WO2023160723A1 - 基于tof摄像模组的胶囊内镜控制设备的防碰撞系统及方法 - Google Patents

基于tof摄像模组的胶囊内镜控制设备的防碰撞系统及方法 Download PDF

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Publication number
WO2023160723A1
WO2023160723A1 PCT/CN2023/078836 CN2023078836W WO2023160723A1 WO 2023160723 A1 WO2023160723 A1 WO 2023160723A1 CN 2023078836 W CN2023078836 W CN 2023078836W WO 2023160723 A1 WO2023160723 A1 WO 2023160723A1
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WIPO (PCT)
Prior art keywords
tof camera
module
camera module
control
detection position
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PCT/CN2023/078836
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English (en)
French (fr)
Inventor
王俊杰
段晓东
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上海安翰医疗技术有限公司
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Publication of WO2023160723A1 publication Critical patent/WO2023160723A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices

Definitions

  • the present application relates to the technical field of medical equipment, in particular to an anti-collision system and method for capsule endoscope control equipment based on a TOF camera module.
  • Capsule endoscopy is a human digestive tract inspection tool that is similar in size and shape to capsules and pills, but integrates a complete set of optical photography system, wireless communication system and power supply system. After being swallowed by the subject, the capsule endoscope will move in the gastrointestinal tract, take pictures and check the inner wall of the gastrointestinal tract along the way, and send images to the external terminal. Doctors can locate and diagnose the lesion through the received images.
  • the control of the capsule endoscope can be carried out by using the control equipment outside the human body.
  • the magnetic ball is installed on the control equipment. By changing the orientation and attitude of the magnetic ball, the orderly change of the magnetic field around the magnetic ball is caused.
  • the magnet inside the capsule endoscope is affected by the external changing magnetic field The impact to drive the capsule endoscope, so as to realize the change of the field of view of the capsule endoscopy.
  • the present application provides an anti-collision system and method of a capsule endoscope control device based on a TOF camera module to solve the collision problem in the prior art.
  • the first aspect of the present application provides an anti-collision system for a capsule endoscope control device based on a TOF camera module, including:
  • the TOF camera module is installed at the detection position of the capsule endoscope control equipment
  • the control module is connected with the TOF camera module, and sends a control instruction according to the distance between the object under test detected by the TOF camera module and the detection position;
  • the execution module is connected with the control module, and is used to execute the set action according to the control instruction issued by the control module.
  • control module includes:
  • a judging unit judging whether the distance between the object under test detected by the TOF camera module and the detection position is less than or equal to a first set distance value
  • a sending unit connected to the judging unit and the execution module respectively;
  • the sending unit sends a first control instruction to the execution module .
  • the judging unit is also used to judge the Whether the distance between the object to be tested and the detection position is less than or equal to the second set distance value;
  • the sending unit sends a second control command to the execution module .
  • the executive module includes a driving component, a control arm, a magnetic ball and a protective cover;
  • the control arm is connected to the output end of the driving part
  • the magnetic ball is connected to the control arm;
  • the protective cover is arranged on the outside of the magnetic ball; the detection position is located on the side of the protective cover close to the magnetic ball;
  • the driving part is used to reduce the running speed according to the first control instruction sent by the sending unit; or, the driving part is used to perform an emergency stop according to the second control instruction sent by the sending unit.
  • the protective cover is a hemispherical shell
  • the multiple detection positions are evenly distributed along the circumference of the protective cover.
  • the execution module includes an alarm device
  • the alarm device is used for sending out an alarm signal according to the first control command or the second control command sent by the sending unit.
  • the first set distance value is 55mm-65mm
  • the second set distance value is 15mm-25mm.
  • the system further includes a gating switch, and the gating switch is connected between the TOF camera module and the control module.
  • the number of the TOF camera modules is greater than 1, and the TOF camera modules are arranged in a multi-level arrangement on the protective cover.
  • the TOF camera modules on different levels are aligned and arranged in the circumferential direction of the protective cover.
  • the TOF camera modules on adjacent levels are arranged alternately in the circumferential direction of the protective cover.
  • several TOF camera modules form an anti-collision detection area surrounding the protective cover, and the anti-collision detection area includes an early warning detection area and an emergency stop detection area, wherein the The early warning detection area is set outside the emergency stop detection area.
  • the second aspect of the present application provides an anti-collision method for a capsule endoscope control device based on a TOF camera module, including:
  • the TOF camera module detects the distance between the object under test and the detection position
  • the control module sends a control command according to the distance between the object under test and the detection position detected by the TOF camera module;
  • the executing module executes set actions according to the control instruction issued by the control module.
  • the sending of the control instruction by the control module according to the distance between the object under test and the detection position detected by the TOF camera module includes:
  • the sending unit sends a first control instruction to the execution module.
  • the method also includes:
  • the sending unit sends a second control command to the execution module.
  • the execution module executing the set action according to the control instruction sent by the control module includes:
  • the driving part reduces the operating speed according to the first control instruction sent by the sending unit; or, the driving part performs an emergency stop according to the second control instruction sent by the sending unit.
  • the execution module executes the set action according to the control instruction sent by the control module including:
  • the alarm device sends out an alarm signal according to the first control command or the second control command sent by the sending unit.
  • the anti-collision system and method of the capsule endoscope control device based on the TOF camera module provided by this application detects the distance between the object to be tested and the detection position by setting the TOF camera module, and then controls the action of the execution module through the control module to prevent the Collision happens.
  • FIG. 1 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the first embodiment of the present application;
  • FIG. 2 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the second embodiment of the present application;
  • FIG. 3 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the third embodiment of the present application;
  • FIG. 4 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the fourth embodiment of the present application;
  • FIG. 5 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the fifth embodiment of the present application;
  • Fig. 6 is the anti-collision method of the capsule endoscope control device based on the TOF camera module provided by the embodiment of the present application flow chart;
  • Figure 7 is a structural front view of the protective cover
  • Figure 8 is a schematic diagram of the inner structure of the protective cover
  • FIG. 9 is a schematic diagram of an anti-collision detection area
  • FIG. 10 is a schematic diagram of TOF camera module detection.
  • Fig. 1 is a structural diagram of an anti-collision system of a capsule endoscope control device based on a TOF camera module provided by the first embodiment of the present application.
  • the embodiment of the present application provides an anti-collision system for a capsule endoscope control device based on a TOF camera module, including: a TOF camera module 1 , a control module 2 and an execution module 3 .
  • the TOF (Time of fight, time-of-flight) camera module 1 is installed at the detection position of the capsule endoscope control device.
