CN105342749B

CN105342749B - A kind of cornea automatic station-keeping system and method

Info

Publication number: CN105342749B
Application number: CN201510641337.5A
Authority: CN
Inventors: 王维博; 张斌
Original assignee: SHENZHEN AINIER CORNEA ENGINEERING Co Ltd
Current assignee: SHENZHEN AINIER CORNEA ENGINEERING Co Ltd
Priority date: 2015-09-30
Filing date: 2015-09-30
Publication date: 2017-08-25
Anticipated expiration: 2035-09-30
Also published as: CN105342749A

Abstract

The invention discloses a kind of cornea automatic station-keeping system and method, it is related to medical instruments field.To improve the accuracy in cornea positioning, the amount of labour is reduced.Including：Tool arm component, image identification system, the background assemblies being oppositely arranged with image identification system, the calculating alignment system being connected with image identification system, master control system and the Machinery Control System being connected with master control system；Machinery Control System is electrically connected with robot assemblies, and the cornea package body that will be equipped with cornea for control machinery arm component is moved between image identification system and background assemblies；Master control system is electrically connected with image identification system and calculating alignment system respectively, for controlling image identification system and calculating alignment system, obtains the image that cornea package body is formed in the presence of bias light；And, analysis calculating is carried out to the image that image identification system is obtained, the positional information of cornea is obtained.The cornea automatic station-keeping system of the embodiment of the present invention is applied in cornea positioning.

Description

A kind of cornea automatic station-keeping system and method

Technical field

The present invention relates to medical instruments field, more particularly to a kind of cornea automatic station-keeping system and method.

Background technology

Keratonosus is the second diseases causing blindness in global range, and with the speed increase of the annual cases of 150-200 ten thousand.Cornea Transplanting is the current treatment the only effective method of corneal blindness, and the source of corneal transplantation materials is mainly cornea donation and cornea is replaced Dai Pin, such as cell-eliminating coanea matrix.Although the success rate of corneal transplantation is at a relatively high, rate of rejection is very low, after corneal transplantation The recovery of eye eyesight is but not so good as people's will very much, and main performance is exactly irregular astigmatism, is not advised because corneal transplantation can not overcome The then presence of astigmatism.How problem in current corneal transplantation positions cornea.

In the prior art, the positioning of cornea is that corneal curvature and corneal topography inspection are done before corneal graft, is obtained To the positional information of cornea, due to carrying out needing placement cornea locating ring to carry out auxiliary positioning during cornea positioning in the prior art, this Plant positioning step comparatively laborious, and the error probability of system is higher.

The content of the invention

Embodiments of the invention provide a kind of cornea automatic station-keeping system and method, accurate in cornea positioning to improve Property, reduce the amount of labour.

To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：

On the one hand, The embodiment provides a kind of cornea automatic station-keeping system, including：Robot assemblies, image Identifying system, the background assemblies being oppositely arranged with described image identifying system, the calculating being connected with described image identifying system is determined Position system, master control system and the Machinery Control System being connected with the master control system；

The Machinery Control System is electrically connected with the robot assemblies, for controlling the robot assemblies to will be equipped with angle The cornea package body of film is moved between described image identifying system and the background assemblies；

The master control system is electrically connected with described image identifying system and calculating alignment system respectively, for controlling Image identification system is stated, when the cornea package body equipped with cornea is moved to described image identifying system by the robot assemblies When between the background assemblies, the image that the cornea package body is formed in the presence of the bias light is obtained；And, use Analysis calculating is carried out in the image for controlling the calculating alignment system to obtain described image identifying system, the cornea is obtained Positional information.

With reference in a first aspect, in the first possible implementation of first aspect, the robot assemblies include water Flat moving assembly, vertical shift component and clamp assemblies, the component that moves horizontally can drive vertical shift component and clamping group Part is moved back and forth along the horizontal direction parallel to the positioning screen surfaces, and the vertical shift component can drive clamp assemblies edge flat Row is moved back and forth in the vertical direction of the positioning screen surfaces.

With reference to the first possible implementation of first aspect, in second of possible implementation of first aspect In, it is described move horizontally component including the first actuator, horizontal guide rail, the horizontal screw lead being arranged in the horizontal guide rail, with And the first nut coordinated with the horizontal screw lead, first nut is slidably connected with the horizontal guide rail, first drive Moving part can drive the horizontal screw lead to rotate, and the vertical shift component is fixedly connected with first nut；

The vertical shift component includes the second actuator, upright guide rail, the vertical thread being arranged in the upright guide rail Thick stick and the second nut coordinated with the vertical leading screw, second nut are slidably connected with the upright guide rail, and described the Two actuators can drive the vertical leading screw to rotate.

With reference to second of possible implementation of first aspect, in the third possible implementation of first aspect In, the clamp assemblies are included：

Support member, the first hold assembly, the second hold assembly, reset components and driving part；

Wherein, the centre of first hold assembly and the second hold assembly is respectively arranged with location window；Described One hold assembly is fixed in the support member, and first hold assembly and second hold assembly are oppositely arranged, and Connected between first hold assembly and second hold assembly by reset components, the driving part includes motor, The output shaft of the motor is connected with swing arm, the one end of the swing arm away from the motor output shaft and second hold assembly Against, when the output shaft of the motor drives the swing arm to be swung to the direction close to second hold assembly, the pendulum Arm can promote second hold assembly to be rotated to the direction of first hold assembly, until first hold assembly and the Two hold assemblies fit, and when the output shaft of the motor stops driving the swing arm to swing, second hold assembly exists Rotated in the presence of the reset components to the direction away from first hold assembly.

With reference in a first aspect, in the 4th kind of possible implementation of first aspect, in addition to sample stage, the sample Platform, which is arranged on the lower section of the clamp assemblies initial position, the sample stage, is provided with stopper slot, and the stopper slot is located at institute When stating the first hold assembly and second hold assembly in clamped condition, first hold assembly and the described second clamping The underface of crack between part；

Wherein, the initial position is the clamp assemblies default init state on the robot assemblies.

Second aspect, the embodiment of the present invention provides a kind of cornea automatic positioning method, and methods described includes：

The Machinery Control System controls the robot assemblies to clamp the cornea packaging equipped with cornea in initial position Body；

The Machinery Control System controls the robot assemblies that the cornea package body is moved into image identification system Between background assemblies；

The master control system controls the background assemblies to provide bias light, and controls described image identifying system to obtain institute State the image that cornea package body is formed in the presence of the bias light；

The image that the master control system control calculating alignment system is obtained to described image identifying system is divided Analysis is calculated, and obtains the positional information of the cornea.

With reference to second aspect, in the first possible implementation of second aspect, the Machinery Control System control The robot assemblies clamp the cornea package body equipped with cornea in initial position, including：

The Machinery Control System receives the sign on of user's input；

The Machinery Control System transmits the sign on that the user inputs to the master control system；

The Machinery Control System receives the positioning instruction that the master control system is sent according to the sign on；

The Machinery Control System controls the robot assemblies to return back to initial position according to the positioning instruction；

The Machinery Control System sends the first signal to the master control system, and first signal is described for indicating Robot assemblies return back to initial position；

The Machinery Control System receives the first control signal that the master control system is sent, and according to the described first control Signal processed clamps the cornea package body equipped with cornea in initial position.

