CN209884118U - Mammary gland detector and stereoscopic vision detection device thereof - Google Patents
Mammary gland detector and stereoscopic vision detection device thereof Download PDFInfo
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- CN209884118U CN209884118U CN201822270625.6U CN201822270625U CN209884118U CN 209884118 U CN209884118 U CN 209884118U CN 201822270625 U CN201822270625 U CN 201822270625U CN 209884118 U CN209884118 U CN 209884118U
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Abstract
The utility model discloses a mammary gland detector and a stereo vision detection device thereof, wherein the stereo vision detection device comprises a mounting rack with a central cavity, a binocular detection module arranged at the top of the cavity, laser ranging modules respectively arranged at the left side and the right side in the cavity, and a processor connected with the binocular ranging modules and the laser ranging modules; the binocular detection module and the first laser ranging sensor are used for collecting the three-dimensional contour information of the chest of the user. The utility model discloses compensate two mesh detection module's vision blind areas for the user chest form that measures is more complete.
Description
Technical Field
The utility model relates to the field of medical equipment, concretely relates to mammary gland detector and stereovision detection device thereof.
Background
The breast detector is a medical device for detecting the breast of a user to find a focus and prevent and treat the focus in time, and is provided with a visual detection device and a control system, wherein the visual detection device is used for collecting and analyzing the shape of the breast of the user, and the control system plans a motion path of a detecting head according to an analysis result of the visual detection device.
The existing visual detection device generally adopts a binocular visual structure, namely, two cameras arranged in a close distance are used for shooting the chest of a user, the position deviation of a space point in two-dimensional images of the two cameras is calculated by utilizing a stereoscopic vision principle, and three-dimensional reconstruction is carried out according to the position deviation, so that a 3D model of the chest of the user is obtained.
However, because human breasts have different shapes, especially when the size of the breast is large, no matter which position the binocular vision structure is installed, a vision blind area exists, so that the vision detection device is difficult to acquire a complete breast contour, and a control system is not favorable for drawing a motion path fitting the breast contour to a probe, thereby influencing the accuracy of a detection result.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a stereoscopic vision detecting device, which aims to solve the problem that the binocular vision structure adopted by the existing breast detecting instrument has a vision blind area.
In order to solve the technical problem, the utility model provides a stereoscopic vision detection device applied to a mammary gland detector, which comprises a mounting frame with a central cavity, a binocular detection module arranged at the top of the cavity, laser ranging modules respectively arranged at the left side and the right side in the cavity, and a processor connected with the binocular ranging modules and the laser ranging modules; the binocular detection module comprises two cameras; the laser ranging module comprises a plurality of first laser ranging sensors, and the binocular detection module and the first laser ranging sensors are used for collecting the three-dimensional contour information of the chest of the user.
Preferably, the laser ranging module further comprises a bracket movably connected with the mounting bracket; the bracket is fixedly provided with a plurality of first laser ranging sensors which are sequentially arranged on the same straight line; or the bracket is provided with the first laser ranging sensor and a first driving mechanism for driving the first laser ranging sensor to move linearly.
Preferably, the device further comprises two second driving mechanisms, and each second driving mechanism correspondingly drives one support so as to enable the supports to make linear motion along the horizontal plane.
Preferably, the second driving mechanism comprises a guide rail located in the cavity, a lead screw arranged in parallel with the guide rail, a motor driving the lead screw to rotate, and a lead screw nut sleeved on the lead screw, and the bracket is respectively connected with the lead screw nut and the guide rail; the screw rods of the two second driving mechanisms are parallel.
Preferably, the bracket comprises a horizontal mounting plate and two sliding blocks which are respectively arranged on the two guide rails in a penetrating way and are fixed with the horizontal mounting plate; two first laser ranging sensor on the support sets up relatively, horizontal mounting panel is connected with two one of them of screw nut.
Preferably, the laser ranging module further comprises second laser ranging sensors respectively mounted on the left side wall and the right side wall of the cavity, and each second laser ranging sensor correspondingly detects the distance between the adjacent brackets.
Preferably, the camera adopts an RGB camera.
The utility model also provides a mammary gland detector, this mammary gland detector include as above arbitrary the stereovision detection device.
The utility model arranges the laser ranging modules at the left and right sides in the cavity on the basis of binocular vision detection, which can compensate the vision blind area of the binocular detection module and make the measured chest form of the user more complete; the defect that clear images are difficult to accurately acquire by a binocular detection module in a dark environment can be overcome, and more accurate chest contour information of the user can be obtained.
