CN105286759B - Cavity deformation resetting detection device and reset detection method based on inertial navigation system - Google Patents
Cavity deformation resetting detection device and reset detection method based on inertial navigation system Download PDFInfo
- Publication number
- CN105286759B CN105286759B CN201510602710.6A CN201510602710A CN105286759B CN 105286759 B CN105286759 B CN 105286759B CN 201510602710 A CN201510602710 A CN 201510602710A CN 105286759 B CN105286759 B CN 105286759B
- Authority
- CN
- China
- Prior art keywords
- cavity
- inertial navigation
- value
- microprocessor
- display device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 43
- 238000005259 measurement Methods 0.000 claims abstract description 32
- 230000006854 communication Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000011084 recovery Methods 0.000 claims abstract description 8
- 230000008602 contraction Effects 0.000 claims description 10
- 230000003750 conditioning effect Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 230000000704 physical effect Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 210000004888 thoracic abdominal cavity Anatomy 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Landscapes
- Navigation (AREA)
- Gyroscopes (AREA)
Abstract
基于惯导系统的腔体形变复位检测装置及复位检测方法，涉及腔体形变复位检测。检测装置设有待测腔体、2个惯导装置、微处理器、通信模块和显示装置。将惯导装置固定于运动的待测腔体表面，通过检测腔体表面的物理量变化，惯导装置的复位检测分为初始测量值阶段与复原测量阶段，初始阶段，惯导装置测量腔体物理参数的最大值、最小值和预设值，计算出预设值与两最值的比例；复原阶段，惯导装置测量腔体相应物理参量的最大值、最小值和预判值，预判值若为预设值与最大值和最小值之差的等比例点上，即腔体恢复原位；微处理器获得惯导测量数据后传递至显示装置，可实时观测腔体运动过程中物理参数的变化，若腔体变化至预设情况时，显示装置发出提示。
A cavity deformation resetting detection device and a resetting detection method based on an inertial navigation system relate to cavity deformation resetting detection. The detection device is provided with a cavity to be tested, two inertial navigation devices, a microprocessor, a communication module and a display device. Fix the inertial navigation device on the surface of the moving cavity to be measured. By detecting the change of the physical quantity on the surface of the cavity, the reset detection of the inertial navigation device is divided into the initial measurement value stage and the restoration measurement stage. In the initial stage, the inertial navigation device measures the physical quantity of the cavity. The maximum value, minimum value and preset value of the parameter, calculate the ratio between the preset value and the two maximum values; in the recovery stage, the inertial navigation device measures the maximum value, minimum value and predicted value of the corresponding physical parameters of the cavity, and the predicted value If it is at the equiproportional point of the difference between the preset value and the maximum value and the minimum value, the cavity returns to its original position; the microprocessor obtains the inertial navigation measurement data and transmits it to the display device, and the physical parameters during the cavity movement can be observed in real time The change of the cavity, if the cavity changes to the preset situation, the display device will issue a prompt.
Description
技术领域technical field
本发明涉及腔体形变复位检测，尤其是涉及基于惯导系统的腔体形变复位检测装置及复位检测方法。The invention relates to cavity deformation reset detection, in particular to a cavity deformation reset detection device and a reset detection method based on an inertial navigation system.
