CN214409315U - Automatic packaging device for image calibration of scintillator array - Google Patents
Automatic packaging device for image calibration of scintillator array Download PDFInfo
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- CN214409315U CN214409315U CN202023287809.7U CN202023287809U CN214409315U CN 214409315 U CN214409315 U CN 214409315U CN 202023287809 U CN202023287809 U CN 202023287809U CN 214409315 U CN214409315 U CN 214409315U
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Abstract
The utility model discloses an automatic packaging hardware is checked to image of scintillator array, include: the device comprises a base, an image recognition unit, a control unit, a manipulator and a glue filling clamp, wherein the image recognition unit is used for screening the quality of scintillator elements to screen out unqualified scintillator elements; arranging a plurality of scintillator elements on the base in an array structure based on the image recognition unit and the manipulator; then, the image recognition unit is used for calibrating the position of each scintillator element; and finally, encapsulating and encapsulating the scintillator array by using an encapsulating clamp. Compared with the prior art, the utility model discloses can realize the quality screening of scintillator element, the automation of array arrange and the position is checked, further structure encapsulating anchor clamps realize encapsulation and encapsulating, improve the position precision of scintillator element greatly, improve the degree of automation and the production efficiency of scintillator array production.
Description
Technical Field
The utility model relates to a scintillation body processing technology field especially relates to an automatic packaging hardware of image calibration of scintillation body array.
Background
The scintillation detector is an ionizing radiation detector and is widely applied to the fields of medical treatment, national defense, security inspection and the like. The scintillator array is a core component of a scintillation detector, can convert high-energy rays (X rays/gamma rays) or charged particles into ultraviolet light or visible light, further converts optical signals into electric signals through photon detection equipment such as a photomultiplier tube and the like, and finally presents information of interaction between the high-energy rays and detected substances in the form of digital signals.
In the production and manufacturing process of the scintillator array, firstly, machining is needed to be carried out on a blocky scintillation medium, namely, the scintillation medium is processed into a plurality of small elements in a cutting, grinding and other modes, then qualified elements are screened out, then the qualified elements are filled into a mold, and then the elements filled into the mold are subjected to glue pouring, grinding and other processes to form the required scintillator array. In the traditional process, unqualified primitives are manually screened out, and the position of each primitive in the array is controlled by a die, so that a large amount of labor and time cost are consumed, and the production efficiency is influenced; the positional accuracy of the elements is also completely dependent on the accuracy of the mold, and if there is an error in the mold, the processing accuracy of the array is affected.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model aims at providing an automatic packaging hardware of image calibration of scintillation body array combines the manipulator in order to realize the automatic calibration to arranging and the array position of unqualified elementary substance, improving production efficiency greatly based on image recognition system.
To the above purpose, the utility model discloses a technical scheme be: an image calibration automatic packaging device for a scintillator array, comprising:
a base for arranging N scintillator elements to form a scintillator array;
an image recognition unit for recognizing the image information I of each scintillator elementi' and image information T of the scintillator array, and converting the Ii' and said T are sent to a control unit;
the manipulator is driven by the control unit to act and is used for screening out unqualified scintillator elements, arranging the scintillator array and calibrating the position of each scintillator element in the scintillator array;
a control unit in which standard image information I of each scintillator cell is storediAnd a standard position parameter Pi；
The image recognition unit, the control unit and the manipulator form an unqualified primitive screening module: the image recognition unit recognizes the image information I of each scintillator elementi' and sent to the control unit, which sends the Ii' with said IiMaking a comparison according to Ii' and IiSending an instruction to the manipulator to drive the manipulator to act, and screening out unqualified scintillator elements;
the control unit, the manipulator and the base form an array arrangement module: the manipulator is driven by the control unit to move according to a standard position parameter PiArranging the N scintillator elements on the base in an array structure to form a scintillator array;
the image recognition unit, the control unit and the manipulator form a position calibration module: the image recognition unit recognizes the image information T of the scintillator array and feeds back the image information T to the control unit, and the control unit controls the image recognition unit to recognize the image information T of the scintillator array and feed back the image information T to the control unitThe unit calculates the position parameter P of each scintillator element according to Ti', and said Pi' with said PiMaking a comparison according to Pi' and PiThe relation of (a) is sent to the manipulator, the manipulator is driven to act, and the position calibration of the ith scintillator element is realized;
wherein i is more than or equal to 1 and less than or equal to N, and N is the total number of the scintillator elements.