  • the control module 2 can be an MCU (Microcontroller Unit, micro control unit), which is connected with the TOF camera module 1, and is used to send a control command according to the distance between the object to be measured and the detection position detected by the TOF camera module 1.
  • the execution module 3 is connected with the control module 2, and is used to execute the set action according to the control instruction issued by the control module 2.
  • Capsule endoscope control equipment is usually equipped with a larger magnetic ball, which cooperates with the capsule endoscope to detect the patient.
  • the magnetic ball is easy to collide with the user, such as the operator or the person watching the detection image.
  • the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the embodiment of the present application detects the distance between the object to be measured (that is, the above-mentioned operator or other personnel) and the detection position by setting the TOF camera module 1, and then passes The control module 2 controls the actions of the execution module 3 to prevent collisions.
  • TOF photoelectric detection technology is a two-way ranging technology, by continuously sending modulated near-infrared light pulses to the object to be measured, and then using the sensor to receive the light returned from the object to be measured, the sensor calculates the light emission and reflection time difference or phase difference , to convert the distance between the object to be measured and the TOF camera module, and generate depth information.
  • the TOF camera module can use a single TOF photoelectric sensor or an array of TOF photoelectric sensors.
  • the anti-collision system of the capsule endoscope control device based on the TOF camera module provided in the embodiment of the present application can detect objects within a range of 25 degrees. That is to say, the above-mentioned anti-collision system can all detect if the line connecting the object under test and the detection position is taken as the center line, and the angle between the center line and the center line is within the range of 25 degrees.
  • the TOF camera module uses near-infrared light of a specific wavelength to ensure that the detection is not easily disturbed by external light.
  • the detection accuracy of the anti-collision system of the present application is relatively high, and the detection accuracy can reach a detection error of ⁇ 1 mm when detecting a distance of 1 cm.
  • Fig. 2 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the second embodiment of the present application.
  • control module 2 includes a judging unit 21 and a sending unit 22 .
  • the judging unit 21 is used to judge whether the distance between the object under test detected by the TOF camera module 1 and the detection position is less than or equal to the first set distance value.
  • the sending unit 22 is connected to the judging unit 21 and the execution module 3 respectively. If the judgment unit 21 judges that the distance between the object under test detected by the TOF camera module 1 and the detection position is less than or equal to the first set distance value, the sending unit 22 sends a first control instruction to the execution module 3 .
  • the first set distance value can be 55mm-65mm. At this time, it means that the object to be tested is close to colliding with the capsule endoscope control device, and the sending unit 22 sends the first control command to the execution module 3 to execute Module 3 executes corresponding actions according to the first control instruction.
  • the first set distance value may be 55mm-57mm, or 57mm-59mm, or 59mm-61mm, or 61mm-63mm, or 63mm-65mm, as long as the first Setting the distance value can ensure that the capsule endoscope control equipment (especially Part of the magnetic ball) and the object to be tested should be kept at a sufficient distance.
  • Fig. 3 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the third embodiment of the present application.
  • the judging unit 21 is also used to judge whether the distance between the object under test detected by the TOF camera module 1 and the detection position is less than or equal to the second set distance value.
  • the sending unit 22 sends a second control instruction to the execution module 3 .
  • the second set distance value can be 15mm-25mm. At this time, it means that the object to be tested is closer to colliding with the capsule endoscope control device, and the sending unit 22 sends a second control command to the execution module 3 , the execution module 3 executes corresponding actions according to the second control instruction.
  • the first set distance value may be 15mm-17mm, or 17mm-19mm, or 19mm-21mm, or 21mm-23mm, or 23mm-25mm, as long as the second It only needs to set the distance value to prevent the capsule endoscope control device (especially the magnetic ball part) from contacting the object to be measured.
  • Fig. 4 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the fourth embodiment of the present application.
  • the execution module 3 includes a driving component 31 , a control arm 32 , a magnetic ball 33 and a protective cover 34 .
  • control arm 32 is connected to the output end of the driving part 31, the magnetic ball 33 is connected to the control arm 32, and the protective cover 34 is covered on the outside of the magnetic ball 33;
  • the component 31 is used for reducing the running speed according to the first control command sent by the sending unit 22 ; or, the driving component 31 is used for performing an emergency stop according to the second control command sent by the sending unit 22 .
  • the magnetic ball is usually located above the object to be tested, sometimes directly above the object to be tested.
  • the detection position is preferably set on the protective cover 34, which can ensure that the TOF camera module 1 can accurately accurately detect the position of the object to be tested.
  • the driving part 31 may include a motor controller (not shown) and a motor (not shown), and the above-mentioned TOF camera module 1 may be set at a set position of the protective cover 34, that is, on the protective cover 34 Detect location.
  • the number of TOF camera modules 1 can be multiple, and the protective cover 34 can open a window 341 corresponding to each TOF camera module 1.
  • the TOF The camera module 1 is attached to the inner side of the protective cover 34 . That is to say, the detection position is located on the side of the protective cover 34 close to the magnetic ball 33 , and the TOF camera module 1 is installed (eg pasted) on the detection position to detect the object to be detected through the window 341 .
  • Multiple TOF camera modules 1 can be arranged in a circumferential direction, or can be arranged according to actual needs. Specifically, when the anti-collision system is provided with multiple TOF camera modules 1, as long as one of the TOF camera modules 1 detects that the distance between the object to be measured and the detection position is less than or equal to the first set distance value or the second set distance value When the distance value, the control module 2 The execution module 3 is then controlled to perform corresponding actions according to the first control instruction or the second control instruction, so as to avoid collision.
  • the protective cover 34 is a hemispherical shell. There are multiple detection positions, and the multiple detection positions are evenly distributed along the circumferential direction on the protective cover 34 . In this way, after the TOF camera modules 1 are installed at the detection position, they are uniformly distributed in the circumferential direction, so that the object to be tested can be detected in all directions.
  • the TOF camera module can also be arranged on the outside of the protective cover 34, as long as it can be ensured that the light emitted by the TOF camera module can reach the object under test, and the light reflected by the object under test can be captured by the TOF camera module. Just accept it.
  • the motor controller can reduce the running speed of the motor according to the first control command sent by the sending unit 22, thereby Make the control arm 32 drive the magnetic ball 33 to slow down.
  • the motor controller can make the motor stop suddenly according to the second control instruction sent by the sending unit 22, Thereby the control arm 32 drives the magnetic ball 33 to stop moving.
  • the execution module 3 includes an alarm device 35 for sending out an alarm signal according to the first control command or the second control command sent by the sending unit 22 .