背景技术Background technique
腔体复位检测是医疗与工业的一项关键技术，在临床医学与工业生产中有着无可置疑的关键作用。按一定规律张缩的腔体会呈现周期变化，腔内物质的位移亦会相应变化。检测、处理和分析不同时间腔内物质时，往往须使腔内物质移动至同一位置，即腔体张缩度相同，因此腔体复位检测方法要满足准确精密、快速实时等要求。在医疗应用上，传统的解决方案是让病人记忆呼吸深浅，这不仅效率低、存在很大的主观不确定性、缺乏规范性，还大大影响了测量效果；在工业应用上，传统的解决方案是测量腔体张缩时的体积变化，这种方法局限性比较大，仅适合体型不大且变化不剧烈的腔体。近年来，随着机械技术的进步，物理与机械方法渐渐应用于腔体复位检测，此方法对于明显的腔体形变可以有效检测，但对于微弱形变却不能准确检测，对于快速变化的腔体也不具有实时性。Cavity reset detection is a key technology in medical treatment and industry, and plays an undoubted key role in clinical medicine and industrial production. The cavity that expands and contracts according to a certain law will show periodic changes, and the displacement of the material in the cavity will also change accordingly. When detecting, processing and analyzing the substances in the cavity at different times, it is often necessary to move the substances in the cavity to the same position, that is, the expansion and contraction of the cavity are the same. Therefore, the cavity reset detection method must meet the requirements of accuracy, precision, fast and real time. In medical applications, the traditional solution is to let the patient remember the depth of breathing, which is not only inefficient, has great subjective uncertainty, and lacks standardization, but also greatly affects the measurement results; in industrial applications, the traditional solution It is to measure the volume change when the cavity expands and contracts. This method has relatively large limitations and is only suitable for cavities that are not large in size and do not change drastically. In recent years, with the advancement of mechanical technology, physical and mechanical methods have been gradually applied to cavity reset detection. This method can effectively detect obvious cavity deformation, but it cannot accurately detect weak deformation, and it is also difficult for rapidly changing cavities. Not real-time.
发明内容Contents of the invention
本发明的目的在于针对腔体复位检测存在的上述不足，提供基于惯导系统的腔体形变复位检测装置及复位检测方法。The object of the present invention is to provide a cavity deformation reset detection device and a reset detection method based on an inertial navigation system for the above-mentioned shortcomings in the cavity reset detection.
所述基于惯导系统的腔体形变复位检测装置，设有待测腔体、2个惯导装置、微处理器、通信模块和显示装置；The cavity deformation reset detection device based on the inertial navigation system is provided with a cavity to be tested, 2 inertial navigation devices, a microprocessor, a communication module and a display device;
所述2个惯导装置固定在待测腔体表面，2个惯导装置用于检测待测腔体的张缩变化所引起的物理特征变化值，2个惯导装置的输出端接微处理器的输入端，微处理器的输出端接通信模块的输入端，通信模块的输出端通过有线或无线方式将2个惯导装置检测得到的数据传送至显示装置。The two inertial navigation devices are fixed on the surface of the cavity to be tested, and the two inertial navigation devices are used to detect the physical characteristic change value caused by the expansion and contraction of the cavity to be tested, and the output terminals of the two inertial navigation devices are connected to the micro-processing The input terminal of the microprocessor, the output terminal of the microprocessor is connected to the input terminal of the communication module, and the output terminal of the communication module transmits the data detected by the two inertial navigation devices to the display device through wired or wireless means.
所述物理特性包括但不限于速度、角度、位置等。The physical properties include, but are not limited to, velocity, angle, position, and the like.
所述2个惯导装置与微处理器之间可依次设有信号调理电路和数据采集电路，信号调理电路的输入端接2个惯导装置的输出端，信号调理电路的输出端接数据采集电路的输入端，数据采集电路的输出端接微处理器的输入端。A signal conditioning circuit and a data acquisition circuit can be arranged successively between the two inertial navigation devices and the microprocessor, the input terminal of the signal conditioning circuit is connected to the output terminals of the two inertial navigation devices, and the output terminal of the signal conditioning circuit is connected to the data acquisition circuit. The input end of the circuit and the output end of the data acquisition circuit are connected to the input end of the microprocessor.
所述微处理器可采用单片机或ARM等微型处理器。The microprocessor can adopt microprocessors such as single-chip microcomputer or ARM.