Drawings
Fig. 1 is a schematic structural diagram of the stereoscopic vision detecting apparatus of the present invention at a first viewing angle;
fig. 2 is a schematic structural diagram of the stereoscopic vision detecting apparatus of the present invention at a second viewing angle;
FIG. 3 is a schematic structural view of the binocular detection module shown in FIG. 1;
fig. 4 is a schematic structural view of the carriage and the second driving mechanism shown in fig. 2.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention, and all other embodiments obtained by those skilled in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
The utility model provides a stereo vision detection device for mammary gland detector, as shown in fig. 1 and fig. 2, the stereo vision detection device comprises an installation frame 100 with a central cavity, a binocular detection module 200 (only the position is shown in fig. 1, the structure is shown in fig. 3) arranged at the top of the cavity, laser ranging modules 300 respectively arranged at the left side and the right side in the cavity, and a processor connected with the binocular ranging modules and the laser ranging modules 300; the binocular detection module 200 includes two cameras 210; the laser ranging module 300 includes a plurality of first laser ranging sensors 310, and the binocular detecting module 200 and the first laser ranging sensors 310 are both used for acquiring the stereoscopic contour information of the chest of the user.
In this embodiment, the mounting block 100 includes a top plate 120 and side plates 110 surrounding the top plate 120, the side plates 110 surround to form a cavity located at the center of the mounting block 100, the bottom of the mounting block 100 is open, and is used for covering the mounting block 100 on the chest of a user, so that the chest of the user is located in the cavity of the mounting block 100. The top plate 120 and the side plate 110 may be integrally formed, or may be detachably connected to each other. For easy assembly and disassembly, the top plate 120 and the side plates 110 of the mounting rack 100 are preferably detachable structures, and fig. 1 can be a schematic internal structure of the front plate after being detached; fig. 2 may be a schematic view of the internal structure of the top plate 120 after removal. The term "left and right" in this embodiment refers to any two opposite sides of the cavity (i.e., the left and right side plates 110 of the mounting frame 100), preferably the direction of the line connecting the two breasts of the user during examination. When the user performs the breast detection, the mounting rack 100 covers the chest of the user, and the stereoscopic vision detection device performs image acquisition and analysis on the breast of the chest of the user in the cavity. The binocular detection module 200 is composed of two cameras 210, the two cameras 210 can be mounted on the top of the cavity through a mounting base 220, and the two cameras 210 are preferably located on the same horizontal plane and located at the center of the top of the cavity, namely, directly above the midpoint of the two breast connecting lines, so as to collect images of the breasts of the user. Preferably, the distance between the two cameras 210 is 30 mm. For the binocular camera 210 to be able to more clearly photograph the chest of the user, illumination lamps may be further provided on four walls within the mounting block 100, and the illumination lamps may be installed in a multi-point arrangement manner or in an inner cavity of the mounting block 100 in a light band manner. The two laser ranging modules 300 are respectively positioned at the left side and the right side in the cavity, the two laser ranging modules 300 respectively acquire data of the left breast and the right breast from the two sides, and the first laser ranging sensor 310 can scan the chest of the user in a line laser scanning mode, a grid structured light mode and the like.
The processor is electrically connected to the binocular detecting module 200 and the laser ranging module 300, and the processor, as a data processing center, is installed in the mounting block 100 or on other structures of the breast detecting apparatus in the form of a circuit board, and thus is not shown in the drawings. The processor can adopt a raspberry pie, the camera 210 is controlled by a python program to respectively obtain two images of the breasts of the user, the accurate projection pixel points of the space object points on the two images are calculated according to the stereoscopic vision principle, three-dimensional reconstruction is carried out according to the position deviation of the space object points on the two images, the coordinates of the object points on the space object are obtained, the three-dimensional contour information of the breasts of the user can be obtained, and the processor carries out filtering, denoising and other processing on the three-dimensional contour information. The three-dimensional contour information comprises: curvature of breast, overall three-dimensional contour, size and position of nipple, distance between two nipples, breast circumference, breast curve length, breast height, breast depth, etc. Meanwhile, the processor regulates and controls the working frequency of the first laser ranging sensor 310, and processes the data collected by the first laser ranging sensor 310 to obtain the spatial coordinates of all data points. And finally, fusing and correcting the binocular stereo contour information acquired by the binocular detection module 200 and the laser stereo contour information acquired by the laser detection module, thereby obtaining more accurate chest depth information.