  • the alarm device 35 can be an alarm lamp or a buzzer, etc.
  • the alarm lamp can flash, and the buzzer can generate an alarm sound, thereby reminding the capsule endoscope control device operator or related personnel.
  • Fig. 5 is a structural diagram of the anti-collision system of the capsule endoscope control device based on the TOF camera module provided by the fifth embodiment of the present application.
  • the above system may further include a gating switch 4 connected between the TOF camera module 1 and the control module 2 .
  • the control module 2 may communicate with any one or several TOF camera modules 1 through the gate switch 4, so as to regularly read the detection data of the TOF camera module 1. That is to say, through the gating switch 4, one or several TOF camera modules 1 are communicated with the control module 2 in turn or at regular intervals, so as to read the detection data of all TOF camera modules sequentially and regularly, so that timely Accurate anti-collision control.
  • the system may further include a power supply module 5 for supplying power to the TOF camera module 1 and the control module 2 .
  • the power supply module 5 can include a 5V DC power supply.
  • the 5V DC power supply can be converted to a 2.8V voltage to supply power to each TOF camera module 1, and the obtained 3.3V voltage can supply power to the gate switch 4 and the control module 2.
  • the power supply module 5 may be a power source of the capsule endoscope control device, or may be a power source independent of the capsule endoscope control device.
  • system may also include a communication module 6 connected to the control module 2 for signal transmission between the control module 2 and external devices.
  • control module 2 can communicate with an external PLC (Programmable Logic Controller, Programmable Logic Controller) through the communication module 6 .
  • PLC Programmable Logic Controller, Programmable Logic Controller
  • the 5V DC power supply is converted to a 3.3V voltage, which can also supply power to the communication module 6 .
  • the magnetic control device at least includes a magnetic ball 33 and a protective cover 34 . In some embodiments, it also includes a housing (not shown) surrounding the magnetic ball 33 , and the housing is connected to the protective cover 34 .
  • the distance between the early warning detection area D1 and the outer surface of the protective cover 34 is the first set distance value (ie, the preset alarm distance), and the distance between the emergency stop detection area D2 and the outer surface of the protective cover 34 is the second setting The distance value (the preset emergency stop distance), and the second set distance value is smaller than the first set distance value, so as to ensure that when the object enters the anti-collision detection area, it can pass through the early warning detection area D1 and the emergency stop detection area D2 in sequence.
  • the above-mentioned first set distance value and second set distance value can be adjusted according to actual needs, so as to implement different anti-collision detection areas.
  • the aforementioned anti-collision detection area is, for example, a cylindrical area or a hemispherical area.
  • the anti-collision detection area is a cylindrical area.
  • the early warning detection area and the emergency stop detection area are both cylindrical areas, and the height and diameter of the emergency stop detection area are smaller than the early warning monitoring area.
  • each level is arranged in parallel, including the level arranged on the side wall of the protective cover 34 and the level arranged on the bottom of the protective cover 34 .
  • the first set distance value of the TOF camera module 1 on the same level is the same, and the second distance set value of the TOF camera module 1 on the same level is the same, from top to bottom along the axial direction L1 of the protective cover 34
  • the first distance setting value of the TOF camera module 1 on different levels below is incremented, and the second distance setting value of the TOF camera module 1 on different levels from top to bottom along the axis L1 of the protective cover 34 increment.
  • the detection direction of the TOF camera module set on the level of the side wall of the protective cover 34 is along the radial direction L2 of the protective cover 34 (the direction perpendicular to the axial direction L1, L2 in FIG.
  • the detection direction of the TOF camera module arranged on the bottom level of the protective cover 34 is along the axial direction L1 of the protective cover.
  • the detection direction of the TOF camera module is shown in FIG. 10
  • the detection direction L3 is a direction along the centerline of the detection range of the TOF camera module 1 .
  • the detection direction L3 shown in FIG. 10 is only an example of a case.
  • the anti-collision detection area is a hemispherical area.
  • the early warning detection area and the emergency stop detection area are both hemispherical areas, and the diameter of the emergency stop detection area is smaller than the early warning monitoring area.
  • the TOF camera modules are arranged in at least 3 levels, each level is arranged in parallel, and the detection direction of the TOF camera module 1 on different levels is different, and the detection direction is the same as above, no longer repeat.
  • the first set distance value of each TOF camera module 1 and the second set distance value of each TOF camera module 1 are the same.
  • the TOF camera modules 1 on each level are arranged in parallel along the circumferential direction of the protective cover 34, and the TOF camera modules 1 on each level are arranged downward along the axial direction L1 of the protective cover (that is, vertically downward).
  • the detection direction of 1 gradually approaches the vertical downward direction along the radial direction L2 of the protective cover 34, thereby forming a hemispherical anti-collision detection area at the bottom of the magnetron device.
  • the first set distance value can be 55mm-65mm, then the early warning detection area D1 is formed as a distance protection cover The hemispherical area of 55mm-65mm on the outer surface of 34; the second set distance value can be 15mm-25mm, then the emergency stop detection area D2 is formed as a hemispherical area 15mm-25mm away from the outer surface of the protective cover 34 and located inside the early warning detection area D1.
  • the TOF camera modules 1 on different levels can be arranged in alignment in the circumferential direction of the protective cover 34, so that the detection ranges of the TOF camera modules 1 at different levels overlap, because at least the overlapping detection ranges exist simultaneously Two TOF camera modules 1 perform anti-collision detection. Therefore, as long as one TOF camera module 1 detects that an object enters the anti-collision detection area, the anti-collision command can be executed, thereby effectively improving the detection sensitivity.
  • the TOF camera modules 1 on adjacent levels can be staggered in the circumferential direction of the protective cover 34 , so as to reduce the overlap of the detection ranges of the TOF camera modules 1 between different levels.
  • the staggered arrangement can reduce the detection blind area, thereby forming a more comprehensive anti-collision detection area, And reduce the cost of collision avoidance systems.
  • the TOF camera module 1 is disposed on the protective cover 34 and forms a three-layer hierarchical arrangement, specifically including a first layer, a second layer and a third layer.
  • the detection direction of the TOF camera module 1 of the first level is the first detection direction, for example, along the radial direction of the magnetron device (that is, the radial direction L2 of the protective cover) and toward the outside of the protective cover 34
  • the third level The detection direction of the TOF camera module 1 is the third detection direction, for example, along the axial direction of the magnetic control device (ie, the axial direction L1 of the protective cover) and toward the outside of the protective cover 34.