With reference to the first possible implementation of second aspect, in second of possible implementation of second aspect In, the robot assemblies include moving horizontally component, vertical shift component and clamp assemblies；The component that moves horizontally includes First actuator, horizontal guide rail, the horizontal screw lead being arranged in the horizontal guide rail and coordinate with the horizontal screw lead the One nut, first nut is slidably connected with the horizontal guide rail, and first actuator can drive the horizontal screw lead to turn Dynamic, the vertical shift component is fixedly connected with first nut；The vertical shift component includes the second actuator, vertical Guide rail, the vertical leading screw being arranged in the upright guide rail and the second nut coordinated with the vertical leading screw, described second Nut is slidably connected with the upright guide rail, and second actuator can drive the vertical leading screw to rotate.

The Machinery Control System controls the robot assemblies to return back to initial position according to the positioning instruction, wraps Include：

The Machinery Control System detects currency and second spiral shell of first nut in the horizontal guide rail Female currency in the upright guide rail；

If second nut is the first initial value in the currency of the upright guide rail, first nut is in the water The currency of level gauge is not the second initial value, then the Machinery Control System controls first actuator to open, and drives institute State vertical shift component and the clamp assemblies and move to second initial value along the horizontal guide rail；

If second nut is not the first initial value in the currency of the upright guide rail, first nut is described The currency of horizontal guide rail is the second initial value, then the Machinery Control System controls second nut to drive the clamping group Part is moved to first initial value along the upright guide rail；

If second nut is not the first initial value in the currency of the upright guide rail, first nut is described The currency of horizontal guide rail is not the second initial value, and the Machinery Control System controls first nut to drive the clamping group Part movement moves to second initial value along the horizontal guide rail, and controls first nut to drive the clamp assemblies along institute State upright guide rail and be moved to first initial value.

With reference to second aspect, in the third possible implementation of second aspect, the clamp assemblies are included：

Wherein, the centre of first hold assembly and the second hold assembly is respectively arranged with location window；Described One hold assembly is fixed in the support member, and first hold assembly and second hold assembly are oppositely arranged, and Connected between first hold assembly and second hold assembly by reset components, the driving part includes motor, The output shaft of the motor is connected with swing arm, the one end of the swing arm away from the motor output shaft and second hold assembly Against, when the output shaft of the motor drives the swing arm to be swung to the direction close to second hold assembly, the pendulum Arm can promote second hold assembly to be rotated to the direction of first hold assembly, until first hold assembly and the Two hold assemblies fit, and when the output shaft of the motor stops driving the swing arm to swing, second hold assembly exists Rotated in the presence of the reset components to the direction away from first hold assembly；

The Machinery Control System controls the robot assemblies to clamp the cornea packaging equipped with cornea in initial position Body, including：

The Machinery Control System controls the motor to close, and second hold assembly and first hold assembly exist Open mode is presented in the presence of the reset components；

By the cornea package body equipped with cornea be positioned over first hold assembly and second hold assembly it Between and keep；

The Machinery Control System passes through preset duration, and the motor, the output shaft of the motor are opened at the second moment The swing arm is driven to be swung to the direction close to second hold assembly, the swing arm promotes second hold assembly to institute The direction for stating the first hold assembly is rotated, until first hold assembly and the second hold assembly fit.

With reference to second of possible implementation of second aspect, in the 4th kind of possible implementation of second aspect In, the Machinery Control System controls the robot assemblies that the cornea package body is moved into image identification system and background Between component, including：

The Machinery Control System controls second actuator to open, and drives the clamp assemblies initial from described first It is worth along the distance of upright guide rail slide downward first；

In the upright guide rail slide downward first after, the Machinery Control System controls second actuator to close Close so that the cornea package body and described image identifying system and the background assemblies are in identical height；

The Machinery Control System controls first actuator to open, and drives the vertical shift component and the clamping Component moves second distance along the horizontal guide rail from the second initial position to first direction, wherein, the first direction is institute Horizontal guide rail is stated towards the direction of position between described image identifying system and background assemblies；

After first nut moves second distance along the horizontal guide rail to first direction, the Machinery Control System Control first actuator to close so that the cornea package body be located at described image identifying system and the background assemblies it Between.

With reference to second aspect, in the 5th kind of possible implementation of second aspect, the Machinery Control System control After the cornea package body is moved between image identification system and background assemblies by the robot assemblies, the main control system System control is described to calculate the image progress analysis calculating that alignment system is obtained to described image identifying system, obtains the cornea Before positional information, methods described also includes：

The master control system control described image identifying system and the Machinery Control System make the clamp assemblies Location window center be located at it is described positioning screen vertical center line on.

With reference to the 5th kind of possible implementation of second aspect, in the 6th kind of possible implementation of second aspect In, the master control system control described image identifying system and the Machinery Control System make the positioning of the clamp assemblies The center of window is located on the vertical center line of the positioning screen, including：

Control the robot assemblies that the cornea package body is moved into image recognition system in the Machinery Control System After between system and background assemblies, the Machinery Control System sends secondary signal to the master control system, described to indicate Cornea package body is moved between image identification system and background assemblies；

The master control system sends the second control signal according to the secondary signal to described image identifying system；

Described image identifying system detects the center position coordinates of the location window according to second control signal；

Described image identifying system is matched the center position coordinates of the location window with default centre coordinate；

If the center position coordinates of the location window are mismatched with default centre coordinate, described image identifying system will Deviation information between the center position coordinates of the location window and default centre coordinate is sent to the master control system；

The master control system sends the deviation information to the Machinery Control System；

The Machinery Control System is adjusted according to the deviation information to the center of the location window.

With reference to second aspect, in the 7th kind of possible implementation of second aspect, methods described also includes：

If described calculate the image progress analysis calculating that alignment system is obtained to described image identifying system, the figure is determined The relevant information of cornea is not present as in, then sends the 3rd signal to the master control system；

The master control system sends the 3rd control signal according to the 3rd signal to the Machinery Control System；

The Machinery Control System controls the robot assemblies to return back to initial position according to the 3rd control signal.

The alignment system of cornea provided in an embodiment of the present invention, when needing corneal to position, can be contained in angle by cornea In film package body, the cornea package body that will be equipped with cornea by Machinery Control System control machinery arm component moves to image recognition system Between system and background assemblies, bias light is provided by background assemblies, controls described image identifying system to obtain by master control system The image for taking the cornea package body to be formed under the background light action, then controls described calculate to determine by master control system The image that position system is obtained to described image identifying system carries out analysis calculating, obtains the positional information of the cornea.The present invention The cornea automatic station-keeping system that embodiment is provided can not only improve the accuracy in cornea positioning, and reduce workman's work Amount.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention Embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also be attached according to these Figure obtains other accompanying drawings.