Based on the setting, the image recognition unit recognizes the image information of each scintillator element and the image information of the scintillator array, and the control unit drives the manipulator to act according to the recognized image information of the scintillator elements so as to realize screening of unqualified elements; the control unit drives the manipulator to act according to the standard position parameters stored in the control unit, so that the arrangement of the scintillator array is realized; the control unit calculates the actual position parameter of each scintillator element in the array according to the identified image information of the scintillator array, and the position calibration of the scintillator array is realized by comparing the actual position parameter with the standard position parameter and combining with the manipulator.
Further, a bonding device is arranged on the base, and the scintillator element and the base are detachably connected through the bonding device.
Through the arrangement, the detachable connection between the scintillator element and the base can be realized, and the position calibration cannot be influenced while the element is fixed.
Further, still include the encapsulating module, the encapsulating module includes the encapsulating anchor clamps, the encapsulating anchor clamps with detachably connects between the base.
Through the arrangement, after the scintillator array is arranged, glue filling and packaging of the array can be realized by combining a glue filling clamp.
Further, a polar coordinate system is arranged on the base.
Further, the position parameter Pi' includes a distance parameter di' and an angle parameter thetai', wherein said di' is the polar diameter of one vertex D of the ith scintillator element relative to the polar coordinate systemThetai' is the polar angle of the vertex D relative to the polar coordinate system.
Through the arrangement, the control unit can conveniently carry out the position parameter P according to the polar coordinate systemi' calculation.
Furthermore, scale marks are arranged on the base along the length direction and the width direction of the scintillator array.
Through the arrangement, the arrangement condition of the scintillator array is convenient to observe.
Furthermore, the glue filling fixture is provided with scale marks along the height direction.
Through the arrangement, the glue pouring thickness is conveniently controlled.
Furthermore, the unqualified primitive screening module further comprises a conveying device and a turnover device, wherein the conveying device conveys the N scintillator primitives to the identification range of the image identification unit in sequence, and the turnover device is used for turning over the scintillator primitives, so that the image identification unit identifies the image information of six sides of the scintillator primitives in sequence.
Through the arrangement, the image recognition of six side surfaces of each scintillator element is realized, so that the quality screening can be respectively carried out on the six side surfaces of each scintillator element.
The utility model has the advantages that: 1. the image recognition unit is matched with the mechanical arm to realize quality screening, array arrangement and position calibration of the scintillator elements, so that the labor cost and the time cost of scintillator array processing are greatly reduced, the automation degree and the production efficiency are improved, and the processing error can be reduced; 2. the distribution of the scintillator elements can be realized without a mould, and the input cost of materials is reduced; 3. the position precision of each element in the scintillator array is greatly improved; 4. the automatic encapsulation of scintillator is realized to cooperation encapsulating anchor clamps, has simplified manufacturing procedure.
Drawings
FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;
fig. 2 is a partially enlarged view of a portion a in fig. 1.
Detailed Description
The technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and thus, the scope of the present invention can be defined more clearly and clearly.
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, the present invention provides an image calibration automatic packaging apparatus for a scintillator array, which specifically includes:
the scintillator array comprises a base 1 and N scintillator elements, wherein the base 1 is used for arranging the scintillator elements, and the N scintillator elements can be arranged on the base 1 in an array structure to form a scintillator array; the base 1 is provided with scale marks 102 along the length direction and the width direction, and is also provided with a polar coordinate system 101;
the robot 2, which is connected to the control unit 3, has three functions: 1) the method is used for removing scintillator elements with unqualified quality; 2) the arrangement of the scintillator array is carried out under the driving of the control unit; 3) calibrating the position of each scintillator element in the scintillator array;
an image recognition unit 5 for recognizing the image parameters I of each scintillator celli', image parameter T after the arrangement of the scintillator array is finished, and the I is comparedi' and T are both sent to the control unit 3;
the control unit 3 stores therein standard image parameters I of the respective scintillator cellsiStandard position parameter PiAnd an error threshold Δ;
and the glue filling fixture 4 is used for packaging the scintillator array after the position calibration of the scintillator array is completed so as to complete the subsequent glue filling process.
The polar coordinate system 101 uses the top left vertex of the first scintillator element as the pole O, and uses the edge line where the pole O is located as the polar axis, and the standard position parameter PiThe position information of the top right vertex of the ith scintillator element relative to the polar coordinate system 101 specifically includes: standard distance parameter diAnd a standard angle parameter thetaiStandard distance parameter diThe theoretical pole diameter of the upper right vertex of the ith scintillator element relative to the pole O and the standard angle parameter thetaiThe theoretical polar angle of the top right vertex of the ith scintillator cell relative to the polar axis. The standard position parameter can be calculated according to the size of the scintillator elements, the number N of the scintillator elements and the size of the scintillator array.