  • the detection of the TOF camera module 1 of the second level The direction is set between the detection directions of the first level and the third level, and the second detection direction has an included angle of 45° with the vertical direction.
  • the object to be detected is detected in the early warning detection area; The distance between the outer surfaces of the cover 34 is less than or equal to the first set distance value). If the judgment result is "yes”, that is, the object to be tested has entered the early warning detection area, and if the judgment result is "no", that is, the object to be tested is outside the anti-collision detection area.
  • the object under test On the basis of judging that the object under test has entered the early warning monitoring area, it is judged whether the object under test appears in the emergency stop detection area, that is, the distance between the object under test and the detection position is less than or equal to the second set distance value or the distance between the object under test and The distance between the outer surfaces of the protective cover 34 is less than or equal to the second set distance value). If the judgment result is "No", it is determined that the object under test has not entered the emergency stop detection area; if the judgment result is "Yes", it is determined that the object under test has entered the emergency stop detection area.
  • the magnetic control device When it is judged that the object to be tested has not entered the emergency stop detection area, the magnetic control device is controlled to decelerate and/or issue an early warning; when it is judged that the object to be measured has entered the emergency stop detection area, the magnetic control device is controlled to stop suddenly.
  • the number of TOF camera modules 1 at the first level and the second level are both 4-12, and the number of TOF camera modules 1 at the third level is 2-6, as shown in Fig. 7.
  • Fig. 6 is a flow chart of the anti-collision method of the capsule endoscope control device based on the TOF camera module provided by the embodiment of the present application.
  • the embodiment of the present application also provides an anti-collision method for a capsule endoscope control device based on the TOF camera module 1, including:
  • step S1 the TOF camera module 1 detects the distance between the object under test and the detection position.
  • the TOF module is installed at the detection position of the capsule endoscope control device, and the detection position can be a glue On the protective cover 34 of the magnetic ball 33 on the capsular endoscope control device, it can also be in other positions of the control device.
  • step S2 the control module 2 issues a control instruction according to the distance between the object under test detected by the TOF camera module 1 and the detection position.
  • This step S2 may specifically include:
  • Step S21 judging whether the distance between the object under test detected by the TOF camera module 1 and the detection position is less than or equal to the first set distance value
  • step S22 If it is determined that the distance between the object under test detected by the TOF camera module 1 and the detection position is less than or equal to the first set distance value, then go to step S22. If it is judged that the distance between the object under test detected by the TOF camera module 1 and the detection position is less than or equal to the second set distance value, go to step S23.
  • Step S22 the sending unit 22 sends a first control instruction to the execution module 3 .
