CN110974284A - X-ray protection equipment with image recognition target tracking function - Google Patents
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Abstract
The invention discloses X-ray protection equipment with image recognition target tracking, which comprises an image characteristic target, an image acquisition unit, an image processing unit, a controller unit and an execution mechanism unit, wherein the image characteristic target is arranged on the image characteristic target; the image acquisition unit is electrically connected with the image processing unit and transmits image data to the image processing unit for processing; the image processing unit is connected with the controller unit and transmits the recognized image characteristic target coordinate data to the controller unit for processing; and the controller unit is connected with the executing mechanism unit and transmits the control command to the executing mechanism unit for moving operation. The X-ray protection equipment does not need to add a sensor module outside the machine, so that the machine is more convenient to arrange; a sensor module does not need to be added outside the machine, so that the corresponding cost is saved; and a sensor module is not required to be added outside the machine, and wired or wireless data transmission with external equipment is not required, so that the complexity of the system is reduced.
Description
Technical Field
The invention relates to the technical field of image recognition and X-ray protection equipment, in particular to X-ray protection equipment with image recognition target tracking function.
Background
The X-ray protection equipment is mainly used for protecting other parts of a patient, which do not need to be photographed, from being irradiated by X-rays when the patient is photographed by a DR room in a hospital radiology department; when the patient takes a picture, the DR moves according to the part to be taken.
At present, the X-ray protection equipment of the automatic tracking DR machine mainly adopts a laser ranging sensor or a pull rope sensor to carry out the movement detection of the DR machine, and then moves a lead plate to a corresponding position to shield the lead plate. The laser ranging sensor or the pull rope sensor needs to be additionally provided with a sensor module outside the machine and is connected with the host in a wired or wireless transmission mode, so that equipment is inconvenient to arrange, the equipment cost is increased, and the system complexity is improved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an X-ray protection device with image recognition target tracking function.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an X-ray protection device with image recognition target tracking function comprises an image characteristic target, an image acquisition unit, an image processing unit, a controller unit and an execution mechanism unit; the image acquisition unit is electrically connected with the image processing unit and transmits image data to the image processing unit for processing; the image processing unit is connected with the controller unit and transmits the recognized image characteristic target coordinate data to the controller unit for processing; and the controller unit is connected with the executing mechanism unit and transmits the control command to the executing mechanism unit for moving operation.
Preferably, the X-ray protection device with image recognition target tracking further comprises a power module, and the power module sequentially supplies power to the image acquisition unit, the image processing unit, the controller unit and the execution mechanism unit.
Preferably, the power module includes a power supply, a constant voltage circuit, a voltage reduction circuit, and a voltage regulator circuit; the constant voltage circuit is used for outputting 12V direct current power supply with the voltage constancy of power output, and the corresponding step-down circuit steps down the 12V direct current power supply of constant voltage circuit output to 5V, stabilizes to 3.5V through voltage stabilizing circuit. Preferably, the constant voltage circuit comprises a power supply anti-backflow circuit, a constant voltage control chip, a power supply voltage stabilizing circuit, a power supply follow current circuit, a first filter circuit and a first voltage feedback circuit; the power supply is connected with the power supply input end of the constant voltage control chip through the power supply backflow prevention circuit, the power supply voltage stabilizing circuit, the power supply follow current circuit and the first voltage feedback circuit are respectively connected with the corresponding control ends of the constant voltage control chip, and the output end of the constant voltage control chip is connected with the voltage reduction circuit through the first filter circuit.
Preferably, the voltage reduction circuit comprises a second filter circuit, a current follow current circuit, a second voltage feedback circuit, a third filter circuit, a voltage reduction chip and peripheral circuits thereof; the power supply end of the voltage reduction chip is connected with the first filter circuit, and one end of the second filter circuit, the second voltage feedback circuit and one end of the current follow current circuit are connected with the corresponding end of the voltage reduction chip; the other end of the current follow current circuit is respectively connected with the other end of the second voltage feedback circuit and one end of the third filter circuit; the other end of the third filter circuit is connected with the voltage stabilizing circuit.