Because the binocular detection module 200 adopts the passive light collection mode, so the influence of ambient light is very easily received, and the laser adopts the mode of initiatively emitting light and collecting reflected light, and is not influenced by ambient light, so the defects of the binocular detection module 200 can be overcome. On the basis of the binocular detection module 200, the laser ranging modules 300 are arranged on the left side and the right side in the cavity, so that the defect that the binocular detection module 200 is difficult to accurately acquire clear images in a dark environment is overcome, the visual blind area of the binocular detection module 200 is also overcome, and the measured chest form of a user is more complete; the utility model discloses can also follow certain pixel region of extracting chest key position in the image that camera 210 gathered after, extract the degree of depth and the positional information in these pixel regions again to acquire breast radius, volume, the three-dimensional profile isoparametric of breast fast.
In a preferred embodiment, as shown in fig. 2, the laser ranging module 300 further includes a bracket 320 movably connected to the mounting block 100; a plurality of first laser ranging sensors 310 are fixedly mounted on the bracket 320, and the plurality of first laser ranging sensors 310 are sequentially arranged on a straight line; or, the bracket 320 is provided with a first laser ranging sensor 310 and a first driving mechanism for driving the first laser ranging sensor 310 to move parallel to the left and right side walls of the cavity.
In this embodiment, the bracket 320 movably connects the first laser ranging sensor 310 to the mounting frame 100 in a manner that the first laser ranging sensor 310 moves in the cavity along a horizontal direction or a vertical direction, so as to detect the image of the chest of the user at different positions. Preferably, the mounting block 100 has a rectangular structure, and both left and right side plates 110 are vertically arranged in a flat plate shape.
In the first case, a plurality of first laser ranging sensors 310 are mounted on each support 320, so that images of the user's chest can be acquired from a plurality of positions; preferably, the first laser ranging sensors 310 are arranged in a straight line, and the straight line is parallel to the left and right side plates 110 of the mounting frame 100, that is, the distances between the first laser ranging sensors 310 on each bracket 320 and the side walls of the cavity are equal, so that the spatial positions of the first laser ranging sensors 310 can be accurately located. Preferably, three first laser ranging sensors 310 are disposed on each bracket 320, and the distance between every two adjacent first laser ranging sensors 310 is 30 mm. In the second case, only one first laser distance measuring sensor 310 is disposed on the bracket 320, and the first laser distance measuring sensor 310 is driven by the first driving mechanism to perform a linear motion, and similarly, the motion direction is preferably parallel to the left and right side plates 110 of the mounting frame 100, so that the first laser distance measuring sensor 310 can capture images of the chest of the user from different angles. The first driving mechanism may be a cylinder fixed on the support 320 and capable of reciprocating, or a combination of a motor and a lead screw 420 pair, as long as the moving speed and direction of the first laser distance measuring sensor 310 can be controlled.
In a preferred embodiment, as shown in fig. 2 and 4, the stereo vision detecting apparatus further includes two second driving mechanisms 400, and each second driving mechanism 400 drives a corresponding bracket 320 to make the bracket 320 move linearly along the horizontal plane.
In this embodiment, the support 320 makes a linear motion on the horizontal plane, and the first laser ranging sensor 310 on the support 320 can acquire the image of the chest of the user from different viewing angles in the moving process of the support 320, and especially, on the basis of the above embodiment, the laser ranging module 300 can measure spatial points on a plurality of moving tracks under the condition that the support 320 is provided with a plurality of first laser ranging sensors 310 or one first laser ranging sensor 310 is driven by the first driving mechanism to make a linear motion, thereby avoiding a blind spot at a viewing angle. The position of the first laser ranging sensor 310 can be obtained through the moving track of the second driving mechanism 400 or through sensor detection, the first laser ranging sensor 310 on the bracket 320 detects the depth information of the chest at one side, and then the spatial coordinate information of the data point can be obtained by combining the position of the first laser ranging sensor 310.
The second driving mechanism 400 may be an air cylinder, a motor, a screw pair, etc., and the direction in which the second driving mechanism 400 drives the laser ranging module 300 to move may be any one of tracks on a horizontal plane, and preferably, the straight track is perpendicular to the left and right sidewalls of the cavity.
In a preferred embodiment, as shown in fig. 4, the second driving mechanism 400 includes a guide rail 410 located in the cavity, a lead screw 420 disposed parallel to the guide rail 410, a motor 430 for driving the lead screw 420 to rotate, and a lead screw nut 440 sleeved on the lead screw 420, the bracket 320 is respectively connected to the lead screw nut 440 and the guide rail 410, and the lead screws 420 of the two second driving mechanisms 400 are parallel.