基于惯导系统的腔体形变复位检测方法，采用所述基于惯导系统的腔体形变复位检测装置，所述方法包括以下步骤：The cavity deformation reset detection method based on the inertial navigation system adopts the cavity deformation reset detection device based on the inertial navigation system, and the method includes the following steps:
步骤1：将测量腔体表面物理特性的惯导装置，固定于运动的待测腔体表面，通过检测待测腔体表面的物理量变化，惯导装置的复位检测分为初始测量值阶段与复原测量阶段，初始测量值阶段，惯导装置测量腔体物理参数的最大值、最小值和预设值，计算出预设值与两最值的比例；复原测量阶段，惯导装置也测量腔体相应物理参量的最大值、最小值和预判值，预判值若为预设值与最大值和最小值之差的等比例点上，即腔体恢复原位；Step 1: Fix the inertial navigation device for measuring the physical characteristics of the cavity surface on the moving surface of the cavity to be tested. By detecting the change of the physical quantity on the surface of the cavity to be tested, the reset detection of the inertial navigation device is divided into the initial measurement value stage and the restoration In the measurement stage, the initial measurement value stage, the inertial navigation device measures the maximum value, minimum value and preset value of the physical parameters of the cavity, and calculates the ratio of the preset value to the two maximum values; in the recovery measurement stage, the inertial navigation device also measures the cavity The maximum value, the minimum value and the predicted value of the corresponding physical parameters, if the predicted value is at the proportional point of the difference between the preset value and the maximum value and the minimum value, the cavity is restored to its original position;
步骤2：微处理器获得惯导测量数据后，通过无线或有线传递至显示装置，可实时观测腔体运动过程中物理参数的变化，若腔体变化至预设情况时，显示装置发出提示。Step 2: After the microprocessor obtains the inertial navigation measurement data, it transmits it to the display device through wireless or wired, and can observe the changes of the physical parameters during the movement of the chamber in real time. If the chamber changes to the preset situation, the display device will issue a prompt.
本发明通过测量载体在惯性参考系的加速度等物理信息，能够得到在定位坐标系中的速度、偏航角和位置等信息，实现腔体复位的检测。可有效地解决目前腔体复位检测中识别率低、可靠性不高、误差较大等的问题。The present invention can obtain information such as speed, yaw angle and position in the positioning coordinate system by measuring the physical information such as the acceleration of the carrier in the inertial reference system, and realize the detection of the resetting of the cavity. It can effectively solve the problems of low recognition rate, low reliability and large error in the current chamber reset detection.
基于惯导系统的腔体形变复位检测方法，其工作过程如下：The cavity deformation reset detection method based on the inertial navigation system, its working process is as follows:
受做一定规律运动腔体的形变影响，腔内物质产生相应的移动，腔体张缩变化与表面速度、角度和位置等物理量息息相关，因此腔内物质恢复原位检测，转为对腔体表面物理特性的测量。将两个惯导装置附于腔体表面，记录腔体运动时速度、角度和位置等信息变化值。惯导装置将测量结果通过无线或有线传递至显示装置，可实时观测腔体运动过程中物理参数的变化，若腔体变化至预设情况时，显示装置发出提示。Affected by the deformation of the cavity in a certain regular movement, the material in the cavity moves accordingly, and the change of cavity expansion and contraction is closely related to physical quantities such as surface speed, angle and position. Measurement of physical properties. Attach two inertial navigation devices to the surface of the cavity, and record information changes such as speed, angle and position when the cavity moves. The inertial navigation device transmits the measurement results to the display device through wireless or wired, and can observe the changes of physical parameters during the movement of the cavity in real time. If the cavity changes to the preset situation, the display device will send out a prompt.