Fig. 1 is the stereogram for the cornea automatic station-keeping system that the embodiment of the present invention one is provided；

Fig. 2 is the top view for the cornea automatic station-keeping system that the embodiment of the present invention one is provided；

Fig. 3 is the structural representation for the background assemblies that the embodiment of the present invention one is provided；

Fig. 4 is the structural representation when background assemblies that the embodiment of the present invention one is provided are positioned with image identification system；

Fig. 5 is the structural representation for the clamp assemblies that the embodiment of the present invention one is provided；

Fig. 6 is the structural representation for the sample stage that the embodiment of the present invention one is provided；

Fig. 7 is the structural representation for the calculating alignment system that the embodiment of the present invention one is provided；

Fig. 8 is the flow chart one for the cornea automatic station-keeping system that the embodiment of the present invention two is provided；

Fig. 9 is the flowchart 2 for the cornea automatic station-keeping system that the embodiment of the present invention two is provided；

Figure 10 is the flow chart 3 for the cornea automatic station-keeping system that the embodiment of the present invention two is provided；

Figure 11 is the flow chart four for the cornea automatic station-keeping system that the embodiment of the present invention two is provided；

Figure 12 is the flow chart five for the cornea automatic station-keeping system that the embodiment of the present invention two is provided；

Figure 13 is the flow chart six for the cornea automatic station-keeping system that the embodiment of the present invention two is provided.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made Embodiment, belongs to the scope of protection of the invention.

In the description of the invention, it is to be understood that term " " center ", " on ", " under ", " rear ", "left", "right", " perpendicular Directly ", the orientation or position relationship of the instruction such as " level ", " top ", " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position Relation is put, the description present invention is for only for ease of and simplifies description, rather than indicate or imply that the device or element of meaning are necessary With specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.The present invention's In description, unless otherwise indicated, " multiple " are meant that two or more.X, Y-axis both direction are determined in the present invention Justice is：X-horizontal cross shaft；Y-vertical vertical pivot.

Embodiment one

On the one hand, it is that a kind of cornea provided in an embodiment of the present invention is automatically positioned referring to Fig. 1 and Fig. 2 referring to Fig. 1 and Fig. 2 System, including robot assemblies 5, image identification system 7, the background assemblies 1 being oppositely arranged with described image identifying system 7, with Described image identifying system 7 connect calculating alignment system (being not drawn into figure), master control system (being not drawn into figure) and with The Machinery Control System (being not drawn into figure) of the master control system connection；

The Machinery Control System is electrically connected with the robot assemblies 5, for controlling the robot assemblies 5 will be equipped with The cornea package body of cornea is moved between described image identifying system 7 and the background assemblies 1；

The master control system is electrically connected with described image identifying system and calculating alignment system respectively, for controlling Image identification system is stated, when the cornea package body is moved to described image identifying system and the background by the robot assemblies When between component, the image that the cornea package body is formed in the presence of the bias light is obtained；And, it is described for controlling The image progress analysis calculating that alignment system is obtained to described image identifying system is calculated, the positional information of the cornea is obtained.

Cornea, when needing corneal to position, can be contained in by cornea automatic station-keeping system provided in an embodiment of the present invention In cornea package body, the cornea package body that will be equipped with cornea by Machinery Control System control machinery arm component moves to image recognition Between system and background assemblies, bias light is provided by background assemblies, described image identifying system is controlled by master control system The image that the cornea package body is formed under the background light action is obtained, the calculating is then controlled by master control system The image that alignment system is obtained to described image identifying system carries out analysis calculating, obtains the positional information of the cornea.This hair The cornea automatic station-keeping system that bright embodiment is provided can not only improve the accuracy in cornea positioning, and reduce workman's labor Momentum.

Wherein, the embodiment of the present invention is not especially limited to the material of the cornea package body, shape and size, preferably , the bias light that background assemblies are provided for convenience forms image when passing through the cornea package body equipped with cornea, it is preferred that The cornea package body of the embodiment of the present invention is using the smooth transparent homogeneous materialses in surface so that the background provided when background assemblies 1 The cornea that light can be directed through being located in cornea package body forms it into image；

When wherein, in order that the robot assemblies 5 are in clamped condition, the cornea package body can be clamped, preferably , the shape of the cornea package body can be set according to the clamping shape of the clamp assemblies 53 of the robot assemblies 5 Meter, exemplary, the shape that the clamp assemblies 53 that the cornea package body can be designed as into the robot assemblies 5 are easily clamped Shape, the embodiment of the present invention is not restricted to this.As long as when the robot assemblies 5 are in clamped condition, can clamp described Cornea package body simultaneously drives the cornea package body to move；

In order that the cornea package body can be clamped by obtaining clamp assemblies 53, it is preferred that the thickness of the cornea package body It should be less than or equal to when maximum opening distance when being in open mode of the clamp assemblies 53 of the robot assemblies 5, this hair Bright embodiment is without limitation.

Wherein, the cornea in corneal package body is not limited, positioning in need cornea can as the present invention Cornea.

Wherein, the concrete structure of described image identifying system 7 is not construed as limiting, as long as described image identifying system 7 can Obtain the image of the bias light formation for the cornea package body that background assemblies are clamped through robot assemblies 5.It is preferred that, this hair The image identification system 7 of bright embodiment is camera, and the camera is used for scanning background component 1 and clamped through robot assemblies 5 Cornea package body bias light formation image, with obtain cornea pass through bias light formation image.

As shown in figure 3, further, background assemblies 1 include positioning screen 11 and light source 12, and the light source 12 is arranged on described The rear relative to described image identifying system 7 of positioning screen 11.

Wherein, the embodiment of the present invention is not construed as limiting to the material of the positioning screen 11, can as needed be selected, be Cornea in corneal package body is accurately positioned, exemplary, in actual applications, can be on the positioning screen 11 One two-dimensional coordinate system is set, and the X-axis of coordinate system is that the lower frame of positioning screen 11, Y-axis are the positioning adjacent with lower frame The left frame side of screen 11, the optional position on the positioning screen 11 may be by the coordinate (x, y) in the coordinate system to identify.Example Such as, in actual applications, the cornea package body that bias light is clamped through robot assemblies 5 forms image on the positioning screen 11 When, record each pixel in the image and be in position A (x1, y1), B (x2, y2) ... N (xn, yn) in coordinate system.

Wherein, the embodiment of the present invention is not construed as limiting to the specific color of the light source 12 at the rear of positioning screen 11, as long as described Light source 12 can provide bias light so that the bias light shields on 11 when passing through the cornea package body of the clamping of robot assemblies 5 in positioning Image can be formed.

It is further preferred that in order to obtain the more accurate cornea positioning image of positioning, the center of the camera On the vertical center line for being arranged on the positioning screen 11.It is exemplary referring to Fig. 4, same cross template 2 can be used, is come The image identification system 7 i.e. center of camera is calibrated with the center of the positioning screen 11 whether just to setting, preferably , the cross template 2 is printed with acetate ink.

Cornea package body is moved with above-below direction in the horizontal direction for convenience, and robot assemblies 5 include moving horizontally group Part 52, vertical shift component 51 and clamp assemblies 53, vertical shift component 51 and clamp assemblies can be driven by moving horizontally component 52 53 move back and forth along the horizontal direction for shielding 11 surfaces parallel to the positioning, and vertical shift component 52 can drive the edge of clamp assemblies 53 Moved back and forth parallel to the vertical direction on 11 surfaces of positioning screen.