The voltage stabilizing circuit comprises: the fourth filter circuit, the voltage stabilizing chip and the peripheral circuit thereof; the power supply end of the voltage stabilizing chip is connected with the other end of the third filter circuit; and the output end of the voltage stabilizing chip is connected with the fourth filter circuit to supply power to the lower-stage circuit.
Preferably, the image feature object is selected from one or more of a two-dimensional code icon, a specific color icon and a characteristic shape icon.
Preferably, the image acquisition unit comprises a camera circuit; the camera circuit is provided with a camera light sensing chip OV7725 and a peripheral circuit thereof; the camera of the camera circuit is one of a color camera, a gray scale camera and an infrared camera.
Preferably, the image processing unit includes an MPU circuit, the MPU circuit is configured as an STM32F765VGT6 chip and its peripheral circuits, and the corresponding end of the STM32F765VGT6 chip is electrically connected with the corresponding end of the camera optical sensor chip OV7725 for image recognition processing.
Preferably, the controller unit includes an MCU circuit, the MCU circuit is set as an STM32F103 chip and its peripheral circuits, and a corresponding end of the STM32F103 chip is electrically connected to a corresponding end of the STM32F765VGT6 chip for providing a motor control signal.
Preferably, the actuator unit includes a motor driving module and a motor driving signal circuit; the motor driving signal circuit comprises a first motor driving circuit, a second motor driving circuit, a third motor driving circuit, a j18 socket, a driving power circuit and a j19 socket; the input ends of the first motor driving circuit, the second motor driving circuit and the third motor driving circuit are correspondingly and electrically connected with an STM32F765VGT6 chip, and the output ends of the first motor driving circuit, the second motor driving circuit and the third motor driving circuit are connected with an external motor through a j18 socket; the driving power circuit is connected with an external motor power supply through a j19 socket.
By adopting the technical scheme of the invention, the invention has the following beneficial effects: the voltage stabilizing circuit of the constant voltage circuit and the voltage reducing circuit correspondingly have the functions of constant voltage, voltage reduction and voltage stabilization, and can perform constant voltage, voltage reduction and voltage stabilization treatment on the voltage of a power supply; the camera is used for transmitting acquired data to the image processing unit, so that the image recognition processing function is realized; the coordinate position number of the target is processed through the MCU circuit and the MCU circuit, and then the motor is controlled to move correspondingly so as to achieve the aim of tracking; in addition, the X-ray protection equipment does not need to be additionally provided with a sensor module outside the machine, so that the machine is more convenient to arrange; a sensor module does not need to be added outside the machine, so that the corresponding cost is saved; and a sensor module is not required to be added outside the machine, and wired or wireless data transmission with external equipment is not required, so that the complexity of the system is reduced.
Drawings
FIG. 1 is a first block diagram of the present invention;
FIG. 2 is a second block diagram of the present invention;
FIG. 3 is a circuit diagram of a camera of the present invention;
FIG. 4 is a schematic diagram of an MPU module circuit of the present invention;
FIG. 5 is a schematic circuit diagram of the MCU module of the present invention;
FIG. 6 shows the signal circuit principle of the motor driving module of the present invention
FIG. 7 is a schematic diagram of a power supply circuit of the present invention;
FIG. 8 is a schematic diagram of a buck circuit and a regulator circuit according to the present invention.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
Example 1:
referring to fig. 1, an X-ray protection device with image recognition target tracking includes an image feature target (S101), an image acquisition unit (S102), an image processing unit (S103), a controller unit (S104), and an actuator unit (S105); the image acquisition unit (S102) is electrically connected with the image processing unit (S103); the image processing unit (S103) is electrically connected with the controller unit (S104); the controller unit (S104) is electrically connected with the actuator unit (S105).
The image acquisition unit (S102) transmits image data to the image processing unit (S103) in real time, and when the image processing unit (S103) identifies that the image characteristic target (S101) appears, the coordinate data of the image characteristic target (S101) is transmitted to the controller unit (S104) for further processing; then the controller unit (S104) sends a corresponding control instruction to the executing mechanism unit (S105) for moving operation; finally, the actuator unit (S105) moves the machine to a corresponding position according to the control instruction.