本发明与常规腔体复位检测方法相比具有以下优点：Compared with the conventional cavity reset detection method, the present invention has the following advantages:
利用腔体有规律形变与会反应至其表面速度、角度和位置等物理量，惯导装置通过测量在惯性参考系的加速度等物理信息，能够得到在定位坐标系中的速度、偏航角和位置等信息，实现腔体复位的检测。惯导装置有如下主要优点：(1)由于它是不依赖于任何外部信息，不向外部辐射能量的自主式系统，装置不受外界电磁干扰的影响，安全可靠；(2)可全天流全球、全时间地工作于空中、地球表面乃至水下；(3)能提供位置、速度、姿态角等数据，充分反映腔体形变的信息。同时，惯导装置与现实装置利用无线或有线通信，可实时显示腔体形变的程度，当腔体恢复至原位时，进行提示。这种方法可以有效地解决当前腔体复位检测方法的识别率低、可靠性不高、受环境影响大而不能满足腔体复位检测的精确、实时要求问题。Using the regular deformation of the cavity and the physical quantities that will react to its surface speed, angle and position, the inertial navigation device can obtain the speed, yaw angle and position in the positioning coordinate system by measuring physical information such as acceleration in the inertial reference system information to realize the detection of cavity reset. The inertial navigation device has the following main advantages: (1) Since it is an autonomous system that does not depend on any external information and does not radiate energy to the outside, the device is not affected by external electromagnetic interference and is safe and reliable; (2) It can flow all day Work globally and full-time in the air, on the surface of the earth and even underwater; (3) It can provide data such as position, speed, attitude angle, etc., and fully reflect the information of cavity deformation. At the same time, the inertial navigation device and the real device use wireless or wired communication to display the degree of deformation of the cavity in real time, and give a prompt when the cavity returns to its original position. This method can effectively solve the problems of low recognition rate, low reliability, and large environmental influence of the current cavity reset detection method, which cannot meet the accurate and real-time requirements of cavity reset detection.
基于惯导系统的腔体形变复位检测方法，针对有规律运动的腔体，惯导装置通过测量载体在惯性参考系的加速度等物理信息，能够得到在定位坐标系中的速度、角度和位置等信息，实现腔体复位的检测。Based on the cavity deformation reset detection method of the inertial navigation system, for the cavity with regular movement, the inertial navigation device can obtain the velocity, angle and position in the positioning coordinate system by measuring the physical information such as the acceleration of the carrier in the inertial reference system. information to realize the detection of cavity reset.
综上所述，本发明提出基于惯导系统的腔体形变复位检测方法，针对有规律运动的腔体，通过惯导测量其表面物理参数，达到腔体复位的检测的目的，可有效地解决目前腔体复位检测中识别率低、可靠性不高、误差较大等的问题。In summary, the present invention proposes a cavity deformation reset detection method based on the inertial navigation system. For a cavity with regular movement, the surface physical parameters are measured by the inertial navigation system to achieve the purpose of cavity reset detection, which can effectively solve the problem. At present, there are problems such as low recognition rate, low reliability, and large error in cavity reset detection.
附图说明Description of drawings
图1为本发明实施例的系统结构示意图。FIG. 1 is a schematic diagram of the system structure of an embodiment of the present invention.
图2为本发明实施例的过完备原子库的最优匹配示意图。Fig. 2 is a schematic diagram of optimal matching of an over-complete atomic library according to an embodiment of the present invention.
具体实施方式detailed description
以下结合实施例和附图对本发明作进一步说明。The present invention will be further described below in conjunction with embodiment and accompanying drawing.
参照图1和2，所述基于惯导系统的腔体形变复位检测装置实施例设有待测腔体1、2个惯导装置2、微处理器3、通信模块4和显示装置5。1 and 2, the embodiment of the cavity deformation reset detection device based on the inertial navigation system is provided with a cavity to be tested 1, two inertial navigation devices 2, a microprocessor 3, a communication module 4 and a display device 5.
所述2个惯导装置2固定在待测腔体1表面，2个惯导装置2用于检测待测腔体1的张缩变化所引起的物理特征变化值，2个惯导装置2的输出端接微处理器3的输入端，微处理器3的输出端接通信模块4的输入端，通信模块4的输出端通过有线或无线方式将2个惯导装置2检测得到的数据传送至显示装置5。The two inertial navigation devices 2 are fixed on the surface of the cavity to be tested 1, and the two inertial navigation devices 2 are used to detect the physical characteristic change value caused by the expansion and contraction of the cavity to be tested 1, and the two inertial navigation devices 2 The output terminal is connected to the input terminal of the microprocessor 3, the output terminal of the microprocessor 3 is connected to the input terminal of the communication module 4, and the output terminal of the communication module 4 transmits the data detected by the two inertial navigation devices 2 to the Display device 5.
所述物理特性包括但不限于速度、角度、位置等。The physical properties include, but are not limited to, velocity, angle, position, and the like.