The embodiment of the present invention is not done to the concrete structure for moving horizontally component 52, vertical shift component 51 and clamp assemblies 53 Limit, it is further preferred that the component 52 that moves horizontally includes the first actuator (being not drawn into figure), horizontal guide rail 521, set The horizontal screw lead being placed in the horizontal guide rail 521 and the first nut 522 coordinated with the horizontal screw lead, described first Nut 522 is slidably connected with the horizontal guide rail 521, and first actuator can drive the horizontal screw lead to rotate, described perpendicular Straight moving assembly 52 is fixedly connected with first nut 522；

The vertical shift component 52 include the second actuator, upright guide rail, be arranged at it is vertical in the upright guide rail Leading screw and the second nut coordinated with the vertical leading screw, second nut is slidably connected with the upright guide rail, described Second actuator can drive the vertical leading screw to rotate.

Wherein, the embodiment of the present invention to the first drive component and the second drive component without limiting, it is exemplary, in order to It can make to move horizontally the drive vertical shift of component 52 component 51 and clamp assemblies 53 are moved back and forth in the horizontal direction, it is preferred that The first drive component and the second drive component of the embodiment of the present invention can use motor.First nut 522 is driven by first Moving part drives the horizontal screw lead to rotate so as to be slided in the horizontal guide rail, and drives vertical shift component 51 and cornea bag Dress body move in the horizontal direction, the second nut along upright guide rail slide when, cornea package body can be driven to slide up and down, therefore, Move horizontally in the presence of component 52, cornea package body can be realized and moved horizontally, in the presence of vertical shift component 51, angle Film package body can be realized and moved up and down, so as to realize the movement of cornea package body.

It should be noted that can be by robot assemblies 5, image identification system 7, background assemblies 1 in actual mechanical process And calculating alignment system is placed in frame 3 as shown in Figure 1, stop button 10 is provided with the frame 3 to be used to control entirely The running status of alignment system, controls the alignment system to be in halted state when alignment system breaks down, and button 11 is used for Control machinery arm component returns back to initial position.

Referring to Fig. 4 and Fig. 5, in order that robot assemblies 5 can clamp cornea package body to drive it in the horizontal direction Or vertical direction movement, it is preferred that clamp assemblies 53 are included：Support member, the first hold assembly 531, the second hold assembly 533, reset components and driving part 15；

Wherein, the centre of the first hold assembly 531 and the second hold assembly 533 is respectively arranged with location window 532；Institute State the first hold assembly 531 to be fixed in the support member, first hold assembly 531 and second hold assembly 533 are oppositely arranged, and are connected between first hold assembly 531 and second hold assembly 533 by reset components.

In order that driving part 15 can drive the clamp assemblies 53 to clamp the cornea package body, it is preferred that institute Stating drive component 15 includes motor 151, is connected with swing arm 152 in the output shaft of the motor 151, the swing arm 152 is away from institute State one end of the output shaft of motor 151 and second hold assembly 533 against, when the electrical power, the motor 151 Output shaft drives the swing arm 152 to be swung to the direction close to second hold assembly 533, and the swing arm 152 can promote institute State the second hold assembly 533 to rotate to the direction of first hold assembly 531, until first hold assembly 531 and the Two hold assemblies 533 fit, and then cause the clamp assemblies 53 to be in clamped condition；When the output shaft of the motor stops When driving the swing of swing arm 152, second hold assembly 533 is in the presence of the reset components to away from described first The direction of hold assembly 531 is rotated, and then causes the clamp assemblies 53 to be in open mode.

It should be noted that during normality, i.e., the clamp assemblies 53 are not in working condition, the hold assembly 53, which is in, to be opened State, state as shown in Figure 4, the reset components positioned at the first hold assembly 531 and the second hold assembly 533 are not affected by outer masterpiece With and in original state, in working condition, swing arm 152 is driven to apply to second hold assembly 533 by motor 151 External force so that second hold assembly 533 is under the external force extruding that swing arm 152 applies to 531 turns of first hold assembly It is dynamic, make the reset components being located between the first hold assembly 531 and the second hold assembly 533 by the He of the second hold assembly 533 The axial compressive force that first hold assembly 531 applies, and deform upon, and then cause the first hold assembly 533 and the second clamping part Part 533 is in clamped condition, and when the external force for putting on the second hold assembly 533 disappears, i.e., motor 151 is stopped, non-band Movable pendulum arm 152 applies external force to the second hold assembly 533, and the first hold assembly 531 and the second hold assembly 533 are in reset components In the presence of return to normality.

In order that driving part 15 drives the swing arm 152 to apply external force to second hold assembly 533, it is preferred that The driving part 15 of the embodiment of the present invention is driven by motor (being not drawn into figure), when the electrical power, and motor drives institute State driving part 15 to rotate, the driving part 15 drives the swing arm 152 to apply external force to second hold assembly 533, When the motor is powered off, driving part 15 stops operating, and the external force for being applied to the second hold assembly 533 disappears, clamp assemblies 53 return to normality in the presence of reset components.

It should be noted that in actual applications, the driving part 15 of the embodiment of the present invention can also pass through the swing arm 152 apply external force causes the first hold assembly 531 in the presence of by external force to the second clamping part to the first hold assembly 531 Part 533 is rotated, and the embodiment of the present invention is not limited to this, can only can cause the first hold assembly 531 and the second clamping part Part 533 can clamp cornea package body in working condition.

Example, when needing to clamp cornea package body, when clamp assemblies 53 are in the normal state, it will be equipped with the cornea of cornea Package body is positioned between the first hold assembly 531 and the second hold assembly 533 and kept；To the electrical power, the electricity Machine drives the driving part 151 to rotate, so as to drive the swing arm 152 to rotate so that the remote electricity of the swing arm 152 One end of the output shaft of machine 151 extrudes second hold assembly 533 and rotated towards first hold assembly 531, and then causes First hold assembly 531 and the second hold assembly 533 the pressed home part in the presence of external force will be equipped with the cornea bag of cornea Body is filled to clamp.

Need explanation when, in order to obtain more preferable cornea positioning image, when the clamp assemblies 53 clamp the cornea When package body is located between described image identifying system 7 and the background assemblies 1, the center of the location window 532 and institute The center of positioning screen 11 is stated just to setting.

Wherein, the embodiment of the present invention to the concrete shape of the first hold assembly 531 and the second hold assembly 533 without limit It is fixed, it is exemplary, it can be designed according to the shape of the cornea package body, for example, can be by first hold assembly 531 and second hold assembly 533 be designed as sheet, as long as first hold assembly 531 and the energy of the second hold assembly 533 Enough clamp the cornea package body.

Wherein, the embodiment of the present invention is to the reset components without limiting, and exemplary, the reset components can be adopted Use elastomeric element；Coefficient of elasticity to the elastomeric element is not specifically limited, as long as the elastomeric element enables to first When hold assembly 531 is in open mode with second hold assembly 533, the first hold assembly 531 and second clamping Maximum between part 533 opens the thickness that distance is more than or equal to the cornea package body, or when motor drives the swing arm 152 Rotate extruding second hold assembly 533 towards first hold assembly 531 rotate when, positioned at the first hold assembly 531 It can cause the first hold assembly 531 and second when external force extruding is deformed upon with the elastomeric element of the second hold assembly 533 Hold assembly 533 can clamp the cornea package body, it is preferred that the elastomeric element can be spring.

