Intelligent medical blood collection tube preparation machine based on machine visionTechnical Field
The invention relates to identification printing and labeling equipment, in particular to an intelligent medical blood collection tube preparation machine based on machine vision in the medical field.
Background
The medical blood collection tube is the most common mode for collecting blood in hospitals at present, is one of medical instruments used in a large number in hospitals, and brings convenience to medical links. However, when medical staff use a large number of vacuum blood collection tubes, an essential task is to attach an information identifier to each blood collection tube, and the tasks of tube selection, identification, distribution and the like of the medical staff are complex tasks, so that the workload is large, the efficiency is low, and mistakes are easy to make.
All adopt in the current medical heparin tube to put the assigned position in order, then transfer to the printing position and print the subsides ticket, simultaneously, can only print the heparin tube of same colour type at every turn, if will print other colours, need to replace, reduced work efficiency.
Chinese patent application No. CN 200880106289.8 discloses a labeling and preparing device for test tubes, which comprises at least one storage part for placing at least one carrier plate loaded with a set of test tubes at a predetermined position, at least one transport part disposed above the storage part for clamping or releasing one of the test tubes, a labeling part disposed below the transport part for receiving the test tubes transported from the transport part and labeling the outer peripheral surface of each test tube with sample-related information. The discharge portion is disposed below the marking portion, and discharges the test tube to the outside. A controller controls the drivers of the conveying section, the marking section, and the discharging section.
Chinese patent application No. CN 201510589877.3 discloses an intelligent blood collection tube labeling device, which is named as: the blood collection tube conveying mechanism comprises a plurality of layers of blood collection tube storage modules which are stacked up and down, wherein a plurality of blood collection tube placing racks, blood collection tube grabbing manipulators and conveying tubes which are vertically arranged and used for outputting blood collection tubes are arranged in each layer of blood collection tube storage module, and the conveying tubes in all the blood collection tube storage modules are vertically corresponding to each other and are communicated with each other; the printing and labeling mechanism is arranged right below the blood sampling tube conveying mechanism; the blood collection tube output mechanism comprises a blood collection tube tray for receiving the output of the printing and labeling mechanism and a lifting mechanism for driving the blood collection tube tray to move up and down; the controller is connected with the intelligent blood collection tube management system and communicates information, and the blood collection tube grabbing manipulator, the printing and labeling mechanism and the lifting mechanism are all connected with the controller and controlled by the controller.
The shortcoming of above two patent applications all lies in can only snatching and printing the heparin tube of same colour according to the order, can not carry out selectively and snatch and print to the accuracy of different colours heparin tubes.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide a medical blood collection tube labeling machine capable of selectively and accurately grabbing and printing.
In order to achieve the above object, the present invention provides a machine vision-based intelligent medical blood collection tube preparation machine, which comprises:
the blood collection tube storage box is used for storing various types of medical blood collection tubes;
the mechanical selection mechanism is used for selecting the medical blood collection tubes from the blood collection tube storage box;
the identification printer is used for printing and labeling the medical blood collection tube;
the control module is used for connecting and controlling the mechanical selection mechanism and the identification printer;
still include machine vision system, set up the top of heparin tube case, with control module connects, and when needing certain medical heparin tube, control module can give the instruction machine vision system, machine vision system can carry out the image to the medical heparin tube of adorning in mixture in the heparin tube case and take after receiving the instruction, then compares the image that takes with the medical heparin tube that needs were selected, obtains the three-dimensional coordinate information transmission of the medical heparin tube of a most suitable selection and gives control module, and control module controls machinery again and selects this medical heparin tube to this coordinate of mechanism, puts into the sign printer and prints.
Preferably, the machine vision system comprises an image shooting device and an image processor, the image shooting device is used for shooting information of the medical blood collection tubes, and the image processor compares the shot image with the medical blood collection tubes required to be selected to obtain three-dimensional coordinate information of the medical blood collection tubes most suitable for selection and sends the three-dimensional coordinate information to the control module.
Advantageously, the mechanical selection mechanism comprises an autorotation type tube clamping fixture, the autorotation type tube clamping fixture comprises a rotation block, a clamping plate and a clamping block, the clamping plate rotates under the gravity traction of the medical blood collection tube after the medical blood collection tube is clamped, and therefore even if the medical blood collection tube is not vertically placed but is irregularly and randomly placed, the medical blood collection tube can be selected.
Advantageously, a rotary tube turner is installed in the blood collection tube storage box and connected with the control module for turning and stirring the medical blood collection tubes in the blood collection tube storage box.
Preferably, the acquisition unit is a camera and the machine vision system is mounted on the mechanical gripping mechanism.
The invention has the following beneficial effects:
1. the intelligent tube preparation machine for the medical blood collection tubes adopts a machine vision system, so that the information of the medical blood collection tubes in the blood collection tube storage box can be accurately judged, and accurate grabbing is realized;
2. the intelligent tube preparation machine for the medical blood collection tubes has the mixed loading capacity of the blood collection tube storage box, and the blood collection tubes to be attached with the marks do not need to be orderly arranged. The rotary tube turner in the blood sampling tube storage box can turn and stir the medical blood sampling tube in the blood sampling tube storage box and turn the medical blood sampling tube hidden at the bottom of the blood sampling tube storage box to the top surface.