所述2个惯导装置2与微处理器3之间可依次设有信号调理电路21和数据采集电路22，信号调理电路21的输入端接2个惯导装置2的输出端，信号调理电路21的输出端接数据采集电路22的输入端，数据采集电路22的输出端接微处理器3的输入端。A signal conditioning circuit 21 and a data acquisition circuit 22 can be arranged successively between the two inertial navigation devices 2 and the microprocessor 3, the input terminals of the signal conditioning circuit 21 are connected to the output terminals of the two inertial navigation devices 2, and the signal conditioning circuit The output terminal of 21 is connected to the input terminal of the data acquisition circuit 22 , and the output terminal of the data acquisition circuit 22 is connected to the input terminal of the microprocessor 3 .
在图2中，标记S1、S2、S3、S4分别表示形变1、形变2、形变3、形变4。In FIG. 2 , symbols S1 , S2 , S3 , and S4 represent deformation 1 , deformation 2 , deformation 3 , and deformation 4 , respectively.
所述微处理器可采用单片机或ARM等微型处理器。The microprocessor can adopt microprocessors such as single-chip microcomputer or ARM.
本发明主要有四部分组成：(1)待测腔体，这是具有一定运动规律的腔体，腔体内的物质受腔体形变影响，所处的位置亦产生相应的移动；(2)惯导装置，固定于腔体表面，通过测量腔体表面物理参数的变化，实现复位检测目的；(3)微处理器；(4)显示装置，可以与惯导装置进行无线或有线通信，实时显示腔体的变化状况，若腔体变化至预设情况时，发出提示。The present invention mainly consists of four parts: (1) the cavity to be tested, which is a cavity with a certain movement law, and the material in the cavity is affected by the deformation of the cavity, and the position is also moved accordingly; (2) the inertia The guide device is fixed on the surface of the cavity, and the purpose of reset detection is realized by measuring the change of the physical parameters of the cavity surface; (3) the microprocessor; (4) the display device, which can communicate with the inertial navigation device wirelessly or wired, and display in real time The change status of the cavity, if the cavity changes to the preset condition, a prompt will be issued.
以下给出基于惯导系统的腔体形变复位检测方法，采用所述基于惯导系统的腔体形变复位检测装置，所述方法包括以下步骤：The cavity deformation reset detection method based on the inertial navigation system is provided below, and the cavity deformation reset detection device based on the inertial navigation system is adopted, and the method includes the following steps:
步骤1：测量腔体表面物理特性的惯导装置，固定于运动的腔体表面，通过检测表面物理量变化。惯导装置的复位检测分为初始测量值阶段与复原测量阶段。初始测量值阶段，惯导装置测量腔体物理参数的最大值、最小值和预设值，计算出预设值与两最值的比例；复原测量阶段，惯导装置也测量腔体相应物理参量的最大值、最小值和预判值，预判值若为预设值与最大值和最小值之差的等比例点上，即腔体恢复原位。Step 1: The inertial navigation device for measuring the physical characteristics of the cavity surface is fixed on the moving cavity surface and detects changes in surface physical quantities. The reset detection of the inertial navigation unit is divided into the initial measurement value stage and the recovery measurement stage. In the stage of initial measurement value, the inertial navigation device measures the maximum value, minimum value and preset value of the physical parameters of the cavity, and calculates the ratio of the preset value to the two maximum values; in the recovery measurement stage, the inertial navigation device also measures the corresponding physical parameters of the cavity The maximum value, the minimum value and the pre-judgment value, if the pre-judgment value is on the proportional point of the difference between the preset value and the maximum value and the minimum value, the cavity will return to its original position.
步骤2：单片机或ARM等微型处理器获得惯导测量数据后，通过无线或有线传递至显示装置，可实时观测腔体运动过程中物理参数的变化，若腔体变化至预设情况时，显示装置发出提示，惯导采集、处理腔体形变数据及系统通信过程如图2所示。Step 2: After obtaining the inertial navigation measurement data by a microprocessor such as a single-chip microcomputer or ARM, it is transmitted to the display device through wireless or wired, and the change of the physical parameters during the movement of the cavity can be observed in real time. If the cavity changes to the preset situation, the display The device issued a prompt, and the inertial navigation system collected and processed the cavity deformation data and the system communication process as shown in Figure 2.