Referring to Fig. 6, cornea package body is moved to the lower section of hold assembly for convenience, the embodiment of the present invention also includes sample Sample platform 4, the sample stage 4 is used to place cornea package body (being not drawn into figure), and the concrete structure of the sample stage 4 is not limited Fixed, the sample stage 4, which is arranged on the lower section of the initial position of clamp assemblies 53, sample stage 4, is provided with stopper slot 41, stopper slot 41 When the first hold assembly 531 is in clamped condition with second hold assembly 533, the first hold assembly 531 and described the The underface of crack between two hold assemblies 533.

Wherein, the initial position is the clamp assemblies 53 default init state on the robot assemblies 5.

The embodiment of the present invention to the default init state without limit, can basis during being actually needed Actual conditions are configured, certainly, and the default init state can be that master control system controls the Machinery Control System The clamp assemblies 53 are moved to default init state or Machinery Control System receives the positioning of user's input The clamp assemblies 53 are moved to default init state by instruction according to positioning instruction, and certain clamp assemblies 53 are pre- If init state can also be the arbitrary state on robot assemblies 5 of clamp assemblies 53, for example, at current time The state after preceding one-time positioning before positioning.

Example, the stopper slot 41 by cornea package body along the sample stage 4 is moved to the folder in actual applications Hold the lower section of the initial position of part 53.The width of the stopper slot 41 is identical with the thickness of the cornea package body.People can be passed through Cornea package body is moved and can also moved cornea package body along stopper slot 41 by master control system by work along stopper slot 41 Below to the initial position of hold assembly 53, the embodiment of the present invention is not restricted to this.

Wherein, it is that centered on computer, using mathematical technique method, a system front end is obtained to calculate alignment system Image handled accordingly according to specific purpose.At the digital picture including various inputs, output and display device Carried out in reason system, become continuous analog image after discrete digital picture, with setting up in specific physical model With the programme-control worked out on the basis of mathematical modeling, the processing of a variety of requirements is run and realized.The calculating alignment system can be adopted Realized with prior art, the embodiment of the present invention is not restricted to this.

Exemplary referring to Fig. 7, the calculating alignment system 100 of the embodiment of the present invention includes：

Image capture module 1011, the parameter letter of each pixel in described image is obtained for gathering image identification system Breath；

Image analysis module 1012, for the parameter threshold scope according to setting, obtains parameter letter described in described image Breath meets the pixel of the threshold range；

Framing module 1013, for the coordinate of the pixel for meeting the threshold range to be defined as into the angle The position of film.

It is exemplary, by taking cornea positioning as an example, pass through passing through that image capture module collects that camera gets The image being located on positioning screen of bias light formation, 24 RGB images are converted to by described image, that is, obtain each picture in image The parameter information of vegetarian refreshments, the parameter information comprises at least width Bw of the image in units of pixel, height Bh, image resolution ratio Bf and coordinate；It is preferred that, the present invention is illustrated by taking the coordinate of each pixel in image as an example, and position is obtained by acquisition module The coordinate position of each image slices vegetarian refreshments in coordinate system, by the way that the corresponding coordinate position of each pixel in coordinate system will be located at It is compared with the coordinate position that pre-sets, chooses the coordinate for each pixel for meeting default coordinate position threshold range Position, by the position of cornea described in the coordinate setting of satisfactory pixel.

Wherein, the coordinate position pre-set can for calculate alignment system pre-set can also according to be located at sit What the correlation in mark system between the coordinate of each image slices vegetarian refreshments was got.

Exemplary, for the parameter threshold scope according to setting, obtain parameter information described in described image and meet institute The pixel of threshold range is stated, in addition to：

According in coordinate system each pixel corresponding coordinate position the pixel of described image is classified, will The pixel that coordinate position meets certain constraints divides a class into, for example, meeting one positioned at some of coordinate system pixel Fixed Linear Constraints, meet Linear Constraints by this and the pixel near Linear Constraints offset divide one into Class, chooses and meets Linear Constraints and pixel near Linear Constraints offset corresponding coordinate in a coordinate system Position, by the position of cornea described in the coordinate setting of satisfactory pixel.

It should be noted that the Linear Constraints can also be according to each pixel in coordinate by systemic presupposition Dispersion rules in system are obtained.

Or centered on a certain optimal pixel in coordinate system and default a certain threshold value be offset draw circle Domain, divides the pixel fallen in the border circular areas into a class, chooses the coordinate position of the pixel in the border circular areas, By the position of cornea described in the coordinate setting of satisfactory pixel.

It should be noted that the optimal pixel can for the default pixel set can also according to each pixel The point pixel for best suiting requirement that corresponding position relationship is chosen in a coordinate system, for offset, the present invention is not restricted, In actual applications, user can be according to the demand of oneself by systemic presupposition, can also be according to each pixel in coordinate system In distribution choose.

It should be noted that the embodiment of the present invention is in actual application, Machinery Control System is according to master control system The control signal of transmission controls the robot assemblies 5 that the cornea package body is moved into described image identifying system 7 and described Between background assemblies 1, when the cornea package body is moved between described image identifying system 7 and the background assemblies 1, machinery Control system feeds back to the signal that the cornea package body is moved between described image identifying system 7 and the background assemblies 1 The master control system, at this point it is possible to control background assemblies 1 to provide bias light by the master control system, can also pass through The background assemblies 1 that manual mode makes provide bias light, and the embodiment of the present invention is not restricted to this.

It is preferred that, the embodiment of the present invention can provide the bias light of solid colour by background assemblies, so as to the background Light forms image through the cornea package body that the clamp assemblies 53 are clamped in the positioning screen 11.

In summary, during the whole operation of cornea automatic station-keeping system, by the Machinery Control System to each Individual operating process carries out Automated condtrol, reduces the manual intervention in cornea automatic station-keeping system, and cornea can be submitted to determine The accuracy of position.

Wherein, described Machinery Control System uses Embedded A rcus controllers, and the Arcus controllers have 8 numerals Input port and 8 digital output ports, input port are used to obtain to instruct from master control system to be moved to cornea package body Between background assemblies 1 and image identification system 7 and when described image identifying system 7 detects the center of the location window 532 When coordinate is mismatched with the default centre coordinate, that is, when there is deviation, by Arcus controllers according to the deviation to institute The center for stating location window 532 is adjusted.Output port is used for the instruction sent according to the master control system to described Master control system feeds back completion status.

Wherein, the master control system 14 can include one or more microprocessors 13, memory, user interface, net Network interface and communication bus.

Communication bus is used to control the communication in cornea automatic station-keeping system between each building block.User interface is used to insert External equipment is connect, such as touch-screen, mouse and keyboard, to receive the information of user's input.Network interface is used for the control Device is communicated with outside, and the network interface mainly includes line interface and wave point.