  • Step S23 the sending unit 22 sends a second control instruction to the execution module 3 .
  • step S3 the execution module 3 executes the set action according to the control command issued by the control module 2 .
  • This step S3 may specifically include:
  • Step S31 the drive unit 31 reduces the running speed according to the first control command sent by the sending unit 22; or,
  • step S32 the driving part 31 performs an emergency stop according to the second control instruction sent by the sending unit 22 .
  • step S3 may also specifically include:
  • Step S33 the alarm device 35 sends out an alarm signal according to the first control command or the second control command sent by the sending unit 22 .
  • the warning device 35 can be a warning light or a buzzer.
  • the anti-collision method of the capsule endoscope control device based on the TOF camera module sets the TOF camera module 1 to detect the distance between the object to be tested (ie, the above-mentioned operator or other personnel) and the detection position, and then passes The control module 2 controls the action of the execution module 3 to prevent collisions.

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Abstract

本申请涉及医疗设备技术领域，尤其涉及一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统及方法。该系统包括TOF摄像模组，安装于胶囊内镜控制设备的检测位置；控制模块与TOF摄像模组相连，根据TOF摄像模组探测到的待测物与检测位置的距离，发出控制指令；执行模块与控制模块相连，用于根据控制模块发出的控制指令，执行设定的动作。本申请提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统及方法通过设置TOF摄像模组来检测待测物与检测位置的距离，再通过控制模块控制执行模块动作，防止了碰撞的发生。

Description

基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统及方法
本申请要求于2022年02月28日提交中国专利局、申请号为202210187625.8、发明创造名称为“基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗设备技术领域，尤其涉及一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统及方法。
背景技术
胶囊内镜是一种大小形状类似于胶囊药丸，却集成了一套完整的光学摄影系统、无线通讯系统和电源供电系统的人体消化道检查工具。胶囊内镜被受检者吞服后将在胃肠消化道中运动，沿途对胃肠消化道内壁进行拍摄检查，并向外部终端发送图像。医生可以通过接收的图像，对病灶进行定位和诊断。
胶囊内镜的控制可以利用人体外部的控制设备进行，控制设备上安装有磁球，通过改变磁球的方位和姿态引起磁球周围磁场的有序变化，胶囊内镜内置的磁体受到外界变化磁场的影响来带动胶囊内镜，从而实现胶囊内镜检查视野的变化。
现有技术中，磁球的体积较大，使用时容易误碰到患者等。因此，有必要解决现有技术中的碰撞问题。
申请内容
本申请提供了一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统及方法，以解决现有技术中的碰撞问题。
本申请第一方面提供了一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统，包括：
TOF摄像模组，安装于胶囊内镜控制设备的检测位置；
控制模块，与所述TOF摄像模组相连，根据所述TOF摄像模组探测到的待测物与所述检测位置的距离，发出控制指令；
执行模块，与所述控制模块相连，用于根据所述控制模块发出的控制指令，执行设定的动作。
在一种可能的实施方式中，所述控制模块包括：
判断单元，判断所述TOF摄像模组探测到的待测物与所述检测位置的距离是否小于或等于第一设定距离值；
发送单元，分别与所述判断单元和所述执行模块相连；
如果所述判断单元判断所述TOF摄像模组探测到的待测物与所述检测位置的距离小于或等于第一设定距离值，所述发送单元则向所述执行模块发出第一控制指令。
在一种可能的实施方式中，所述判断单元还用于判断所述TOF摄像模组探测到的 待测物与所述检测位置的距离是否小于或等于第二设定距离值；
如果所述判断单元判断所述TOF摄像模组探测到的待测物与所述检测位置的距离小于或等于第二设定距离值，所述发送单元则向所述执行模块发出第二控制指令。
在一种可能的实施方式中，所述执行模块包括驱动部件、控制臂、磁球和保护罩；
所述控制臂连接于所述驱动部件的输出端；
所述磁球连接于所述控制臂；
所述保护罩罩设于所述磁球的外部；所述检测位置位于所述保护罩靠近所述磁球的一侧；
所述驱动部件用于根据所述发送单元发出的所述第一控制指令，降低运行速度；或，所述驱动部件用于根据所述发送单元发出的所述第二控制指令，进行急停。
在一种可能的实施方式中，所述保护罩为半球状壳体；
所述检测位置具有多处，多处所述检测位置在所述保护罩上沿周向均匀分布。
在一种可能的实施方式中，所述执行模块包括报警装置；
所述报警装置用于根据所述发送单元发出的所述第一控制指令或所述第二控制指令，发出报警信号。
在一种可能的实施方式中，所述第一设定距离值为55mm-65mm；
所述第二设定距离值为15mm-25mm。
在一种可能的实施方式中，所述系统还包括选通开关，所述选通开关连接于所述TOF摄像模组和所述控制模块之间。
在一种可能的实施方式中，所述TOF摄像模组的数量大于1，并且所述TOF摄像模组在所述保护罩上设置为多层级排布。
在一种可能的实施方式中，不同层级上的所述TOF摄像模组在所述保护罩的周向上对齐设置。
在一种可能的实施方式中，相邻层级上的所述TOF摄像模组在所述保护罩的周向上交错设置。
在一种可能的实施方式中，若干个所述TOF摄像模组在形成包围所述保护罩的防撞检测区域，所述防碰撞检测区域包括预警检测区域以及急停检测区域，其中，所述预警检测区域设置于所述急停检测区域的外侧。
本申请第二方面提供了一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞方法，包括：
TOF摄像模组探测待测物与检测位置之间的距离；
控制模块根据所述TOF摄像模组探测到的所述待测物与所述检测位置的距离，发出控制指令；
执行模块根据所述控制模块发出的所述控制指令，执行设定的动作。
在一种可能的实施方式中，所述控制模块根据所述TOF摄像模组探测到的所述待测物与所述检测位置的距离，发出控制指令包括：
判断所述TOF摄像模组探测到的所述待测物与所述检测位置的距离是否小于或等于第一设定距离值；