本发明针对不断形变的腔体，例如胸腔、腹腔等腔体，提出了一种准确灵敏、轻便易携、实时记录的腔体复位检测手段。腔体在张缩运动中引起容积的变化，造成腔内物质位置移动，并且此位移变化随着腔体的张缩而有一定周期性。若腔体变化幅度微弱或过大、变化频率过快以及外界环境恶劣时，恢复原位检测需保证较小的误差，灵敏的实时性，严酷环境下仍能有效工作。因此本发明提出利用惯导装置检测腔体在空间上的形变状态，腔体张缩变化引起的速度、角度和位置等信息变化值与已记录的某时刻数值相等时，可准确且实时的给予腔体复位提示。Aiming at continuously deforming cavities, such as thoracic cavity, abdominal cavity and other cavities, the present invention proposes an accurate, sensitive, portable, portable and real-time recording cavity reset detection means. The volume of the cavity changes during the expansion and contraction movement, causing the position of the material in the cavity to move, and this displacement change has a certain periodicity with the expansion and contraction of the cavity. If the change range of the cavity is weak or too large, the change frequency is too fast, and the external environment is harsh, it is necessary to ensure small errors, sensitive real-time performance, and effective work in harsh environments. Therefore, the present invention proposes to use the inertial navigation device to detect the deformation state of the cavity in space. When the change values of information such as speed, angle and position caused by the expansion and contraction of the cavity are equal to the recorded value at a certain moment, it can be accurately and real-time given Cavity reset prompt.
如图1所示，1是具有一定运动规律的腔体，腔体内的物质受腔体形变影响，所处的位置亦产生相应的移动；2是两个惯导装置，固定于腔体表面，可检测腔体张缩变化所引起的速度、角度和位置等信息变化值；3是通信模块，通过有线或无线方式将惯导测得的数据送至显示装置；4是微处理器，可控制惯导与通信模块；5是腔体形变显示装置，与惯导装置可进行无线、有线通信，实时显示腔体的变化状况，若腔体变化至预设情况时，发出提示。As shown in Figure 1, 1 is a cavity with a certain movement law, and the material in the cavity is affected by the deformation of the cavity, and its position also moves accordingly; 2 is two inertial navigation devices, fixed on the surface of the cavity, It can detect the change value of information such as speed, angle and position caused by the expansion and contraction of the cavity; 3 is the communication module, which sends the data measured by the inertial navigation to the display device through wired or wireless; 4 is the microprocessor, which can control Inertial navigation and communication module; 5 is the cavity deformation display device, which can carry out wireless and wired communication with the inertial navigation device, and display the change status of the cavity in real time, and send a prompt if the cavity changes to a preset situation.
受做一定规律运动腔体的形变影响，腔内物质产生相应的移动，腔体张缩变化与表面速度、角度和位置等物理量息息相关，因此腔内物质恢复原位检测，转为对腔体表面物理特性的测量。将两个惯导装置附于腔体表面，记录腔体运动时速度、角度和位置等信息变化值。惯导装置将测量结果通过无线或有线传递至显示装置，可实时观测腔体运动过程中物理参数的变化，若腔体变化至预设情况时，显示装置发出提示。Affected by the deformation of the cavity in a certain regular movement, the material in the cavity moves accordingly, and the change of cavity expansion and contraction is closely related to physical quantities such as surface speed, angle and position. Measurement of physical properties. Attach two inertial navigation devices to the surface of the cavity, and record information changes such as speed, angle and position when the cavity moves. The inertial navigation device transmits the measurement results to the display device through wireless or wired, and can observe the changes of physical parameters during the movement of the cavity in real time. If the cavity changes to the preset situation, the display device will send out a prompt.
利用惯导装置测量腔体张缩变化信息，进行初始测量与复原测量两阶段，确定位置复位，以及在此基础上的变形。The inertial navigation device is used to measure the change information of the cavity, and the two stages of initial measurement and recovery measurement are carried out to determine the position reset and the deformation based on this.
