bottom wall of the lifting plate, the top ends of the two lifting columns extend to the inside of the support box and are fixedly connected with a horizontal transmission plate, a through hole is formed in the middle of the transmission plate, a driving motor with an upward output end is arranged in the middle of the inner bottom wall of the support box, the driving motor is positioned in the through hole, the output end of the driving motor extends to the upper side of the transmission plate and is fixedly connected with a first bevel gear, the convenience is higher, is worth promoting.
Description
Technical Field
The invention belongs to the technical field of intelligent equipment, and particularly relates to an intelligent ERCP auxiliary device and an automatic control method.
Background
At present: the ERCP is the first English letter (ERCP) of endoscopic retrograde cholangiopancreatography, which is a contrast technique for displaying the cholangiopancreatography by injecting a contrast agent through a duodenal papilla cannula under an endoscope, and is the currently accepted gold standard for diagnosing cholangiopancreatography. Based on ERCP, interventional therapy such as duodenal papillary sphincterotomy (EST), Endoscopic Nasal Biliary Drainage (ENBD), endoscopic biliary drainage (ERBD) and the like can be performed, and the method becomes an important means of clinical treatment.
In the operation, often utilize supplementary smart machine to be can imitate some action functions of people's hand and arm for according to the automatic operation device of fixed procedure snatch, transport article or operation tool, but current smart auxiliary machine is inconvenient shifts, and the convenience is relatively poor.
Through the above analysis, the problems and defects of the prior art are as follows: the existing intelligent auxiliary equipment is inconvenient to move, poor in convenience and inconvenient to bring about the operation of doctors.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent ERCP auxiliary device and an automatic control method.
The invention is realized in this way, an intelligent ERCP auxiliary device, which is provided with:
a support box;
universal idler wheels are mounted at four corners of the outer bottom wall of the supporting box, lifting holes are formed in two sides of the bottom wall of the supporting box, vertical lifting columns are sleeved in the lifting holes, the bottoms of the two lifting columns extend to the lower side of the supporting box and are fixedly connected with horizontal lifting plates, horizontal stabilizing plates are fixed on the bottom walls of the lifting plates, the top ends of the two lifting columns extend to the inside of the supporting box and are fixedly connected with horizontal transmission plates, through holes are formed in the middle positions of the transmission plates, driving motors with upward output ends are mounted in the middle positions of the inner bottom wall of the supporting box and are located in the through holes, the output ends of the driving motors extend to the upper side of the transmission plates and are fixedly connected with first bevel gears, horizontal first studs and horizontal second studs are rotatably connected to inner side walls of two sides of the supporting box located on the upper side of the transmission plates through bearings respectively, the equal sliding connection in both sides of the interior roof of supporting box has the drive block, two drive block threaded connection respectively the outer lane of first double-screw bolt with the outer lane of second double-screw bolt is located the through-hole both sides all articulate on the roof of driving plate has the actuating lever that is the slope setting, two the top of actuating lever articulates respectively two the bottom of drive block is located between two drive blocks the outer lane of second double-screw bolt is fixed to be cup jointed second bevel gear, first bevel gear is connected with second bevel gear meshing.
Further, the bottom of steadying plate is higher than the bottom of universal gyro wheel, steadying plate is the rubber material, a plurality of recesses have been seted up on the diapire of steadying plate.
Further, all set up first spout along the direction of height on the both sides inside wall of the bottom of supporting box, the inside slip of first spout is provided with first slider, the driving plate is fixed between two first sliders.
Furthermore, the second spout has all been seted up along length direction in the both sides of the interior roof of supporting box, and the inside slip of second spout is provided with the second slider, two the bottom at two second sliders is fixed respectively to the drive block.
Further, the thread direction of the first stud is opposite to that of the second stud.
Further, the two driving rods are arranged in a V shape.
Furthermore, a push rod is welded on the outer side wall of the supporting box.