Example 2:
referring to fig. 2, an X-ray shielding apparatus with image recognition target tracking includes an image feature target (S201), a camera (S202), an MPU module (S203), an MCU module (S204), a motor driving module (S205), a motor (S206), and a power module (S207).
The camera (S202) is connected with the MPU module (S203) through a CSI interface, and image data are transmitted to the MPU module (S203) in real time for processing.
The MPU module (S203) is connected with the MCU module (S204) through a UART interface, and transmits coordinate position data of the image feature target (S201) to the MCU module (S204) in real time for processing.
The MCU module (S204) is connected with the motor driving module (S205) through a GPIO interface, and transmits a control command to the motor driving module (S205) in real time for execution.
The motor driving module (S205) is connected with the motor (S206) through a cable, and converts the control command into corresponding mechanical motion.
The power supply module (S207) is respectively connected with the camera (S202), the MPU module (S203), the MCU module (S204), the motor driving module (S205) and the motor (S206) through cables to provide electric power support.
The working principle of the invention is as follows:
the camera (S102) transmits image data to the image processing unit (S103) in real time, and when the image processing unit (S103) identifies that the image characteristic target (S101) appears, the coordinate data of the image characteristic target (S101) is transmitted to the controller unit (S104) for further processing; then the controller unit (S104) sends a corresponding control instruction to the executing mechanism unit (S105) for moving operation; finally, the executing mechanism unit (S105) moves the machine to a corresponding position according to the control instruction;
the camera (S202) transmits image data to the MPU module (S203) in real time to process the MPU module (S203) and transmits the coordinate position data of the recognized image characteristic target (S101) to the MCU module (S204) to be processed, the MCU module (S204) transmits a time-varying transmission control instruction to the motor driving module (S205) to be executed, and the motor (S206) converts the control instruction into corresponding mechanical motion.
Referring to fig. 3, U2 in the circuit diagram of the camera is a camera light sensing chip OV7725 for light sensing;
c12, C19, C20, C18, C15, C17 and C16 are capacitors and are used for power supply filtering;
r4 is a resistor for limiting current;
r3 is a resistor for pulling down the level;
RN4A, RN4B are resistance, are used for pull-up level current limit.
Referring to fig. 4, U1 in the MPU module circuit diagram is an MPU chip STM32F765VGT6, used for image recognition processing;
c11, C4, C5, C6, C7, C8, C9, C13, C48 and C49 are capacitors and are used for power supply filtering;
c40 and C41 are capacitors used for matching crystal oscillator loads;
RN2A is a resistor and is used for limiting current;
RN2B is a resistor for providing a pull-down level;
l1 is inductor for power supply filtering;
and Y1 is a crystal oscillator for providing an oscillation signal to the MPU module.
Referring to fig. 5, U14 in the MCU circuit diagram is an MCU chip STM32F103 for providing motor control signals;
j3 is a socket for external function module expansion;
r88, R91 and R92 are resistors and are used for limiting current;
r94, R95 are resistors for providing pull-up level current limiting;
r89 is a resistor for providing a pull down level;
the LED1 is a light emitting diode that acts as an indicator light.
Referring to fig. 6, the output terminal of the driving power circuit is correspondingly connected to the power supply of the external motor through a j19 socket.
The first motor driving circuit comprises an R198, an R199, an R200 and a Q21; one end of the R198 resistor is electrically connected with the corresponding end of the STM32F103 chip, and the other end of the R198 resistor is electrically connected with one end of the R199 resistor and the first end of the Q21 triode respectively; the other end of the R199 resistor is grounded; the second end of the Q21 triode is electrically connected with one end of the R200 resistor, and the third end of the Q21 triode is grounded; the other end of the R200 resistor is electrically connected with a second connecting end of j 18.