In this embodiment, the motor is fixed to both sides of the mounting bracket 100, and is located in the cavity or outside the cavity, the output shaft of the motor is connected to the first end of the screw rod 420, and the second end of the screw rod 420 is rotatably connected to the side wall of the cavity opposite to the motor through the bearing seat. The bracket 320 is fixed with the lead screw nut 440 and is connected to the guide rail 410 in a sliding manner, and under the guiding action of the guide rail 410, the bracket 320 can move linearly along the axial direction of the lead screw 420 along with the lead screw nut 440. Each second driving mechanism 400 correspondingly drives one laser ranging module 300 to do linear motion, and the two laser ranging modules 300 can work independently and respectively detect the depth information of the breast. Preferably, the guide rail 410 is perpendicular to the flat plate-shaped side plates 110 vertically disposed at the left and right sides of the mounting block 100, and may also be understood as being parallel to the user's two breast lines.
In a preferred embodiment, as shown in fig. 4, the bracket 320 includes a horizontal mounting plate 321, two sliding blocks 322 respectively passing through the two guide rails 410 and fixed to the horizontal mounting plate 321; the first laser ranging sensors 310 on the two brackets 320 are oppositely arranged, and the horizontal mounting plate 321 is connected with one of the two lead screw nuts 440.
In this embodiment, the two sliding blocks 322 are respectively fixed at two ends of the horizontal mounting plate 321, so that the horizontal mounting plate 321 can be simultaneously slidably connected to the two guide rails 410, thereby improving the stability of the horizontal mounting plate 321. Each horizontal mounting plate 321 is fixedly connected to one lead screw nut 440, that is, each second driving mechanism 400 drives one laser ranging module 300. The central connecting line of the two horizontal mounting plates 321 is parallel to the guide rail 410, and the first laser ranging sensors 310 on the two horizontal mounting plates 321 are arranged oppositely, when the screw rod 420 where the screw nut 440 is located rotates under the driving of the motor, the horizontal mounting plates 321 make linear motion along with the screw nut 440, that is, the first laser ranging sensors 310 slide along the guide rail 410 to make linear motion.
In a preferred embodiment, as shown in fig. 2, the laser ranging module 300 further includes second laser ranging sensors 330 respectively mounted on the left and right sidewalls of the cavity, and each of the second laser ranging sensors 330 correspondingly detects a distance between the adjacent brackets 320.
In this embodiment, the second laser ranging sensor 330 is used for detecting the position of the first laser ranging sensor 310, the first laser ranging sensor 310 on each support 320 can detect the depth information of the unilateral breast, and the spatial coordinate information of each data point can be obtained by combining the position of the first laser ranging sensor 310 detected by the second laser ranging sensor 330.
In a preferred embodiment, in order to facilitate the second laser ranging sensor 330 to detect the position of the bracket 320, the bracket 320 further includes a vertical plate 323 connected to the horizontal mounting plate 321, the vertical plate 323 is located at a side of the horizontal mounting plate 321 facing the second laser ranging sensor 330 located at the same side, when the bracket 320 moves linearly, the second laser ranging sensor 330 obtains the position of the bracket 320 by receiving the laser beam reflected by the vertical plate 323 to obtain the spatial position of the first laser ranging sensor 310, and the position of the first laser ranging sensor 310 is combined with the depth information of the single chest detected by the first laser ranging sensor 310 to obtain the spatial coordinate information of each data point.
In a preferred embodiment, the camera 210 is an RGB camera, which has high measurement accuracy especially at a short distance, and is more suitable for a breast detector that needs to be closely fitted to a user to collect the breast shape of the user.
The utility model also provides a mammary gland detector, which comprises the stereo vision detection device in the embodiment, wherein the stereo vision detection device comprises an installation frame 100 with a central cavity, a binocular detection module 200 arranged at the top of the cavity, laser ranging modules 300 respectively arranged at the left side and the right side in the cavity, and a processor connected with the binocular ranging modules and the laser ranging modules 300; the binocular detection module 200 includes two cameras 210; the laser ranging module 300 includes a plurality of first laser ranging sensors 310, and the binocular detecting module 200 and the first laser ranging sensors 310 are both used for acquiring the stereoscopic contour information of the chest of the user.