Standard position parameter P of N scintillator elements1～PNIs stored in the control unit 3. The control unit 3 can be provided with an input module to realize the input of the size of the scintillator elements, the number N of the scintillator elements and the scintillator array, and during actual use, an operator can input the array size, the size of the scintillator elements and the number N of the scintillator elements into the control unit 3, and the control unit 3 can automatically calculate the standard position parameter P1～PNEach standard position parameter PiEach comprises: standard distance parameter diAnd a standard angle parameter thetai。
Scintillator array completion arrangementThen, the image recognition unit 5 recognizes the image information T of the scintillator array, and the control unit 3 calculates the actual position parameter P of each scintillator element in the scintillator array with respect to the polar coordinate system 101 according to Ti’。
The image recognition unit 5 recognizes the image information T of the scintillator array and sends the image information T to the control unit 3, and the control unit 3 calculates the actual position parameter P of each scintillator element in the scintillator array according to the image information Ti' and is associated with a standard position parameter P stored thereiniMaking a comparison according to Pi' and PiThe comparison result is used for sending an instruction to the manipulator 2 so as to drive the manipulator 2 to execute corresponding action, and position calibration is realized.
Based on the above device, the utility model discloses an automatic packaging method of image calibration of scintillator array specifically includes following step:
s1 primitive screening: the image information of each scintillator element is identified by the image identification unit 5 and is sent to the control unit 3, the control unit 3 compares the received image information with the standard image information stored in the control unit, and drives the manipulator 2 to act according to the relationship between the received image information and the standard image information, so that unqualified scintillator elements are screened out; wherein the image information comprises image information of six sides of the scintillator element; in an embodiment of the present invention, the scintillator element can be sequentially conveyed to the recognition range of the image recognition unit 5 through the conveying device, and the image recognition unit 5 is enabled to recognize the image information of six sides of the scintillator element by combining with the turnover device, the control unit 3 compares the image information of six sides with the standard image information stored in the interior of the image recognition unit, when the image information of the scintillator element is not qualified, the control unit sends an instruction to the manipulator 2, and the manipulator 2 acts to remove the corresponding scintillator element;
s2 primitive arrangement: the control unit 3 is based on the standard position parameters P of the individual scintillator elementsiThe mechanical arm 2 is driven to move, and the N scintillator elements are arranged on the base 1 in an array structure, and the method specifically comprises the following steps:
s21 sets i to 1;
s22 the control unit is according to the ithStandard position parameter P of scintillator elementi(i.e., the upper right vertex of the ith scintillator cell relative to the theoretical polar diameter d of the polar coordinate system 101iAnd theoretical polar angle thetai) The manipulator 2 is driven by the control unit 3 according to diAnd thetaiThe ith scintillator cell is arranged at the corresponding position of the base 1; and let i ═ i + 1;
s23 executes S22 until i > N, completing the cell arrangement.
S3 position calibration: the image recognition unit 5 recognizes the image information T of the scintillator array arranged in S2 and sends it to the control unit 3, and the control unit 3 calculates the actual position parameter P of each scintillator element from the image information Ti', and based on the actual position parameter PiThe' value drives the mechanical arm 2 to act, so as to realize the position calibration of the scintillator array, and the method specifically comprises the following steps:
s31 sets i to 1;
s32 the control unit 3 calculates the position parameter values of the four vertices of the top surface of the ith scintillator element in the array according to the image information T of the scintillator array and calculates the gradient values L1 of the two diagonals of the top surface of the ith scintillator element according to the position parameter values of the four verticesiAnd L2iAnd the position parameter value X of the intersection point of the two diagonalsi' (see FIG. 2), and the above-mentioned L1i、L2iAnd Xi' are all sent to the control unit;
s33 control Unit 3 Compare Xi' and Xi-1The value of':
if Xi '-Xi-1' ≦ Δ X, then the comparison L1iAnd L1i-1The value of (c):
if L1i-L1i-1If the value is less than or equal to delta L, enabling i to be i +1, and returning to S32;
if L1i-L1i-1If the position is more than delta L, the control unit 3 drives the mechanical arm 2 to act, and the ith scintillator element is rotated to the correct position;
if Xi '-Xi-1' > delta X, the control unit 3 drives the manipulator 2 to act, and the ith scintillator element is translated to the correct position; then compared with L1iAnd L1i-1The value of (c):
if L1i-L1i-1If the value is less than or equal to delta L, enabling i to be i +1, and returning to S32;
if L1i-L1i-1When the current position is larger than the position Δ L, the control unit 3 drives the manipulator 2 to act again, rotates the ith scintillator element to the correct position, and returns to S32 after i is equal to i + 1;
s34 executing S33 until i is larger than N, and completing position calibration;
where Δ L is a parallelism error threshold stored in the control unit 3; Δ X is a center distance error threshold value stored in the control unit 3.