Memory can be used for storage software program and module, database, the cornea as described in the embodiment of the present invention from Corresponding programmed instruction/the module of motion positioning method and Machinery Control System control the robot assemblies to drive the cornea packaging Body moves or vertically moved corresponding programmed instruction/module or background assemblies offer bias light correspondence in the horizontal direction Programmed instruction/module or calculate the image that is obtained to described image identifying system of alignment system and analyze the program of calculating and refer to Order/module.Memory may include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic Storage device, flash memory or other non-volatile solid state memories.In some instances, memory can further comprise relatively In the remotely located memory of microprocessor, these remote memories can pass through network connection to the control device.It is above-mentioned The example of network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.

Microprocessor 13 is stored in software program instructions and module in memory by operation, so as to perform various work( It can apply and data processing, for example, processor is by calling the de- application program positioned of the cornea in memory, it is fast to realize Speed and accurately realize cornea position fixing process, by calling Machinery Control System in memory to control the robot assemblies to move Corresponding programmed instruction/module is moved, drives the cornea package body to move or vertically move in the horizontal direction to realize Process.

It is preferred that, microprocessor of the invention uses Arduino pro, and the output of the Arduino pro connects Arcus controls The digital input port of device, Arduino pro input connects master control system.

In summary, above-mentioned master control system can be automated in control process to the realization in each operating procedure Control, only inputs to the master control system 14 by the operation sequence set, is adjusted in actual applications by microprocessor 13 With the application program being stored in the master control system 14, it is possible to complete whole operation process.

Embodiment two

Referring to Fig. 8, the embodiment of the present invention provides a kind of preferred cornea automatic positioning method, the cornea automatic positioning method Based on provided in an embodiment of the present invention one preferred cornea automatic station-keeping system, methods described includes：

S201, the Machinery Control System control the robot assemblies to clamp the cornea equipped with cornea in initial position Package body；

S202, the Machinery Control System control the robot assemblies that the cornea package body is moved into image recognition Between system and background assemblies；

S203, the master control system control the background assemblies to provide bias light, and control described image identifying system Obtain the image that the cornea package body is formed in the presence of the bias light；

The image that S204, the master control system control calculating alignment system are obtained to described image identifying system enters Row analysis is calculated, and obtains the positional information of the cornea.

It is exemplary referring to Fig. 9, it can specifically include following steps for step S201：

S2011, the Machinery Control System receive the sign on of user's input；

Specifically, user can open the instruction of robot assemblies work, example in the operation interface input of Machinery Control System As start be arranged on Machinery Control System operation interface operation button to mechanical arm control system send open mechanical arm group The instruction of part work.Wherein, the operation interface of Machinery Control System refers to operation interface shown in Figure 10.Operation interface left side Points 1001 are used for the running state informations for showing that robot assemblies are overall, the initial positions of such as robot assemblies, current location, pre- If the distance between position, current location and initial position etc., interface right part 1002 is used for control machinery arm control system Running status, such as operation button 10021 be used for input open robot assemblies work sign on, navigation button 10022, For robot assemblies to be moved into predeterminated position by limit sensors, starting button 10023 is used to make in operation Robot assemblies are returned to original position, and emergency stop button 10024 is used to stopping robot assemblies and Machinery Control System Motion state, settings button 10025, the operational factor for being moved to predeterminated position for setting robot assemblies, return push-button 10026 operation interface for exiting mechanical arm control system.

It should be noted that Figure 10 is only a kind of exemplary operation interface schematic diagram for providing Machinery Control System, when So, it is also possible to there are other possible operation interfaces, the embodiment of the present invention is not especially limited to this.

S2012, the Machinery Control System transmit the sign on that the user inputs to the master control system；

The positioning that S2013, the Machinery Control System reception master control system are sent according to the sign on refers to Order；

S2014, the Machinery Control System control the robot assemblies to return back to initial bit according to the positioning instruction Put；

S2015, the Machinery Control System send the first signal to the master control system, and first signal is used to refer to Show that the robot assemblies return back to initial position；

S2016, the Machinery Control System receive the first control signal that the master control system is sent, and according to described First control signal clamps the cornea package body equipped with cornea in initial position.

Further, controller controls the cornea package body to be moved in the horizontal direction with vertical direction for convenience, water Flat moving assembly 52, vertical shift component 51 and clamp assemblies 53, the component 52 that moves horizontally can drive vertical shift component 51 and clamp assemblies 53 along parallel to it is described positioning shield 11 surfaces horizontal direction move back and forth, the vertical shift component 51 can Clamp assemblies 53 are driven to be moved back and forth along the vertical direction for shielding 11 surfaces parallel to the positioning；The component 52 that moves horizontally is wrapped Include the first actuator, horizontal guide rail, the horizontal screw lead being arranged in the horizontal guide rail and with the horizontal screw lead coordinate First nut, first nut is slidably connected with the horizontal guide rail, and first actuator can drive the horizontal screw lead Rotate, the vertical shift component is fixedly connected with first nut；The vertical shift component 51 include the second actuator, Upright guide rail, the vertical leading screw being arranged in the upright guide rail and the second nut coordinated with the vertical leading screw, it is described Second nut is slidably connected with the upright guide rail, and second actuator can drive the vertical leading screw to rotate；

The initial position includes first initial value and first spiral shell of second nut in the upright guide rail The coordinate that mother 522 is constituted in the second initial value of the horizontal guide rail；

Exemplary, step S2014 can specifically be realized by following steps：

S20141, the Machinery Control System detect first nut in the currency of the horizontal guide rail and described Currency of second nut in the upright guide rail；

If S20142, second nut are the first initial values in the currency of the upright guide rail, first nut It is not the second initial value in the currency of the horizontal guide rail, then the Machinery Control System controls first actuator to open Open, drive the vertical shift component and the clamp assemblies to move to second initial value along the horizontal guide rail；

If S20143, second nut are not the first initial values in the currency of the upright guide rail, first spiral shell Female currency in the horizontal guide rail is the second initial value, then the Machinery Control System controls second nut to drive institute State clamp assemblies and be moved to first initial value along the upright guide rail；

If S20144, second nut are not the first initial values in the currency of the upright guide rail, first spiral shell Female currency in the horizontal guide rail is not the second initial value, and the Machinery Control System controls first nut to drive institute State clamp assemblies movement and move to second initial value along the horizontal guide rail, and control first nut to drive the clamping Component is moved to first initial value along the upright guide rail.

Wherein, first initial value is preset by master control system or existed by master control system according to second nut The currency of the upright guide rail and first nut are at the beginning of the currency of horizontal guide rail is with first initial value and second Position acquisition between initial value.

Machinery Control System control machinery arm component clamps cornea package body for convenience, exemplary, the machinery control System processed controls the robot assemblies to clamp the cornea package body equipped with cornea in initial position, including：

Wherein, the preset duration by systemic presupposition or by master control system according to first hold assembly with it is described Distance to first hold assembly and second hold assembly when second hold assembly is in open mode will be equipped with angle The time that the cornea package body of film is clamped determines that second moment is by systemic presupposition or by master control system according to the bullet Property part the time that first hold assembly and second hold assembly are in open mode is determined, the clamp assemblies During in open mode, the distance between the first hold assembly and the second hold assembly should be more than or equal to the cornea package body Thickness, i.e., described second moment is by the distance between first hold assembly and described second hold assembly and described resets Part causes the rate calculations that first hold assembly is in open mode with second hold assembly to obtain.