The second motor driving circuit comprises a R201, a R202, a R203 and a Q22; one end of the R203 resistor is electrically connected with the corresponding end of the STM32F103 chip, and the other end of the R203 resistor is electrically connected with one end of the R204 resistor and the first end of the Q22 triode respectively; the other end of the R204 resistor is grounded; the second end of the Q22 triode is electrically connected with one end of the R201 resistor, and the third end of the Q22 triode is grounded; the other end of the R201 resistor is electrically connected with the fourth connecting end of j 18.
The third motor driving circuit comprises a R204, a R205, a R206 and a Q23; one end of the R205 resistor is electrically connected with the corresponding end of the STM32F103 chip, and the other end of the R205 resistor is electrically connected with one end of the R206 resistor and the first end of the Q23 triode respectively; the other end of the R206 resistor is grounded; the second end of the Q23 triode is electrically connected with one end of the R202 resistor, and the third end of the Q23 triode is grounded; the other end of the R202 resistor is electrically connected with a sixth connecting end of j 18; the first end, the third end and the fifth end of the j18 socket are correspondingly connected with an external motor; the j18 socket is a HEADER 3X2 socket.
The driving power supply circuit comprises a D35; the j19 socket has a first end connected to ground, a second end connected to one end of the D35, and the other end of the D35 connected to the power supply of the external motor.
And the J18 socket is used for connecting a motor driving module.
And the J19 socket is used for connecting a power supply of the motor driving module.
And the D35 diode is used for preventing the power supply from flowing backwards.
And the resistors R198, R199, R200, R201, R202, R203, R204, R205 and R206 are used for current limiting.
The transistors Q21, Q22 and Q23 are used for isolating level signals
Referring to fig. 7, in the drawing of the 12V power supply, the model of the constant voltage control chip is H6205, and the constant voltage control chip is used for outputting a 12V dc power supply.
The power supply backflow prevention circuit comprises a D1 diode and is used for preventing the power supply from flowing backwards.
The power supply voltage stabilizing circuit comprises a D2 voltage stabilizing diode for power supply voltage stabilization.
The power freewheeling circuit includes D3, D6 diodes for power freewheeling.
The first filter circuit comprises capacitors of C3, C2, C23, C24, C20, C21 and C22 and is used for power supply filtering.
The first voltage feedback circuit comprises R23, R29, R32, R33 and R34 resistors and is used for voltage feedback matching.
The constant voltage circuit further comprises an R10 resistor, an R26 resistor and an L1 inductor; the R10 is a resistor used for current limiting, the R26 resistor is used for 12V power supply bypass discharging, and the L1 inductor is used for power supply energy storage.
One end of the D1 diode is electrically connected with a power supply, and the other end of the D1 diode is electrically connected with one end of a C3 capacitor, one end of a C2 capacitor, one end of an R10 capacitor, a first connecting end of a U1 constant-voltage chip H6205 and a ninth connecting end of a U1 constant-voltage chip H6205 respectively; the other end of the C3 capacitor is grounded; the other end of the C2 capacitor is grounded; the other end of the R10 resistor is electrically connected with the cathode of the D2 diode, one end of the C23 capacitor, the cathode of the D3 diode and the second connecting end of the U1 constant-voltage chip H6205 respectively; the anode of the D2 diode is electrically connected with the other end of the C23 capacitor, one end of the C24 capacitor, one end of the R33 capacitor, one end of the R34 capacitor, one end of the L1 inductor, the sixth connecting end of the U1 constant-voltage chip H6205 and one end of the R23 resistor respectively; the other end of the C24 capacitor is electrically connected with the fifth connecting end of the U1 constant voltage chip H6205; the other end of the R33 resistor is electrically connected with a third connecting end of the U1 constant-voltage chip H6205; the other end of the R34 resistor is electrically connected with the fourth connecting end of the U1 constant voltage chip H6205 and one end of the R29 resistor respectively; the other end of the R23 resistor is electrically connected with a seventh connecting end of the U1 constant voltage chip H6205, a diode cathode of the U1 constant voltage chip H6205 and a diode cathode of the D6 respectively; the anode of the D6 diode is respectively connected with the other end of the R29 resistor, the grounding wire, one end of the C20 capacitor, one end of the C21 capacitor, one end of the C22 capacitor and one end of the R26 resistor; the anode of the D3 diode is electrically connected with one end of a R32 resistor, the other end of an L1 inductor, the other end of a C20 capacitor, the other end of a C21 capacitor, the input end of VDD12V, the other end of a C22 capacitor and the other end of an R26 resistor respectively; the other end of the R32 resistor is electrically connected with the third connecting end of the U1 constant voltage chip H6205.