惯导装置是一种不依赖于外部信息、也不向外部辐射能量的自主式空间定位系统。惯导的基本工作原理是以牛顿力学定律为基础，通过测量载体在惯性参考系的加速度，将它对时间进行积分，且把它变换到定位坐标系中，就能够得到在定位坐标系中的速度、偏航角和位置等信息。惯导装置从一已知点的位置根据连续测得的腔体形变角度和速度推算出其下一点的位置，因而可连续测出有运动规律的腔体的当前位置。惯导装置中的陀螺仪用来形成一个导航坐标系使加速度计的测量轴稳定在该坐标系中并给出航向和姿态角；加速度计用来测量运动体的加速度经过对时间的一次积分得到速度，速度再经过对时间的一次积分即可得到距离。The inertial navigation device is an autonomous space positioning system that does not rely on external information and does not radiate energy to the outside. The basic working principle of inertial navigation is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference system, integrating it with time, and transforming it into the positioning coordinate system, the position in the positioning coordinate system can be obtained. Information such as speed, yaw angle and position. The inertial navigation device calculates the position of the next point from the position of a known point according to the continuously measured deformation angle and velocity of the cavity, so it can continuously measure the current position of the cavity with regular movement. The gyroscope in the inertial navigation device is used to form a navigation coordinate system to stabilize the measurement axis of the accelerometer in this coordinate system and to give the heading and attitude angle; the accelerometer is used to measure the acceleration of the moving body after an integration of time. Velocity, and the distance can be obtained by integrating the velocity with time.
惯导装置的复位检测分为初始测量值阶段与复原测量阶段。初始测量值阶段，惯导装置测量腔体物理参数的最大值、最小值和预设值，计算出预设值与两最值的比例；复原测量阶段，惯导装置也测量腔体相应物理参量的最大值、最小值和预判值，预判值若为预设值与最大值和最小值之差的等比例点上，即腔体恢复原位。The reset detection of the inertial navigation unit is divided into the initial measurement value stage and the recovery measurement stage. In the stage of initial measurement value, the inertial navigation device measures the maximum value, minimum value and preset value of the physical parameters of the cavity, and calculates the ratio of the preset value to the two maximum values; in the recovery measurement stage, the inertial navigation device also measures the corresponding physical parameters of the cavity The maximum value, the minimum value and the pre-judgment value, if the pre-judgment value is on the proportional point of the difference between the preset value and the maximum value and the minimum value, the cavity will return to its original position.
惯导装置实时将此物理参量通过无线或有线方式传递至显示装置，当腔体恢复预设原位时，显示装置做出提示，以及在此基础上的一切变形。The inertial navigation device transmits this physical parameter to the display device through wireless or wired means in real time. When the cavity returns to the preset original position, the display device will give a prompt and all deformations based on this.
本发明通过惯导实时检测腔体的形变，分辨能力高，能测出微小的形变，测量范围大，从弹性形变可测至塑性形变，实时性高，可进行静态与动态的测量，测量结果便于传送与记录，价格低廉、品种多样，便于选择和大量使用。可以有效地解决目前腔体复位检测中识别率低、可靠性不高、误差较大等的问题，这在医疗与工业上都具有很重要的意义。The invention detects the deformation of the cavity in real time through the inertial navigation, has high resolution, can measure small deformations, has a large measurement range, can measure from elastic deformation to plastic deformation, has high real-time performance, and can perform static and dynamic measurements. It is convenient for transmission and recording, low in price, diverse in variety, easy to choose and use in large quantities. It can effectively solve the problems of low recognition rate, low reliability and large error in the current cavity reset detection, which is of great significance in both medical treatment and industry.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510602710.6A CN105286759B (en) | 2015-09-21 | 2015-09-21 | Cavity deformation resetting detection device and reset detection method based on inertial navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510602710.6A CN105286759B (en) | 2015-09-21 | 2015-09-21 | Cavity deformation resetting detection device and reset detection method based on inertial navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105286759A CN105286759A (en) | 2016-02-03 |
| CN105286759B true CN105286759B (en) | 2017-07-11 |
Family
ID=55185101