如果判断到所述TOF摄像模组探测到的所述待测物与所述检测位置的距离小于或等于第一设定距离值，发送单元则向所述执行模块发出第一控制指令。
在一种可能的实施方式中，所述方法还包括：
判断所述TOF摄像模组探测到的所述待测物与所述检测位置的距离是否小于或等于第二设定距离值；
如果判断到所述TOF摄像模组探测到的所述待测物与所述检测位置的距离小于或等于第二设定距离值，所述发送单元则向所述执行模块发出第二控制指令。
在一种可能的实施方式中，所述执行模块根据所述控制模块发出的所述控制指令，执行设定的动作包括：
驱动部件根据所述发送单元发出的所述第一控制指令，降低运行速度；或，所述驱动部件根据所述发送单元发出的所述第二控制指令，进行急停。
在一种可能的实施方式中，所述执行模块根据所述控制模块发出的控制指令，执行设定的动作包括：
报警装置根据所述发送单元发出的所述第一控制指令或所述第二控制指令，发出报警信号。
本申请提供的技术方案可以达到以下有益效果：
本申请所提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统及方法通过设置TOF摄像模组来检测待测物与检测位置的距离，再通过控制模块控制执行模块动作，防止了碰撞的发生。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请第一种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图；
图2为本申请第二种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图；
图3为本申请第三种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图；
图4为本申请第四种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图；
图5为本申请第五种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图；
图6为本申请实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞方法 的流程图；
图7为保护罩的结构主视图；
图8为保护罩的内侧结构示意图；
图9为防碰撞检测区域的示意图；
图10为TOF摄像模组检测的示意图。
附图标记：
1-TOF摄像模组；
2-控制模块；
21-判断单元；
22-发送单元；
3-执行模块；
31-驱动部件；
32-控制臂；
33-磁球；
34-保护罩；
341-窗口；
35-报警装置；
4-选通开关；
5-供电模块；
6-通信模块。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
需要注意的是，本申请实施例所描述的“上”、“下”、“左”、“右”等方位词是以附图所示的角度来进行描述的，不应理解为对本申请实施例的限定。此外，在上下文中，还需要理解的是，当提到一个元件连接在另一个元件“上”或者“下”时，其不仅能够直接连接在另一个元件“上”或者“下”，也可以通过中间元件间接连接在另一个元件“上”或者“下”。
图1为本申请第一种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图。
如图1所示，本申请实施例提供了一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统，包括：TOF摄像模组1、控制模块2和执行模块3。
其中，TOF(Time of fight，时差法)摄像模组1安装于胶囊内镜控制设备的检测位置。控制模块2可以是MCU(Microcontroller Unit，微控制单元)，其与TOF摄像模组1相连，用于根据TOF摄像模组1探测到的待测物与检测位置的距离，发出控制指令。执行模块3与控制模块2相连，用于根据控制模块2发出的控制指令，执行设定的动作。
胶囊内镜控制设备通常会安装较大的磁球，该磁球与胶囊内镜配合，以对患者进行检测。工作中，磁球很容易碰撞到用户，例如碰撞到操作者或者观看检测影像的人员。本申请实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统通过设置TOF摄像模组1来检测待测物(即上述操作者或其他人员)与检测位置的距离，再通过控制模块2控制执行模块3动作，以防止碰撞的发生。
TOF光电检测技术是一种双向测距技术，通过向待测物连续发送经过调制的近红外光脉冲，然后用传感器接收从待测物返回的光，传感器通过计算光线发射和反射时间差或相位差，换算得到被拍摄的待测物与TOF摄像模组之间的距离，并产生深度信息。TOF摄像模组可以采用单个TOF光电传感器，也可以采用TOF光电传感器阵列。
本申请实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统可以检测25度范围内的物体。也就是说，以待测物与检测位置的连线为中心线，与该中心线的夹角在25度的范围内，上述防碰撞系统均能够检测。
并且，TOF摄像模组采用特定波长的近红外光，从而确保检测不易受外界光的干扰。其中，本申请的防碰撞系统的检测精度较高，其检测精度可以达到检测1厘米距离时的检测误差为±1mm。
图2为本申请第二种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图。
如图2所示，在一种具体的实施方式中，控制模块2包括判断单元21和发送单元22。
其中，判断单元21用于判断TOF摄像模组1探测到的待测物与检测位置的距离是否小于或等于第一设定距离值。
发送单元22分别与判断单元21和执行模块3相连。如果判断单元21判断TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第一设定距离值，发送单元22则向执行模块3发出第一控制指令。
本实施例中，该第一设定距离值可以是55mm-65mm，此时说明待测物已经接近碰撞到胶囊内镜控制设备了，发送单元22则向执行模块3发出第一控制指令，执行模块3根据该第一控制指令执行相应的动作。在其他实施例中，该第一设定距离值可以是55mm-57mm，或者是57mm-59mm，又或者是59mm-61mm，再或者是61mm-63mm，还可以是63mm-65mm，只要该第一设定距离值能够确保胶囊内镜控制设备(尤其是 磁球的部分)和待测物之间保有足够的间隔即可。
图3为本申请第三种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图。
如图3所示，在一种可能的实施方式中，判断单元21还用于判断TOF摄像模组1探测到的待测物与检测位置的距离是否小于或等于第二设定距离值。
如果判断单元21判断TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第二设定距离值，发送单元22则向执行模块3发出第二控制指令。
本实施例中，该第二设定距离值可以是15mm-25mm，此时说明待测物已经更加地接近碰撞到胶囊内镜控制设备了，发送单元22则向执行模块3发出第二控制指令，执行模块3根据该第二控制指令执行相应的动作。
在其他实施例中，该第一设定距离值可以是15mm-17mm，或者是17mm-19mm，又或者是19mm-21mm，再或者是21mm-23mm，还可以是23mm-25mm，只要该第二设定距离值能够防止胶囊内窥镜控制设备(尤其是磁球部分)与待测物接触即可。
上述方案中，TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第一设定距离值时，说明操作者或其他人员距离磁球的还有一定的距离，因此可以为操作者或其他人员留有一定的反应时间，同时也可以通过控制执行模块3降速运行，以避免碰撞。当TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第二设定距离值时，说明操作者或其他人员距离磁球已经很近了，因此需要控制执行模块3停止操作，以避免发生碰撞。图4为本申请第四种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图。
如图4所示，在一种具体的实施方式中，执行模块3包括驱动部件31、控制臂32、磁球33和保护罩34。