The utility model discloses a mammary gland detector improves on stereoscopic vision detection device, on original two mesh visual system's basis, add laser rangefinder module 300 in two outsides about two breasts, thereby it is difficult to accurate this shortcoming of the clear image of gathering to have remedied two mesh detection module 200 in dim environment, and make visual angle compensation to two mesh detection module 200's vision blind area, make measuring user chest form more complete, the actual user chest form is more pressed close to according to the 3D model that the measuring result was established, thereby it is more accurate to increase the detecting head motion path that control system was drawn up according to this 3D model, make the detecting head more laminating user's breast profile, increase the accuracy of measuring result.
It should be noted that the above is only the partial or preferred embodiments of the present invention, and no matter the characters or drawings can not limit the protection scope of the present invention, all the equivalent structure changes made by the contents of the specification and drawings or the direct/indirect application in other related technical fields are included in the protection scope of the present invention.
Claims (8)
1. A stereoscopic vision detection device applied to a mammary gland detector is characterized by comprising an installation frame with a central cavity, binocular detection modules arranged at the top of the cavity, laser ranging modules respectively arranged at the left side and the right side in the cavity, and a processor connected with the binocular ranging modules and the laser ranging modules; the binocular detection module comprises two cameras; the laser ranging module comprises a plurality of first laser ranging sensors, and the binocular detection module and the first laser ranging sensors are used for collecting the three-dimensional contour information of the chest of the user.
2. The stereo vision detection device of claim 1, wherein the laser ranging module further comprises a bracket movably connected with the mounting bracket; the bracket is fixedly provided with a plurality of first laser ranging sensors which are sequentially arranged on the same straight line; or the bracket is provided with the first laser ranging sensor and a first driving mechanism for driving the first laser ranging sensor to move linearly.
3. The stereoscopic vision detecting apparatus according to claim 2, further comprising two second driving mechanisms, each of the second driving mechanisms driving a corresponding one of the supports to move the supports linearly along a horizontal plane.
4. The stereoscopic vision detecting device according to claim 3, wherein the second driving mechanism includes a guide rail located in the cavity, a lead screw arranged in parallel with the guide rail, a motor driving the lead screw to rotate, and a lead screw nut sleeved on the lead screw, and the bracket is connected to the lead screw nut and the guide rail respectively; the screw rods of the two second driving mechanisms are parallel.
5. The stereoscopic vision detecting apparatus according to claim 4, wherein the bracket includes a horizontal mounting plate, two sliding blocks respectively passing through the two guide rails and fixed to the horizontal mounting plate; two first laser ranging sensor on the support sets up relatively, horizontal mounting panel is connected with two one of them of screw nut.
6. The stereoscopic vision detecting apparatus according to any one of claims 2 to 5, wherein the laser ranging module further comprises second laser ranging sensors respectively mounted on left and right sidewalls of the cavity, and each of the second laser ranging sensors detects a distance between the brackets adjacent thereto.
7. The stereoscopic vision detecting apparatus according to claim 1, wherein the camera is an RGB camera.
8. A breast detecting apparatus comprising the stereoscopic vision detecting apparatus according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822270625.6U CN209884118U (en) | 2018-12-29 | 2018-12-29 | Mammary gland detector and stereoscopic vision detection device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822270625.6U CN209884118U (en) | 2018-12-29 | 2018-12-29 | Mammary gland detector and stereoscopic vision detection device thereof |
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| Publication Number | Publication Date |
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| CN209884118U true CN209884118U (en) | 2020-01-03 |
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| CN201822270625.6U Active CN209884118U (en) | 2018-12-29 | 2018-12-29 | Mammary gland detector and stereoscopic vision detection device thereof |
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- 2018-12-29 CN CN201822270625.6U patent/CN209884118U/en active Active
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Mammary gland detector and its stereo vision detector Effective date of registration: 20221213 Granted publication date: 20200103 Pledgee: Wenling Yigang Life Health Technology Co.,Ltd. Pledgor: SHENZHEN HANWEI INTELLIGENT MEDICAL TECHNOLOGY Co.,Ltd. Registration number: Y2022980026941 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
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Effective date of registration: 20230713 Address after: 318000 Floor 5, No. 2 Plant, No.139 Huitou, Caishiqiao Village, Xinhe Town, Wenling City, Taizhou City, Zhejiang Province Patentee after: Hanwei (Taizhou) Intelligent Medical Technology Co.,Ltd. Address before: 518000 8j, 8th floor, Shenzhen free trade center, No. 111, Taizi Road, Shekou street, Nanshan District, Shenzhen, Guangdong Patentee before: SHENZHEN HANWEI INTELLIGENT MEDICAL TECHNOLOGY Co.,Ltd. |
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