Another object of the present invention is to provide an intelligent ERCP assistance apparatus automatic control method using the intelligent ERCP assistance apparatus, including the steps of:
acquiring intelligent ERCP auxiliary device information by using a device information acquisition module through the device information acquisition module; the information of the intelligent ERCP auxiliary device comprises the specification and the connection relation of each component in the intelligent ERCP auxiliary device, the position information of the universal idler wheel and the operation principle of the intelligent ERCP auxiliary device;
determining the position of the auxiliary device by using a grabbing equipment positioning module according to the acquired intelligent ERCP auxiliary device information by using a positioning program; the central control module controls each module to normally operate by using the main control machine;
acquiring an image of the area where the intelligent ERCP auxiliary device is located by using an image acquisition program through an image acquisition module; analyzing the acquired image by using an image analysis program through an image analysis module to obtain an image analysis result;
fourthly, positioning the object to be grabbed by using an object to be grabbed positioning program through an object to be grabbed positioning module according to the image analysis result; extracting the feature points by a feature point extraction program through a feature point extraction module; the characteristic points comprise end points of objects to be grabbed and universal rollers in the intelligent ERCP auxiliary device;
determining the relative positions of a universal roller and an object to be grabbed in the intelligent ERCP auxiliary device by using a relative position determining program through a relative position determining module;
sixthly, determining the shifting parameters by using a shifting parameter determining program through a shifting parameter determining module according to the obtained relative parameters; the power supply module supplies power by using the storage battery and the external power supply.
Further, the image comprises an intelligent ERCP auxiliary device and an object to be grabbed.
Another object of the present invention is to provide an intelligent ERCP assistance apparatus automatic control system using the intelligent ERCP assistance apparatus automatic control method, including:
the device comprises a device information acquisition module, a grabbing equipment positioning module, a central control module, an image acquisition module, an image analysis module, an object to be grabbed positioning module, a characteristic point extraction module, a relative position determination module, a displacement parameter determination module and a power supply module;
the device information acquisition module is connected with the central control module and used for acquiring the information of the intelligent ERCP auxiliary device through the device information acquisition module;
the grabbing equipment positioning module is connected with the central control module and used for determining the position of the auxiliary device according to the acquired intelligent ERCP auxiliary device information through a positioning program;
the central control module is connected with the device information acquisition module, the grabbing equipment positioning module, the image acquisition module, the image analysis module, the object to be grabbed positioning module, the feature point extraction module, the relative position determination module, the displacement parameter determination module and the power supply module and is used for controlling each module to normally operate through the main control computer;
the image acquisition module is connected with the central control module and is used for acquiring an image of the area where the intelligent ERCP auxiliary device is located through an image acquisition program;
the image analysis module is connected with the central control module and is used for analyzing the acquired image through an image analysis program to obtain an image analysis result;
the object to be grabbed positioning module is connected with the central control module and is used for positioning the object to be grabbed according to the image analysis result through an object to be grabbed positioning program;
the characteristic point extraction module is connected with the central control module and is used for extracting the characteristic points through a characteristic point extraction program; the characteristic points comprise end points of objects to be grabbed and universal rollers in the intelligent ERCP auxiliary device;
the relative position determining module is connected with the central control module and is used for determining the relative positions of the universal roller and the object to be grabbed in the intelligent ERCP auxiliary device through a relative position determining program;
the shift parameter determining module is connected with the central control module and is used for determining shift parameters according to the obtained relative parameters through a shift parameter determining program;
and the power supply module is connected with the central control module and is used for supplying power through the storage battery and an external power supply.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the invention, through the matching action of the support box, the universal idler wheel, the lifting plate, the lifting column, the stabilizing plate, the transmission plate, the through hole, the driving motor, the lifting hole, the driving block, the driving rod, the first stud, the second stud, the first bevel gear and the second bevel gear, the intelligent auxiliary grabbing equipment is convenient to shift, and the convenience of the intelligent auxiliary grabbing equipment is effectively improved.
The invention has novel design, convenient displacement and high convenience, and is worthy of popularization.
The intelligent ERCP auxiliary device automatically controls the intelligent ERCP auxiliary device, automatically controls the operation of the grabbing equipment, reduces the manpower participation, has higher accuracy in moving the grabbing equipment, and is more suitable for the practical requirement.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an intelligent ERCP auxiliary device according to an embodiment of the present invention.
FIG. 2 is a block diagram of an intelligent ERCP auxiliary device according to an embodiment of the present invention
Fig. 3 is a schematic diagram of an intelligent ERCP auxiliary device according to an embodiment of the present invention.
Fig. 4 is a flowchart of an automatic control method for an intelligent ERCP auxiliary device according to an embodiment of the present invention.