3. Autorotation formula presss from both sides a tub anchor clamps 2 has the rotation that carries out two directions, and 1 st rotation axis is vertical direction, drives with the motor, and 2 nd rotation axis is the horizontal direction, rotates under medical heparin tube self gravity pulls after pressing from both sides medical heparin tube with the anchor clamps clamp splice. The mechanical selection mechanism can grab the medical blood collection tube at any position and turn to the vertical direction, so that power is reduced, and the structure is optimized.
Drawings
FIG. 1 is a schematic structural view of a preferred embodiment of the invention;
FIG. 2 is a schematic structural view of a self-rotating pipe clamping fixture;
FIG. 3 is a schematic view of the use of the self-rotating pipe clamp;
fig. 4 is a schematic view of the cartridge.
Wherein,
1. a blood collection tube storage box;
2. a mechanical selection mechanism;
3. identifying the printer;
4. a machine vision system;
5. a self-rotating pipe clamping fixture;
6. rotating the block;
7. a splint;
8. a clamping block;
9. a medical blood collection tube;
10. a rotary turner;
Detailed Description
As shown in fig. 1, the present invention provides an intelligent machine for preparing a medical blood collection tube based on machine vision, including: a blood collection tube storage case 1 for storing a plurality of types of medical blood collection tubes 9; the mechanical selection mechanism 2 is used for selecting the medical blood collection tubes 9 from the blood collection tube storage box 1; the identification printer 3 is used for printing and labeling the medical blood collection tube 9; the control module is used for connecting and controlling the mechanical selection mechanism 2 and the identification printer 3; still include machine vision system 4, set up and be in the top of heparin tube case 1, with control module connects, when needs certain medical heparin tube, control module can give the instruction machine vision system, machine vision system is after receiving the instruction, can carry out the image to the medical heparin tube of loading in mixture in the heparin tube case and intake, information such as color, diameter, length, position, quantity of medical heparin tube 9, then compare the image that intakes with the medical heparin tube that needs to select, the three-dimensional coordinate information who obtains the medical heparin tube that a most suitable was selected sends for control module, control module is mechanical to select the mechanism to this coordinate again and selects this medical heparin tube, put into sign printer 3 and print, realize accurate selection and printing.
The machine vision system 4 comprises an image shooting device and an image processor, wherein the image shooting device is used for shooting information of the medical blood collection tubes 9, the image processor compares shot images with the medical blood collection tubes required to be selected, and three-dimensional coordinate information of the medical blood collection tubes which are most suitable to be selected is obtained and sent to the control module. Generally speaking, the image capturing device uses a camera for observing and capturing the latest information of the medical blood collection tubes in real time, including color, diameter, length, position, number and other information, and it can capture the information of the medical blood collection tubes 9 in the blood collection storage box 1 several times per second to obtain information, and then perform statistical analysis by the image processing device, for example, it can analyze which color of the medical blood collection tubes are in the blood collection tube storage box under the current condition, can detect the number of the top layer of the medical blood collection tubes, where each medical blood collection tube is located, etc., there are analysis algorithm and comparison algorithm in the image processing device, compare the captured image with the information of the medical blood collection tube to be selected, and obtain the three-dimensional coordinate information of the most suitable selected medical blood collection tube to send to the control module through a circuit or wirelessly, then, the control module controls the driver of the mechanical selection mechanism 2, drives the manipulator to grab the required medical blood collection tubes, and puts the identification printer 3 into the mechanical selection mechanism for printing, so that the mixed loading of various types of medical blood collection tubes is accurately grabbed and printed, and the medical blood collection tubes to be attached with the identification do not need to be orderly arranged. The machine vision system 4 is installed above the blood collection tube storage box 1 or at another location, for example, on the mechanical selection mechanism 2, in short, to ensure that the image capturing device can observe and capture the information of the medical blood collection tube below the image capturing device.
Preferably, also can realize the accuracy and snatch in order to solve polytype medical heparin tube at non-vertical irregular random placement state promptly, machinery is selected the mechanism and is set up rotation formula and press from both sides a tub anchor clamps 5, rotation formula presss from both sides tub anchor clamps and includes rotatory piece 6, splint 7 and clamp splice 8, and rotation formula presss from both sides tub anchor clamps 5 has the rotation that carries out two directions, and 1 st rotation axis is vertical direction, and motor drive is used, and 2 nd rotation axis is the horizontal direction, and clamp splice 8 rotates under medical heparin tube self gravity pulls behind the clamp medical heparin tube for machinery is selected mechanism 2 and can be grabbed the medical heparin tube 9 of optional position, and is changeed vertical direction, has reduced power, has optimized the structure.
Advantageously, a rotary tube turner 10 is installed in the blood collection tube storage box, and is connected to the control module, and is used for turning over the medical blood collection tubes in the blood collection tube storage box, and turning over the medical blood collection tubes 9 hidden at the bottom of the blood collection tube storage box 1 onto the top surface.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the above teachings. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the design concept of the present invention should be within the scope of the present invention and/or the protection scope defined by the claims.