Exemplary, the Machinery Control System controls the robot assemblies that the cornea package body is moved into image Between identifying system and background assemblies, including：

It is the operation interface schematic diagram of Machinery Control System of the embodiment of the present invention, left side behaviour as shown in figure 11 referring to Figure 11 Making interface 1101 is used to show positional information of the robot assemblies 5 in Y-axis (upright guide rail), X-axis (horizontal guide rail), example Such as, the first initial position, the second initial position and the first distance, second distance, east side operation interface 1102 are used for control machinery The parameter of arm component 5, for example, navigation button 11021A, for the second nut to be driven into the clamping group by limit sensors Part 53 is from first initial value along the distance of upright guide rail slide downward first, and navigation button 11021B is limited for passing through First nut is driven the vertical shift component 52 and the clamp assemblies 53 along the horizontal guide rail from second by level sensor Initial position moves second distance to first direction, and starting button 110022 is used to make robot assemblies in operation 5 times Again to the first initial position and the second initial position, stop button 110023A is used for when clamp assemblies 53 are moved along upright guide rail Make the stop motion on vertical rail of the second nut after to the first distance, stop button 11023B is used for when clamp assemblies 53 are in water Plate rail road, which is moved to after second distance, makes the stop motion on horizontal slide rail of the first nut, settings button 11024, for setting machine The parameter in vertical rail and horizontal rail predeterminated position of tool arm component, return push-button 11025 is used to exit mechanical arm control The operation interface of system.

It should be noted that Figure 11 is only a kind of exemplary operation interface schematic diagram for providing Machinery Control System, when So, it is also possible to there are other possible operation interfaces, the embodiment of the present invention is not especially limited to this.

Wherein, first distance by master control system according to the second nut vertical rail the first initial position with figure Difference in height is preset as residing for identifying system 7 and the background assemblies 1, and second distance is by master control system according to the first nut in water The second initial position on plate rail road is preset with the alternate position spike of image identification system 7 and the background assemblies 1 in the horizontal direction.

In order that obtaining, locating effect is more accurate, and in Machinery Control System control, the general of robot assemblies 5 is described After cornea package body is moved between image identification system 7 and background assemblies 1, the master control system control is described to calculate positioning The image that system is obtained to described image identifying system 7 carries out analysis calculating, described before the positional information for obtaining the cornea Method also includes：

It is exemplary referring to Figure 12, the master control system control described image identifying system and the Mechanical course System makes the center of the location window of the clamp assemblies be located on the vertical center line of the positioning screen, including：

S2021, in the Machinery Control System control the robot assemblies that the cornea package body is moved into image After between identifying system and background assemblies, the Machinery Control System sends secondary signal to the master control system, to refer to Show that the cornea package body is moved between image identification system and background assemblies；

S2022, the master control system send the second control according to the secondary signal to described image identifying system to be believed Number；

S2023, described image identifying system detect that the center of the location window is sat according to second control signal Mark；

S2024, described image identifying system carry out the center position coordinates of the location window and default centre coordinate Matching；

If S2025, the center position coordinates of the location window are mismatched with default centre coordinate, described image identification System sends the deviation information between the center position coordinates of the location window and default centre coordinate to the main control System；

S2026, the master control system send the deviation information to the Machinery Control System；

S2027, the Machinery Control System are adjusted according to the deviation information to the center of the location window.

It should be noted that cornea package body is moved into image identification system and 7 background assemblies 1 in robot assemblies 5 Between when, because the factor of each side can cause the center of location window and default centre coordinate to have differences, for example, can To be that system sets difference caused by deviation, therefore master control system will check the location window after secondary signal is got 532 center position coordinates whether there is difference with default centre coordinate, when a discrepancy exists, pass through Machinery Control System root The center for adjusting location window 532 according to deviation information makes it consistent with predeterminated position, so facilitates in follow-up position fixing process The center of middle camera can be just right with the center of location window, so as to improve the accuracy of whole alignment system.

Exemplary referring to Figure 13, the embodiment of the present invention also includes：

If the image that S301, the calculating alignment system are obtained to described image identifying system carries out analysis calculating, it is determined that The relevant information of cornea is not present in described image, then sends the 3rd signal to the master control system；

S302, the master control system send the 3rd control according to the 3rd signal to the Machinery Control System to be believed Number；

S303, the Machinery Control System control the robot assemblies to return back to initially according to the 3rd control signal Position.

It should be noted that in actual mechanical process, due to not limiting the cornea for needing to position, therefore being determined During position, the information that cornea is not present in the image of bias light formation is likely to appear in, at this moment, in order to improve the accuracy of positioning And high efficiency, the information that cornea is not got can be sent to by control system by master control system, control machinery control system Unite and robot assemblies are returned back into the positioning that initial position carries out next cornea.

Cornea automatic positioning method provided in an embodiment of the present invention, when needing the cornea in cornea package body to position, machine Tool control system clamps the cornea package body equipped with cornea in the first control machinery arm component of initial position, then Mechanical course system Cornea package body is moved between image identification system and background assemblies by system control machinery arm component, then master control system control The bias light that background assemblies processed are provided, and control image identification system to obtain the cornea that background assemblies pass through robot assemblies clamping The image of the bias light formation of package body；Finally, the master control system control calculating alignment system is recognized to described image is The image that system is obtained carries out analysis calculating, obtains the positional information of the cornea.Cornea provided in an embodiment of the present invention is automatically fixed Position method can not only improve the hole accuracy of cornea positioning, and reduce workman's amount of labour.

The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.

Claims

1. a kind of cornea automatic station-keeping system, it is characterised in that including robot assemblies, image identification system, with described image The background assemblies that identifying system is oppositely arranged, the calculating alignment system being connected with described image identifying system, master control system with And the Machinery Control System being connected with the master control system；

The Machinery Control System is electrically connected with the robot assemblies, for controlling the robot assemblies to will be equipped with cornea Cornea package body is moved between described image identifying system and the background assemblies；

The master control system is electrically connected with described image identifying system and calculating alignment system respectively, for controlling the figure As identifying system, when the cornea package body is moved to described image identifying system and the background assemblies by the robot assemblies Between when, obtain the image that the cornea package body is formed in the presence of bias light；And, for controlling described calculate to position The image that system is obtained to described image identifying system carries out analysis calculating, obtains the positional information of the cornea.

2. cornea automatic station-keeping system according to claim 1, it is characterised in that the background assemblies include positioning screen and Light source, the robot assemblies include moving horizontally component, vertical shift component and clamp assemblies, and the component that moves horizontally can Vertical shift component and clamp assemblies are driven to be moved back and forth along the horizontal direction parallel to the positioning screen surfaces, the vertical shifting Dynamic component can drive clamp assemblies to be moved back and forth along the vertical direction parallel to the positioning screen surfaces.