其中，控制臂32连接于驱动部件31的输出端，磁球33连接于控制臂32，保护罩34罩设于磁球33的外部；检测位置位于保护罩34靠近磁球33的一侧，驱动部件31用于根据发送单元22发出的第一控制指令，降低运行速度；或，驱动部件31用于根据发送单元22发出的第二控制指令，进行急停。
在检测过程中，磁球通常位于待测物的上方，有时会位于待测物的正上方，上述方案中，优选地将检测位置设置在保护罩34上，能够确保TOF摄像模组1能够准确地检测到待测物的位置。
本实施例中，驱动部件31可以包括电机控制器(未图示)和电机(未图示)，上述TOF摄像模组1可以设置于保护罩34的设定位置，也就是保护罩34上的检测位置。如图7和图8所示，TOF摄像模组1的数量可以是多个，保护罩34可以对应每个TOF摄像模组1开设窗口341，为避免TOF摄像模组1被撞，可以将TOF摄像模组1贴在保护罩34的内侧。也就是说，上述检测位置位于保护罩34靠近磁球33的一侧，TOF摄像模组1安装(例如粘贴)于检测位置，透过窗口341对待测物进行检测。
多个TOF摄像模组1可以周向排列，也可以根据实际需要进行排列。具体地，当防碰撞系统设置有多个TOF摄像模组1时，只要其中一个TOF摄像模组1检测到待测物与检测位置的距离小于或等于第一设定距离值或第二设定距离值时，控制模块2 则会根据第一控制指令或第二控制指令控制执行模块3执行相应的动作，以避免碰撞。
具体地，保护罩34为半球状壳。检测位置具有多处，多处检测位置在保护罩34上沿周向均匀分布。这样TOF摄像模组1安装在检测位置后，呈周向均匀分布，从而能够全方位地对待测物进行检测。
在其他实施例中，TOF摄像模组还可以设置于与保护罩34的外侧，只要能够确保TOF摄像模组发出的光能够到达待测物，并且待测物反射的光能够被TOF摄像模组接收即可。
当TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第一设定距离值时，电机控制器可以根据发送单元22发出的第一控制指令，使电机降低运行速度，从而使控制臂32带动磁球33降速。
或，当TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第二设定距离值时，电机控制器可以根据发送单元22发出的第二控制指令，使电机急停，从而使控制臂32带动磁球33停止运动。
在其他的实施方式中，执行模块3包括报警装置35，报警装置35用于根据发送单元22发出的第一控制指令或第二控制指令，发出报警信号。
具体地，该报警装置35可以是报警灯或蜂鸣器等，根据上述第一控制指令或第二控制指令，报警灯可以闪烁，蜂鸣器可以发生报警声音，从而提醒胶囊内镜控制设备的操作者或相关人员。
图5为本申请第五种实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统的结构图。
如图5所示，在一种具体的实施方式中，上述系统还可以包括选通开关4，选通开关4连接于TOF摄像模组1和控制模块2之间。
具体地，TOF摄像模组1可以有多个，控制模块2可以通过选通开关4连通任一个或几个TOF摄像模组1，以定时读取TOF摄像模组1的检测数据。也就是说，通过该选通开关4，轮流或定时使一个或几个TOF摄像模组1与控制模块2连通，以便于依次、定时地读取所有TOF摄像模组的检测数据，这样可以及时准确地进行防碰撞控制。
在上述实施例的基础上，该系统还可以包括供电模块5，用于为TOF摄像模组1和控制模块2供电。
本实施例中，供电模块5可以包括5V直流电源，5V直流电源经过转换得到2.8V电压可以供电给各个TOF摄像模组1，得到的3.3V电压可以供电给选通开关4以及控制模块2。其中，供电模块5可以是胶囊内镜控制设备的电源，也可以是独立于胶囊内镜控制设备之外的电源。
进一步地，该系统还可以包括通信模块6，连接于控制模块2，用于控制模块2与外部设备的信号传输。
具体地，该控制模块2可以通过通信模块6与外部的PLC(Programmable Logic Controller，可编程逻辑控制器)进行通信。上述供电模块5中，5V直流电源经过转换得到3.3V电压还可以供电给该通信模块6。
在本申请的可选实施例中，保护罩34上安装有若干个TOF摄像模组1，且上述若干个TOF摄像模组1形成多层级排布，其中，上述多个层级沿着保护罩34的周向排列，从而在磁控装置周围形成包围磁控装置底部的防碰撞检测区域。在本实施例中，不同层级可以等间距排布，也可以根据实际需求调整不同层级之间的间隔。不论物体从任意方向朝着磁控装置接近，只要该物体进入防碰撞检测区域即可被TOF摄像模组1检测到，并进行持续监测，从而实现多角度、全方位的防碰撞检测。从结构上看，磁控装置至少包括磁球33以及保护罩34，在一些实施例中，还包括围绕磁球33设置的壳体(未图示)，且壳体连接保护罩34。
并且，为了在防碰撞检测同时进行控制，参见图9所示，上述形成于保护罩34远离磁球一侧的防撞检测区域包括预警检测区域D1以及急停检测区域D2，其中，预警检测区域D1设置于急停检测区域D2的外侧。具体来说，预警检测区域D1与保护罩34外表面的距离为第一设定距离值(即预设的报警距离)，急停检测区域D2与保护罩34外表面的距离为第二设定距离值(预设的急停距离)，且第二设定距离值小于第一设定距离值，从而确保当物体进入防撞检测区域后能够依次经过预警检测区域D1和急停检测区域D2。上述第一设定距离值和第二设定距离值可以根据实际需要进行调节，从而实行不同的防碰撞检测区域。
在本实施例中，上述防碰撞检测区域例如为圆柱区域或半球区域等。
在一个实施例中，防碰撞检测区域为圆柱区域。其中，预警检测区域以及急停检测区域均为圆柱区域，且急停检测区域的高度以及直径均小于预警监测区域。在保护罩34上，每个层级平行排布，包括设置于保护罩34侧壁的层级以及设置于保护罩34底部的层级。并且，相同层级上的TOF摄像模组1的第一设定距离值相同，相同层级上的TOF摄像模组1的第二距离设定值相同，沿着保护罩34的轴向L1自上而下的不同层级上的TOF摄像模组1的第一距离设定值递增，沿着保护罩34的轴向L1自上而下的不同层级上的TOF摄像模组1的第二距离设定值递增。其中，设置于保护罩34侧壁的层级上的TOF摄像模组的检测方向为沿着保护罩34的径向L2(垂直于轴向L1的方向，图7中的L2仅为径向的其中之一)，设置于保护罩34底部的层级上的TOF摄像模组的检测方向为沿着保护罩的轴向L1。在本实施例中。TOF摄像模组的检测方向如图10所示，检测方向L3为沿着TOF摄像模组1检测范围的中心线的方向，图10中示出的检测方向L3仅为列举的一种情况。
在另一个实施例中，防碰撞检测区域为半球区域。其中，预警检测区域以及急停检测区域均为半球区域，且急停检测区域直径均小于预警监测区域。在保护罩34上，TOF摄像模组排布成至少3个级层级，每个层级平行排布，并且不同层级上TOF摄像模组1的检测方向不同，该检测方向与上文相同，不再赘述。在本实施例中，每个TOF摄像模组1的第一设定距离值，每个TOF摄像模组1的第二距离设定值相同。其中，每个层级上的TOF摄像模组1沿着保护罩34的周向平行排布，沿着保护罩的轴向L1向下(即竖直向下方向)每个层级上TOF摄像模组1的检测方向从沿着保护罩34的径向L2逐渐向竖直向下方向逼近，从而在磁控装置底部形成半球防碰撞检测区域。具体地，第一设定距离值可以为55mm-65mm，则预警检测区域D1形成为距离保护罩 34外表面55mm-65mm的半球区域；第二设定距离值可以为15mm-25mm，则急停检测区域D2形成为距离保护罩34外表面15mm-25mm且位于预警检测区域D1内侧的半球区域。
在一实施例中，不同层级上的TOF摄像模组1可以在保护罩34的周向上对齐设置，从而使不同层级的TOF摄像模组1的检测范围重叠，由于重叠的检测范围内至少同时存在两个TOF摄像模组1进行防碰撞检测，因此，只要有一个TOF摄像模组1检测到有物体进入防碰撞检测区域，即可执行防碰撞指令，从而有效地提高了检测的灵敏度。
在另一实施例中，相邻层级上的TOF摄像模组1可以在保护罩34的周向上交错设置，从而减少不同层级之间的TOF摄像模组1的检测范围的重叠部分。相较于TOF摄像模组1在磁控装置的周向上对齐设置，在TOF摄像模组1数量相同的情况下，交错设置的方式能够减小检测盲区，从而形成更全面的防碰撞检测区域，并降低防碰撞系统的成本。