Fig. 5 is a block diagram of an automatic control system of an intelligent ERCP auxiliary device according to an embodiment of the present invention.
In the figure: 1. a support box; 2. a universal roller; 3. a lifting plate; 4. a lifting column; 5. a stabilizing plate; 6. a push rod; 7. grabbing an equipment body; 8. a drive plate; 9. a through hole; 10. a drive motor; 11. a lifting hole; 12. a drive block; 13. a drive rod; 14. a first stud; 15. a second stud; 16. a first bevel gear; 17. a second bevel gear; 18. a device information acquisition module; 19. a grabbing equipment positioning module; 20. a central control module; 21. an image acquisition module; 22. an image analysis module; 23. an object to be grabbed positioning module; 24. a feature point extraction module; 25. a relative position determination module; 26. a shift parameter determination module; 27. and a power supply module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides an intelligent ERCP auxiliary device and an automatic control method, and the following describes the present invention in detail with reference to the accompanying drawings.
As shown in fig. 1 to fig. 3, an intelligent ERCP auxiliary device provided in an embodiment of the present invention includes:
a support box 1;
a grabbing device body 7 is fixed on the outer top wall of the support box 1, universal rollers 2 are installed at four corners of the outer bottom wall of the support box 1, lifting holes 11 are formed in two sides of the bottom wall of the support box 1, vertical lifting columns 4 are movably sleeved in the lifting holes 11, the bottoms of the two lifting columns 4 extend to the lower side of the support box 1 and are fixedly connected with a horizontal lifting plate 3, a horizontal stabilizing plate 5 is fixed on the bottom wall of the lifting plate 3, the top ends of the two lifting columns 4 extend to the inside of the support box 1 and are fixedly connected with a horizontal transmission plate 8, a through hole 9 is formed in the middle position of the transmission plate 8, a driving motor 10 with an upward output end is installed in the middle position of the inner bottom wall of the support box 1, the driving motor 10 can be controlled to operate in the forward direction or in the reverse direction by a controller of the driving motor 10, the driving motor 10 is located in the through hole 9, the output end of the driving motor 10 extends to the upper side of the transmission plate 8 and is fixedly connected with a first bevel gear 16, lie in and rotate through the bearing respectively on the both sides inside wall of the supporting box 1 of driving plate 8 upside and be connected with horizontally first double-screw bolt 14 and horizontally second double-screw bolt 15, the equal sliding connection in both sides of the interior roof of supporting box 1 has drive block 12, two drive block 12 are threaded connection respectively in the outer lane of first double-screw bolt 14 and the outer lane of second double-screw bolt 15, it has the actuating lever 13 that is the slope setting all to articulate on the roof of the driving plate 8 that lies in the through-hole 9 both sides, the top of two actuating levers 13 articulates respectively in the bottom of two drive blocks 12, the outer lane of the second double-screw bolt 15 that lies in between two drive blocks 12 is fixed to have cup jointed second bevel gear 17, first bevel gear 16 is connected with second bevel gear 17 meshing.
The bottom end of the stabilizing plate 5 provided by the embodiment of the invention is higher than the bottom end of the universal roller 2, the stabilizing plate 5 is made of rubber, so that the stabilizing plate 5 can be attached to the ground, and the bottom wall of the stabilizing plate 5 is provided with a plurality of grooves.
According to the embodiment of the invention, the inner side walls of the two sides of the bottom of the support box 1 are respectively provided with a first sliding chute along the height direction, a first sliding block is arranged in the first sliding chute in a sliding manner, the transmission plate 8 is fixed between the two first sliding blocks, preferably, the two sides of the inner top wall of the support box 1 are respectively provided with a second sliding chute along the length direction, a second sliding block is arranged in the second sliding chute in a sliding manner, and the two driving blocks 12 are respectively fixed at the bottom ends of the two second sliding blocks.
The screw thread turning direction of the first stud 14 provided by the embodiment of the present invention is opposite to the screw thread turning direction of the second stud 15, preferably, the two driving rods 13 are arranged in a "V" shape, when the two driving blocks 12 drive the top ends of the two driving rods 13 to approach each other, the bottom ends of the two driving rods 13 drive the driving plate 8 to descend, and when the two driving blocks 12 drive the top ends of the two driving rods 13 to depart from each other, the bottom ends of the two driving rods 13 drive the driving plate 8 to ascend.