Referring to fig. 8, the 3.3V and 5V power supplies are shown in the figures:
the second voltage feedback circuit comprises R50 and R52 resistors and is used for voltage feedback matching.
The second filter circuit comprises capacitors C43, C27, C30, C31, C44 and C45 and is used for power supply filtering.
The third filter circuit comprises a C46 capacitor and an R53 resistor, and is used for power supply filtering.
The current freewheeling circuit includes an L2 inductor for current freewheeling.
The voltage reduction chip is in the model of AME5268 and is used for 5V voltage stabilization;
the voltage stabilizing chip is LM1117_3.3 and is used for stabilizing voltage of 3.3V.
The voltage reduction circuit also comprises an R48 resistor for limiting current.
The output end of the VDD12V is electrically connected with one end of the R48 resistor and a second connecting end of the U5 buck chip AME5268 respectively; the other end of the R48 resistor is electrically connected with a seventh connecting end of the U5 voltage reduction chip AME 5268; one end of the C43 capacitor is electrically connected with the eighth connection end of the U5 voltage reduction chip AME5268, and the other end of the C43 capacitor is electrically connected with the fourth connection end of the U5 voltage reduction chip AME5268 and the ninth connection end of the U5 voltage reduction chip AME5268 respectively; the filter circuit is electrically connected with a sixth connecting end of the U5 voltage reduction chip AME 5268; one end of the C26 capacitor is electrically connected with the first connection end of the U5 buck chip AME5268, and the other end of the C26 capacitor is electrically connected with one end of the L2 inductor and the third connection end of the U5 buck chip AME5268 respectively; the other end of the L2 inductor is electrically connected with one end of the R50 resistor, the first end of the C27 capacitor, the first end of the C30 capacitor and the input end of the VDD5V respectively; the second end of the C27 capacitor and the second end of the C30 capacitor are both correspondingly grounded; the other end of the R50 resistor is respectively connected with a fifth connecting end of the U5 voltage reduction chip AME5268 and one end of the R52 resistor; the other end of the R52 resistor is grounded; the filter circuit comprises a C46 capacitor and an R53 resistor, one end of the C46 capacitor is electrically connected with the sixth connecting end of the U5 voltage reduction chip AME5268, and the other end of the C46 capacitor is electrically connected with the R53 resistor; the other end of the R53 resistor is grounded; one end of the C31 capacitor is electrically connected with the VDD5V output end and the first end of the C30 capacitor, and the other end of the C31 capacitor is grounded; the first connection end of the U7 voltage-stabilizing chip LM1117_3.3 is grounded; the second connection end of the U7 voltage-stabilizing chip LM1117_3.3 is electrically connected with the fourth connection end of the U7 voltage-stabilizing chip LM1117_3.3, the C44 capacitor, the C45 electrical property and the VDD3.5V input end respectively; the third connecting end of the U7 voltage-stabilizing chip LM1117_3.3 is electrically connected with one end of a C31 capacitor, the VDD5V output end and the first end of a C30 capacitor respectively; the other end of the C31 capacitor is grounded.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An X-ray protection device with image recognition target tracking function is characterized by comprising an image characteristic target, an image acquisition unit, an image processing unit, a controller unit and an execution mechanism unit; the image acquisition unit is electrically connected with the image processing unit and transmits image data to the image processing unit for processing; the image processing unit is connected with the controller unit and transmits the recognized image characteristic target coordinate data to the controller unit for processing; and the controller unit is connected with the executing mechanism unit and transmits the control command to the executing mechanism unit for moving operation.