S4 packaging: after the position calibration of the N scintillator elements is completed, glue filling and packaging are carried out on the arranged scintillator array by using a glue filling clamp;
wherein i is more than or equal to 1 and less than or equal to N, and N is the total number of scintillator elements in the scintillator array.
The utility model aims at providing a combine manipulator, influence recognition unit, the control unit, base and demountable installation's encapsulating anchor clamps to realize the device of quality screening, array arrangement, position calibration and encapsulating of scintillator array, can improve the machining efficiency and the machining precision of scintillator array greatly, possess good application prospect and machining benefit.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (8)
1. An image calibration automatic packaging device for a scintillator array, comprising:
a base for arranging N scintillator elements to form a scintillator array;
an image recognition unit for recognizing the image information I of each scintillator elementi' and image information T of the scintillator array, and converting the Ii' and the T transmissionA control unit;
the manipulator is driven by the control unit to act and is used for screening out unqualified scintillator elements, arranging the scintillator array and calibrating the position of each scintillator element in the scintillator array;
a control unit in which standard image information I of each scintillator cell is storediAnd a standard position parameter Pi；
The image recognition unit, the control unit and the manipulator form an unqualified primitive screening module: the image recognition unit recognizes the image information I of each scintillator elementi' and sent to the control unit, which sends the Ii' with said IiMaking a comparison according to Ii' and IiSending an instruction to the manipulator to drive the manipulator to act, and screening out unqualified scintillator elements;
the control unit, the manipulator and the base form an array arrangement module: the manipulator is driven by the control unit to move according to a standard position parameter PiArranging the N scintillator elements on the base in an array structure to form a scintillator array;
the image recognition unit, the control unit and the manipulator form a position calibration module: the image recognition unit recognizes the image information T of the scintillator array and feeds the image information T back to the control unit, and the control unit calculates the position parameter P of each scintillator element according to the image information Ti', and said Pi' with said PiMaking a comparison according to Pi' and PiThe relation of (a) is sent to the manipulator, the manipulator is driven to act, and the position calibration of the ith scintillator element is realized;
wherein i is more than or equal to 1 and less than or equal to N, and N is the total number of the scintillator elements.
2. The automatic packaging device for image calibration of scintillator array as claimed in claim 1, wherein said base is provided with a bonding device, and said scintillator elements and said base are detachably connected by said bonding device.
3. The apparatus of claim 1, further comprising a glue-filling module, wherein the glue-filling module comprises a glue-filling fixture, and the glue-filling fixture is detachably connected to the base.
4. The apparatus of claim 1, wherein a polar coordinate system is disposed on the base.
5. The image-alignment automated packaging apparatus for scintillator arrays according to claim 4, wherein the standard position parameter PiIncluding a distance parameter diAnd an angle parameter thetaiWherein d isiIs the polar diameter of one vertex D of the ith scintillator element relative to the polar coordinate system, and thetaiAnd the polar angle of the vertex D relative to the polar coordinate system is shown.
6. The apparatus of claim 1 or 4, wherein the base is provided with scale marks along both the length and the width of the scintillator array.
7. The apparatus of claim 3, wherein the glue-filling fixture has graduation lines along the height direction.
8. The automatic packaging device for image calibration of scintillator array according to claim 1, wherein said rejected primitive screening module further comprises a conveying device and a flipping device, said conveying device conveys N scintillator primitives to the recognition range of said image recognition unit in turn, said flipping device is used for flipping said scintillator primitives, so that said image recognition unit recognizes the image information of six sides of said scintillator primitives in turn.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202023287809.7U CN214409315U (en) | 2020-12-30 | 2020-12-30 | Automatic packaging device for image calibration of scintillator array |
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| CN202023287809.7U CN214409315U (en) | 2020-12-30 | 2020-12-30 | Automatic packaging device for image calibration of scintillator array |
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