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510602710.6A Expired - Fee Related CN105286759B (en) | 2015-09-21 | 2015-09-21 | Cavity deformation resetting detection device and reset detection method based on inertial navigation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105286759B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111513850B (en) * | 2020-04-30 | 2022-05-06 | 京东方科技集团股份有限公司 | Guide device, puncture needle adjustment method, storage medium, and electronic apparatus |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2878954B1 (en) * | 2004-12-07 | 2007-03-30 | Sagem | HYBRID INERTIAL NAVIGATION SYSTEM BASED ON A CINEMATIC MODEL |
| CN101487709B (en) * | 2009-02-27 | 2011-01-26 | 哈尔滨工程大学 | A tiny inertial measurement device |
| CN102607558A (en) * | 2012-03-05 | 2012-07-25 | 哈尔滨工程大学 | Relative deformation measuring method based on inertial measurement units |
| CN103697886A (en) * | 2012-09-28 | 2014-04-02 | 中国石油天然气股份有限公司 | Inertial navigation measurement method for pipeline center line |
| CN204931616U (en) * | 2015-09-21 | 2016-01-06 | 厦门大学 | A kind of cavity deformation resetting detection device based on inertial navigation system |
-
2015
- 2015-09-21 CN CN201510602710.6A patent/CN105286759B/en not_active Expired - Fee Related
Non-Patent Citations (1)
| Title |
|---|
| 微加速度传感器在人工胸外按压中的应用与实物研究;钱绍文;《中国优秀硕士学位论文全文数据库医药卫生科技辑》;20130215(第2期);第26-47页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105286759A (en) | 2016-02-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102297693B (en) | Method for measuring position and azimuths of object | |
| CN103776451B (en) | A MEMS-based high-precision three-dimensional attitude inertial measurement system and measurement method | |
| CN102879032A (en) | Dynamic measuring device for angle measurement precision | |
| CN104764451A (en) | Target posture tracking method based on inertia and geomagnetic sensor | |
| CN108534744A (en) | A kind of attitude angle acquisition methods, device and handle | |
| CN108592902B (en) | Positioning equipment, positioning method and system based on multiple sensors and mechanical arm | |
| CN103471590A (en) | Motion inertia tracking system | |
| WO2016175800A1 (en) | Method for determing a position of a valve closure element moved by a rotatable valve actuator shaft | |
| CN105286759B (en) | Cavity deformation resetting detection device and reset detection method based on inertial navigation system | |
| CN106643601B (en) | The sextuple measurement method of parameters of industrial robot dynamic | |
| CN102306054B (en) | Attitude sensing equipment and positioning method and device thereof and method and device for controlling mouse pointer | |
| Židek et al. | Wireless device based on MEMS sensors and bluetooth low energy (LE/Smart) technology for diagnostics of mechatronic systems | |
| CN204931616U (en) | A kind of cavity deformation resetting detection device based on inertial navigation system | |
| CN106767807B (en) | A comprehensive measurement method of pedestrian stride length based on height and motion characteristics | |
| CN103900603B (en) | The displacement of non-extensible guide two-dimension moving object and the non-contact measurement method of attitude in plane or curved surface | |
| CN110068293A (en) | Length-measuring appliance and method for measuring length | |
| CN205066742U (en) | Detection device because perception cavity deformation sensor resets | |
| CN202974319U (en) | Dynamic measuring device for angle measurement precision | |
| CN101315589A (en) | Electronic device and position detection device and method thereof | |
| CN105157666A (en) | Reset detection device and reset detection method thereof based on cavity deformation sensing sensor | |
| CN113959464B (en) | Gyroscope-assisted accelerometer field calibration method and system | |
| CN205714168U (en) | A kind of oil well inclination measurement system based on MEMS inertia device | |
| Spiewak et al. | High accuracy, low-invasive displacement sensor (halids) | |
| CN204158397U (en) | A kind of body motion detector | |
| CN203100712U (en) | Wireless sensor network node for displacement measurement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170711 |