2. The X-ray shielding apparatus with image recognition target tracking according to claim 1, wherein the X-ray shielding apparatus with image recognition target tracking further comprises a power module, the power module sequentially supplies power to the image acquisition unit, the image processing unit, the controller unit and the actuator unit; the power module comprises a power supply, a constant voltage circuit, a voltage reduction circuit and a voltage stabilizing circuit; the constant voltage circuit is used for outputting 12V direct current power supply with the voltage constancy of power output, and the corresponding step-down circuit steps down the 12V direct current power supply of constant voltage circuit output to 5V, stabilizes to 3.5V through voltage stabilizing circuit.
3. The X-ray protection device with image recognition target tracking of claim 2, wherein the constant voltage circuit comprises a power supply anti-backflow circuit, a constant voltage control chip, a power supply voltage stabilizing circuit, a power supply follow current circuit, a first filter circuit, a first voltage feedback circuit; the power supply is connected with the power supply input end of the constant voltage control chip through the power supply backflow prevention circuit, the power supply voltage stabilizing circuit, the power supply follow current circuit and the first voltage feedback circuit are respectively connected with the corresponding control ends of the constant voltage control chip, and the output end of the constant voltage control chip is connected with the voltage reduction circuit through the first filter circuit.
4. The X-ray shielding apparatus with image recognition target tracking according to claim 3, wherein the voltage-reducing circuit comprises a second filter circuit, a current freewheeling circuit, a second voltage feedback circuit, a third filter circuit, a voltage-reducing chip and peripheral circuits thereof; the power supply end of the voltage reduction chip is connected with the first filter circuit, and one end of the second filter circuit, the second voltage feedback circuit and one end of the current follow current circuit are connected with the corresponding end of the voltage reduction chip; the other end of the current follow current circuit is respectively connected with the other end of the second voltage feedback circuit and one end of the third filter circuit; the other end of the third filter circuit is connected with the voltage stabilizing circuit.
5. The X-ray protection device with image recognition target tracking of claim 4, wherein the voltage stabilizing circuit comprises a fourth filter circuit, a voltage stabilizing chip and peripheral circuits thereof; the power supply end of the voltage stabilizing chip is connected with the other end of the third filter circuit; and the output end of the voltage stabilizing chip is connected with the fourth filter circuit to supply power to the lower-level circuit.
6. The X-ray shielding apparatus with image recognition target tracking of claim 1, wherein the image feature target is selected from one or more of a two-dimensional code icon, a specific color icon, a feature shape icon.
7. The X-ray shielding apparatus with image recognition target tracking according to claim 2, wherein the image acquisition unit comprises a camera circuit; the camera circuit is provided with a camera light sensing chip OV7725 and a peripheral circuit thereof; the camera of the camera circuit is selected from one of a color camera, a gray scale camera and an infrared camera.
8. An X-ray protection apparatus with image recognition target tracking according to claim 7, wherein the image processing unit includes an MPU circuit, the MPU circuit is set as STM32F765VGT6 chip and its peripheral circuit, the corresponding end of STM32F765VGT6 chip is electrically connected with the corresponding end of the camera light-sensing chip OV 7725.
9. The X-ray protection device with image recognition target tracking of claim 8, wherein the controller unit comprises an MCU circuit, the MCU circuit is set as an STM32F103 chip and its peripheral circuits, and the corresponding end of the STM32F103 chip is electrically connected with the corresponding end of the STM32F765VGT6 chip.
10. The X-ray shielding apparatus with image recognition target tracking according to claim 9, wherein the actuator unit comprises a motor drive module and a motor drive signal circuit; the motor driving signal circuit comprises a first motor driving circuit, a second motor driving circuit, a third motor driving circuit, a j18 socket, a driving power circuit and a j19 socket; the input ends of the first motor driving circuit, the second motor driving circuit and the third motor driving circuit are correspondingly and electrically connected with an STM32F765VGT6 chip, and the output ends of the first motor driving circuit, the second motor driving circuit and the third motor driving circuit are connected with an external motor through a j18 socket; the driving power circuit is connected with an external motor power supply through a j19 socket.
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