在一个具体实施方式中，TOF摄像模组1设置于保护罩34上并形成三层的层级排布，具体包括第一层级、第二层级和第三层级。其中，第一层级的TOF摄像模组1的检测方向为第一检测方向，例如为沿着磁控装置的径向(即保护罩的径向L2)并朝向保护罩34外侧，第三层级的TOF摄像模组1的检测方向为第三检测方向，例如为沿着磁控装置轴向(即保护罩的轴向L1)并朝向保护罩34外侧，第二层级的TOF摄像模组1的检测方向设置于第一层级和第三层级两者的检测方向之间，第二检测方向为与竖直方向的夹角为45°。
在防碰撞系统的工作过程中，首先判断预警检测区域内是否探测到的待测物；即，判断待测物与检测位置的距离小于或等于第一设定距离值(或待测物与保护罩34外表面之间的距离小于或等于第一设定距离值)。若判断结果为“是”，即待测物已经进入预警检测区域，若判断结果为“否”，即待测物处于防碰撞检测区域之外。在判断待测物已经进入预警监测区域的基础上，判断待测物是否出现在急停检测区域内，即待测物与检测位置的距离小于或等于第二设定距离值或待测物与保护罩34外表面之间的距离小于或等于第二设定距离值)。若判断结果为“否”则判定，待测物尚未进入急停检测区域，若判断结果为“是”则判定，待测物进入急停检测区域。当判断待测物尚未进入急停检测区域，则控制磁控装置减速和\或发出预警；当判断待测物进入急停检测区域，则控制磁控装置急停。
在一个更为具体的实施方式中，第一层级和第二层级的TOF摄像模组1的数量均为4-12个，第三层级TOF摄像模组1的数量为2-6个，例如图7所示。
图6为本申请实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞方法的流程图。
如图6所示，本申请实施例还提供了一种基于TOF摄像模组1的胶囊内镜控制设备的防碰撞方法，包括：
步骤S1，TOF摄像模组1探测待测物与检测位置之间的距离。
具体地，TOF模组安装于胶囊内镜控制设备的检测位置处，该检测位置可以是胶 囊内镜控制设备上磁球33的保护罩34上，也可以在控制设备的其他位置。
步骤S2，控制模块2根据TOF摄像模组1探测到的待测物与检测位置的距离，发出控制指令。
该步骤S2可以具体地包括：
步骤S21，判断TOF摄像模组1探测到的待测物与检测位置的距离是否小于或等于第一设定距离值；
如果判断TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第一设定距离值，则进入步骤S22。如果判断TOF摄像模组1探测到的待测物与检测位置的距离小于或等于第二设定距离值，则进入步骤S23。
步骤S22，发送单元22向执行模块3发出第一控制指令。
步骤S23，发送单元22向执行模块3发出第二控制指令。
步骤S3，执行模块3根据控制模块2发出的控制指令，执行设定的动作。
该步骤S3可以具体包括：
步骤S31，驱动部件31根据发送单元22发出的第一控制指令，降低运行速度；或，
步骤S32，驱动部件31根据发送单元22发出的第二控制指令，进行急停。
本领域技术人员可以理解的是，上述步骤并不限定发生的顺序，也可以仅执行其中的一个或几个步骤。
在另一种实施方式中，上述步骤S3还可以具体包括：
步骤S33，报警装置35根据发送单元22发出的第一控制指令或第二控制指令，发出报警信号。
该报警装置35可以是报警灯或蜂鸣器。
本申请实施例提供的基于TOF摄像模组的胶囊内镜控制设备的防碰撞方法通过设置TOF摄像模组1来检测待测物(即上述操作者或其他人员)与检测位置的距离，再通过控制模块2控制执行模块3动作，防止了碰撞的发生。
以上仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (17)

  1. 一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞系统，其特征在于，包括：
    TOF摄像模组，安装于胶囊内镜控制设备的检测位置；
    控制模块，与所述TOF摄像模组相连，根据所述TOF摄像模组探测到的待测物与所述检测位置的距离，发出控制指令；
    执行模块，与所述控制模块相连，用于根据所述控制模块发出的控制指令，执行设定的动作。
  2. 根据权利要求1所述的系统，其特征在于，所述控制模块包括：
    判断单元，判断所述TOF摄像模组探测到的待测物与所述检测位置的距离是否小于或等于第一设定距离值；
    发送单元，分别与所述判断单元和所述执行模块相连；
    如果所述判断单元判断所述TOF摄像模组探测到的待测物与所述检测位置的距离小于或等于第一设定距离值，所述发送单元则向所述执行模块发出第一控制指令。
  3. 根据权利要求2所述的系统，其特征在于，所述判断单元还用于判断所述TOF摄像模组探测到的待测物与所述检测位置的距离是否小于或等于第二设定距离值；
    如果所述判断单元判断所述TOF摄像模组探测到的待测物与所述检测位置的距离小于或等于第二设定距离值，所述发送单元则向所述执行模块发出第二控制指令。
  4. 根据权利要求3所述的系统，其特征在于，所述执行模块包括驱动部件、控制臂、磁球和保护罩；
    所述控制臂连接于所述驱动部件的输出端；
    所述磁球连接于所述控制臂；
    所述保护罩罩设于所述磁球的外部；所述检测位置位于所述保护罩靠近所述磁球的一侧；
    所述驱动部件用于根据所述发送单元发出的所述第一控制指令，降低运行速度；或，所述驱动部件用于根据所述发送单元发出的所述第二控制指令，进行急停。
  5. 根据权利要求4所述的系统，其特征在于，所述保护罩为半球状壳体；
    所述检测位置具有多处，多处所述检测位置在所述保护罩上沿周向均匀分布。
  6. 根据权利要求3所述的系统，其特征在于，所述执行模块包括报警装置；
    所述报警装置用于根据所述发送单元发出的所述第一控制指令或所述第二控制指令，发出报警信号。
  7. 根据权利要求3所述的系统，其特征在于，所述第一设定距离值为55mm-65mm；
    所述第二设定距离为15mm-25mm。
  8. 根据权利要求1-7任一项所述的系统，其特征在于，所述系统还包括选通开关，所述选通开关连接于所述TOF摄像模组和所述控制模块之间。
  9. 根据权利要求4所述的系统，其特征在于，所述TOF摄像模组的数量大于1，并且所述TOF摄像模组在所述保护罩上设置为多层级排布。
  10. 根据权利要求9所述的系统，其特征在于，不同层级上的所述TOF摄像模组在所述保护罩的周向上对齐设置。
  11. 根据权利要求9所述的系统，其特征在于，相邻层级上的所述TOF摄像模组在所述保护罩的周向上交错设置。
  12. 根据权利要求9所述的系统，其特征在于，若干个所述TOF摄像模组在形成包围所述保护罩的防撞检测区域，所述防碰撞检测区域包括预警检测区域以及急停检测区域，其中，所述预警检测区域设置于所述急停检测区域的外侧。
  13. 一种基于TOF摄像模组的胶囊内镜控制设备的防碰撞方法，其特征在于，包括：
    TOF摄像模组探测待测物与检测位置之间的距离；
    控制模块根据所述TOF摄像模组探测到的所述待测物与所述检测位置的距离，发出控制指令；
    执行模块根据所述控制模块发出的所述控制指令，执行设定的动作。
  14. 根据权利要求13所述的方法，其特征在于，所述控制模块根据所述TOF摄像模组探测到的所述待测物与所述检测位置的距离，发出控制指令包括：
    判断所述TOF摄像模组探测到的所述待测物与所述检测位置的距离是否小于或等于第一设定距离值；
    如果判断到所述TOF摄像模组探测到的所述待测物与所述检测位置的距离小于或等于所述第一设定距离值，发送单元则向所述执行模块发出第一控制指令。
  15. 根据权利要求14所述的方法，其特征在于，所述方法还包括：
    判断所述TOF摄像模组探测到的所述待测物与所述检测位置的距离是否小于或等于第二设定距离值；
    如果判断到所述TOF摄像模组探测到的所述待测物与所述检测位置的距离小于或等于所述第二设定距离值，所述发送单元则向所述执行模块发出第二控制指令。
  16. 根据权利要求15所述的方法，其特征在于，所述执行模块根据所述控制模块发出的所述控制指令，执行设定的动作包括：
    驱动部件根据所述发送单元发出的所述第一控制指令，降低运行速度；或，所述驱动部件根据所述发送单元发出的所述第二控制指令，进行急停。
  17. 根据权利要求15所述的方法，其特征在于，所述执行模块根据所述控制模块发出的所述控制指令，执行设定的动作包括：
    报警装置根据所述发送单元发出的所述第一控制指令或所述第二控制指令，发出报警信号。
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