The push rod 6 is welded on the outer side wall of the support box 1 provided by the embodiment of the invention, so that the support box 1 can be conveniently pushed and pulled.
As shown in fig. 4, the method for automatically controlling an intelligent ERCP auxiliary device according to an embodiment of the present invention includes the following steps:
s101, acquiring intelligent ERCP auxiliary device information by using a device information acquisition module through the device information acquisition module; the information of the intelligent ERCP auxiliary device comprises the specification and the connection relation of each component in the intelligent ERCP auxiliary device, the position information of the universal idler wheel and the operation principle of the intelligent ERCP auxiliary device;
s102, determining the position of the auxiliary device by the grabbing equipment positioning module according to the acquired intelligent ERCP auxiliary device information by using a positioning program; the central control module controls each module to normally operate by using the main control machine;
s103, acquiring an image of the area where the intelligent ERCP auxiliary device is located by using an image acquisition program through an image acquisition module; analyzing the acquired image by using an image analysis program through an image analysis module to obtain an image analysis result;
s104, positioning the object to be grabbed by using an object to be grabbed positioning program through an object to be grabbed positioning module according to an image analysis result; extracting the feature points by a feature point extraction program through a feature point extraction module; the characteristic points comprise end points of objects to be grabbed and universal rollers in the intelligent ERCP auxiliary device;
s105, determining the relative positions of the universal roller and the object to be grabbed in the intelligent ERCP auxiliary device by using a relative position determining program through a relative position determining module;
s106, determining the shifting parameters by using a shifting parameter determining program through a shifting parameter determining module according to the obtained relative parameters; the power supply module supplies power by using the storage battery and the external power supply.
The image provided by the embodiment of the invention comprises an intelligent ERCP auxiliary device and an object to be grabbed.
As shown in fig. 5, an intelligent ERCP auxiliary device automatic control system provided by the embodiment of the present invention includes:
the device comprises a device information acquisition module 18, a grabbing equipment positioning module 19, a central control module 20, an image acquisition module 21, an image analysis module 22, an object to be grabbed positioning module 23, a feature point extraction module 24, a relative position determination module 25, a displacement parameter determination module 26 and a power supply module 27;
the device information acquisition module 18 is connected with the central control module 20 and is used for acquiring the information of the intelligent ERCP auxiliary device through the device information acquisition module;
the grabbing equipment positioning module 19 is connected with the central control module 20 and is used for determining the position of the auxiliary device according to the acquired intelligent ERCP auxiliary device information through a positioning program;
the central control module 20 is connected with the device information acquisition module 18, the grabbing equipment positioning module 19, the image acquisition module 21, the image analysis module 22, the object to be grabbed positioning module 23, the feature point extraction module 24, the relative position determination module 25, the displacement parameter determination module 26 and the power supply module 27, and is used for controlling the normal operation of each module through a main control computer;
the image acquisition module 21 is connected with the central control module 20 and is used for acquiring an image of an area where the intelligent ERCP auxiliary device is located through an image acquisition program;
the image analysis module 22 is connected with the central control module 20 and is used for analyzing the acquired image through an image analysis program to obtain an image analysis result;
the object to be grabbed positioning module 23 is connected with the central control module 20 and is used for positioning the object to be grabbed according to the image analysis result through an object to be grabbed positioning program;
a feature point extraction module 24 connected to the central control module 20 for extracting feature points through a feature point extraction program; the characteristic points comprise end points of objects to be grabbed and universal rollers in the intelligent ERCP auxiliary device;
the relative position determining module 25 is connected with the central control module 20 and is used for determining the relative positions of the universal rollers and the object to be grabbed in the intelligent ERCP auxiliary device through a relative position determining program;
a shift parameter determination module 26 connected to the central control module 20 for determining shift parameters according to the obtained relative parameters through a shift parameter determination program;
and the power supply module 27 is connected with the central control module 20 and is used for supplying power through the storage battery and an external power supply.
The present invention will be further described with reference to the following examples.
Example 1:
acquiring intelligent ERCP auxiliary device information by using a device information acquisition module through the device information acquisition module; the information of the intelligent ERCP auxiliary device comprises the specification and the connection relation of each component in the intelligent ERCP auxiliary device, the position information of the universal idler wheel and the operation principle of the intelligent ERCP auxiliary device; determining the position of the auxiliary device by a grabbing equipment positioning module according to the acquired intelligent ERCP auxiliary device information by using a positioning program; the central control module controls each module to normally operate by using the main control machine;
acquiring an image of an area where the intelligent ERCP auxiliary device is located by using an image acquisition program through an image acquisition module; analyzing the acquired image by using an image analysis program through an image analysis module to obtain an image analysis result; positioning the object to be grabbed by using an object to be grabbed positioning program through an object to be grabbed positioning module according to the image analysis result; extracting the feature points by a feature point extraction program through a feature point extraction module; the characteristic points comprise end points of objects to be grabbed and universal rollers in the intelligent ERCP auxiliary device; determining the relative positions of a universal roller and an object to be grabbed in the intelligent ERCP auxiliary device by using a relative position determining program through a relative position determining module; determining the shifting parameters by a shifting parameter determining module according to the obtained relative parameters by using a shifting parameter determining program; the power supply module supplies power by using the storage battery and the external power supply.
Example 2:
when the intelligent auxiliary grabbing equipment needs to work, the driving motor 10 is operated in the forward direction to drive the first bevel gear 16 to rotate, the first bevel gear 16 and the second bevel gear 17 are in spiral transmission to drive the second stud 15 and the first stud 14 to rotate, the second stud 15 and the first stud 14 are respectively in spiral transmission with the two driving blocks 12 to drive the two driving blocks 12 to approach each other, so that the top ends of the two driving rods 13 can be driven to approach each other, the bottom ends of the two driving rods 13 can drive the driving plate 8 to descend, the lifting column 4 can be driven to descend, the lifting plate 3 and the stabilizing plate 5 can be driven to descend until the stabilizing plate 5 is pressed on the ground, the universal rollers 2 can be prevented from rolling, and when the intelligent auxiliary grabbing equipment needs to be shifted, the lifting plate 3 and the stabilizing plate 5 can be driven to ascend through the reverse operation of the driving motor 10, make steadying plate 5 rise to the top on ground, can realize passing supporting box 1 through promoting push rod 6, can pass and snatch equipment body 7 to make the supplementary equipment of snatching of intelligence be convenient for shift.
The invention has novel design, convenient displacement and high convenience, and is worthy of popularization.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. An intelligent ERCP assistance device, said intelligent ERCP assistance device provided with:
a support box;
universal idler wheels are mounted at four corners of the outer bottom wall of the supporting box, lifting holes are formed in two sides of the bottom wall of the supporting box, vertical lifting columns are sleeved in the lifting holes, the bottoms of the two lifting columns extend to the lower side of the supporting box and are fixedly connected with horizontal lifting plates, horizontal stabilizing plates are fixed on the bottom walls of the lifting plates, the top ends of the two lifting columns extend to the inside of the supporting box and are fixedly connected with horizontal transmission plates, through holes are formed in the middle positions of the transmission plates, driving motors with upward output ends are mounted in the middle positions of the inner bottom wall of the supporting box and are located in the through holes, the output ends of the driving motors extend to the upper side of the transmission plates and are fixedly connected with first bevel gears, horizontal first studs and horizontal second studs are rotatably connected to inner side walls of two sides of the supporting box located on the upper side of the transmission plates through bearings respectively, the equal sliding connection in both sides of the interior roof of supporting box has the drive block, two drive block threaded connection respectively the outer lane of first double-screw bolt with the outer lane of second double-screw bolt is located the through-hole both sides all articulate on the roof of driving plate has the actuating lever that is the slope setting, two the top of actuating lever articulates respectively two the bottom of drive block is located between two drive blocks the outer lane of second double-screw bolt is fixed to be cup jointed second bevel gear, first bevel gear is connected with second bevel gear meshing.
2. The intelligent ERCP assistance device of claim wherein the bottom end of said stabilizer plate is higher than the bottom ends of said universal rollers, said stabilizer plate is made of rubber, and a plurality of grooves are formed in the bottom wall of said stabilizer plate.
3. The intelligent ERCP auxiliary device as claimed in claim, wherein the supporting box has first sliding grooves formed on the inner side walls of the two sides of the bottom along the height direction, the first sliding grooves are internally provided with first sliding blocks in a sliding manner, and the driving plate is fixed between the two first sliding blocks.
4. The intelligent ERCP auxiliary device as claimed in claim, wherein the supporting box has second sliding grooves formed on both sides of the inner top wall along the length direction, the second sliding grooves are slidably provided with second sliding blocks inside, and the two driving blocks are respectively fixed at the bottom ends of the two second sliding blocks.
5. The intelligent ERCP assist device of wherein said first stud has a thread of opposite hand to said second stud.
6. The intelligent ERCP assist device of claim wherein said two drive rods are arranged in a "V" configuration.
7. The intelligent ERCP assist device of claim wherein push rods are welded to the outside walls of said support box.
8. An intelligent ERCP auxiliary device automatic control method applying the intelligent ERCP auxiliary device as claimed in claims 1-7, characterized in that the intelligent ERCP auxiliary device automatic control method comprises the following steps:
acquiring intelligent ERCP auxiliary device information by using a device information acquisition module through the device information acquisition module; the information of the intelligent ERCP auxiliary device comprises the specification and the connection relation of each component in the intelligent ERCP auxiliary device, the position information of the universal idler wheel and the operation principle of the intelligent ERCP auxiliary device;
determining the position of the auxiliary device by using a grabbing equipment positioning module according to the acquired intelligent ERCP auxiliary device information by using a positioning program; the central control module controls each module to normally operate by using the main control machine;
acquiring an image of the area where the intelligent ERCP auxiliary device is located by using an image acquisition program through an image acquisition module; analyzing the acquired image by using an image analysis program through an image analysis module to obtain an image analysis result;
fourthly, positioning the object to be grabbed by using an object to be grabbed positioning program through an object to be grabbed positioning module according to the image analysis result; extracting the feature points by a feature point extraction program through a feature point extraction module; the characteristic points comprise end points of objects to be grabbed and universal rollers in the intelligent ERCP auxiliary device;
determining the relative positions of a universal roller and an object to be grabbed in the intelligent ERCP auxiliary device by using a relative position determining program through a relative position determining module;
sixthly, determining the shifting parameters by using a shifting parameter determining program through a shifting parameter determining module according to the obtained relative parameters; the power supply module supplies power by using the storage battery and the external power supply.
9. The intelligent ERCP assistance device automated control method of claim 8, wherein the image includes the intelligent ERCP assistance device and the object to be grasped.
10. An intelligent ERCP auxiliary device automatic control system applying the intelligent ERCP auxiliary device automatic control method according to the claims 8-9, wherein the intelligent ERCP auxiliary device automatic control system comprises:
the device comprises a device information acquisition module, a grabbing equipment positioning module, a central control module, an image acquisition module, an image analysis module, an object to be grabbed positioning module, a characteristic point extraction module, a relative position determination module, a displacement parameter determination module and a power supply module;
the device information acquisition module is connected with the central control module and used for acquiring the information of the intelligent ERCP auxiliary device through the device information acquisition module;
the grabbing equipment positioning module is connected with the central control module and used for determining the position of the auxiliary device according to the acquired intelligent ERCP auxiliary device information through a positioning program;
the central control module is connected with the device information acquisition module, the grabbing equipment positioning module, the image acquisition module, the image analysis module, the object to be grabbed positioning module, the feature point extraction module, the relative position determination module, the displacement parameter determination module and the power supply module and is used for controlling each module to normally operate through the main control computer;
the image acquisition module is connected with the central control module and is used for acquiring an image of the area where the intelligent ERCP auxiliary device is located through an image acquisition program;
the image analysis module is connected with the central control module and is used for analyzing the acquired image through an image analysis program to obtain an image analysis result;
the object to be grabbed positioning module is connected with the central control module and is used for positioning the object to be grabbed according to the image analysis result through an object to be grabbed positioning program;
the characteristic point extraction module is connected with the central control module and is used for extracting the characteristic points through a characteristic point extraction program; the characteristic points comprise end points of objects to be grabbed and universal rollers in the intelligent ERCP auxiliary device;
the relative position determining module is connected with the central control module and is used for determining the relative positions of the universal roller and the object to be grabbed in the intelligent ERCP auxiliary device through a relative position determining program;
the shift parameter determining module is connected with the central control module and is used for determining shift parameters according to the obtained relative parameters through a shift parameter determining program;
and the power supply module is connected with the central control module and is used for supplying power through the storage battery and an external power supply.
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