3. cornea automatic station-keeping system according to claim 2, it is characterised in that the component that moves horizontally includes first Actuator, horizontal guide rail, the horizontal screw lead being arranged in the horizontal guide rail and the first spiral shell coordinated with the horizontal screw lead Mother, first nut is slidably connected with the horizontal guide rail, and first actuator can drive the horizontal screw lead to rotate, institute Vertical shift component is stated to be fixedly connected with first nut；

The vertical shift component include the second actuator, upright guide rail, be arranged in the upright guide rail vertical leading screw, with And the second nut coordinated with the vertical leading screw, second nut is slidably connected with the upright guide rail, second drive Moving part can drive the vertical leading screw to rotate.

4. cornea automatic station-keeping system according to claim 3, it is characterised in that the clamp assemblies are included：

Wherein, the centre of first hold assembly and the second hold assembly is respectively arranged with location window；First folder Hold part to be fixed in the support member, first hold assembly and second hold assembly are oppositely arranged, and described Connected between first hold assembly and second hold assembly by reset components, the driving part includes motor, described The output shaft of motor is connected with swing arm, and the one end of the swing arm away from the motor output shaft is supported with second hold assembly Lean on, when the output shaft of the motor drives the swing arm to be swung to the direction close to second hold assembly, the swing arm Second hold assembly can be promoted to be rotated to the direction of first hold assembly, until first hold assembly and second Hold assembly fits, and when the output shaft of the motor stops driving the swing arm to swing, second hold assembly is in institute State in the presence of reset components and to be rotated to the direction away from first hold assembly.

5. cornea automatic station-keeping system according to claim 4, it is characterised in that also including sample stage, the sample stage It is arranged on the lower section of the clamp assemblies initial position, the sample stage and is provided with stopper slot, the stopper slot is located at described When first hold assembly is in clamped condition with second hold assembly, first hold assembly and second clamping part The underface of crack between part；

6. a kind of cornea automatic positioning method, applied to the cornea automatic station-keeping system described in claim 1, methods described bag Include：

The Machinery Control System controls the robot assemblies to clamp the cornea package body equipped with cornea in initial position；

The Machinery Control System controls the robot assemblies that the cornea package body is moved into image identification system and the back of the body Between scape component；

The master control system controls the background assemblies to provide bias light, and controls described image identifying system to obtain the angle The image that film package body is formed in the presence of the bias light；

The master control system control is described to calculate the image progress analysis meter that alignment system is obtained to described image identifying system Calculate, obtain the positional information of the cornea.

7. cornea automatic positioning method according to claim 6, it is characterised in that the Machinery Control System control is described Robot assemblies clamp the cornea package body equipped with cornea in initial position, including：

The Machinery Control System receives the sign on of user's input；

The Machinery Control System sends the first signal to the master control system, and first signal is used to indicate the machinery Arm component returns back to initial position；

The Machinery Control System receives the first control signal that the master control system is sent, and is believed according to the described first control Number clamp the cornea package body equipped with cornea in initial position.

8. cornea automatic positioning method according to claim 7, it is characterised in that the robot assemblies are moved including level Dynamic component, vertical shift component and clamp assemblies；The component that moves horizontally includes the first actuator, horizontal guide rail, is arranged at Horizontal screw lead in the horizontal guide rail and the first nut coordinated with the horizontal screw lead, first nut with it is described Horizontal guide rail is slidably connected, and first actuator can drive the horizontal screw lead to rotate, the vertical shift component with it is described First nut is fixedly connected；The vertical shift component includes the second actuator, upright guide rail, is arranged in the upright guide rail Vertical leading screw and the second nut for coordinating with the vertical leading screw, second nut is slided with the upright guide rail to be connected Connect, second actuator can drive the vertical leading screw to rotate；

The Machinery Control System controls the robot assemblies to return back to initial position according to the positioning instruction, including：

The Machinery Control System detects that first nut exists in the currency and second nut of the horizontal guide rail The currency of the upright guide rail；

If second nut is the first initial value in the currency of the upright guide rail, first nut is led in the level The currency of rail is not the second initial value, then the Machinery Control System controls first actuator to open, and is driven described perpendicular Straight moving assembly and the clamp assemblies move to second initial value along the horizontal guide rail；

If second nut is not the first initial value in the currency of the upright guide rail, first nut is in the level The currency of guide rail is the second initial value, then the Machinery Control System controls second nut to drive the clamp assemblies edge The upright guide rail is moved to first initial value；

If second nut is not the first initial value in the currency of the upright guide rail, first nut is in the level The currency of guide rail is not the second initial value, and the Machinery Control System controls first nut to drive the clamp assemblies to move It is dynamic to move to second initial value along the horizontal guide rail, and control first nut to drive the clamp assemblies to be erected along described Straight guide is moved to first initial value.

9. cornea automatic positioning method according to claim 6, it is characterised in that the clamp assemblies are included：

Wherein, the centre of first hold assembly and the second hold assembly is respectively arranged with location window；First folder Hold part to be fixed in the support member, first hold assembly and second hold assembly are oppositely arranged, and described Connected between first hold assembly and second hold assembly by reset components, the driving part includes motor, described The output shaft of motor is connected with swing arm, and the one end of the swing arm away from the motor output shaft is supported with second hold assembly Lean on, when the output shaft of the motor drives the swing arm to be swung to the direction close to second hold assembly, the swing arm Second hold assembly can be promoted to be rotated to the direction of first hold assembly, until first hold assembly and second Hold assembly fits, and when the output shaft of the motor stops driving the swing arm to swing, second hold assembly is in institute State in the presence of reset components and to be rotated to the direction away from first hold assembly；

The Machinery Control System controls the robot assemblies to clamp the cornea package body equipped with cornea in initial position, wraps Include：

The Machinery Control System controls the motor to close, and second hold assembly and first hold assembly are described Open mode is presented in the presence of reset components；

The cornea package body equipped with cornea is positioned between first hold assembly and second hold assembly simultaneously Keep；

The Machinery Control System passes through preset duration, and the motor is opened at the second moment, and the output shaft of the motor drives The swing arm is swung to the direction close to second hold assembly, and the swing arm promotes second hold assembly to described the The direction of one hold assembly is rotated, until first hold assembly and the second hold assembly fit, second moment by The distance between first hold assembly and second hold assembly cause first clamping part with the reset components The rate calculations that part is in open mode with second hold assembly are obtained.

10. cornea automatic positioning method according to claim 8, it is characterised in that the Machinery Control System controls institute State robot assemblies the cornea package body is moved between image identification system and background assemblies, including：

The Machinery Control System controls second actuator to open, and drives the clamp assemblies from the first initial value edge The distance of upright guide rail slide downward first；

In the upright guide rail slide downward first after, the Machinery Control System controls second actuator to close, So that the cornea package body is in identical height with described image identifying system and the background assemblies；

The Machinery Control System controls first actuator to open, and drives the vertical shift component and the clamp assemblies Second distance is moved along the horizontal guide rail from the second initial position to first direction, wherein, the first direction is the water Direction of the level gauge towards position between described image identifying system and background assemblies；

After first nut moves second distance along the horizontal guide rail to first direction, the Machinery Control System control First actuator is closed so that the cornea package body is located between described image identifying system and the background assemblies.

11. cornea automatic positioning method according to claim 6, it is characterised in that

The Machinery Control System control the robot assemblies by the cornea package body be moved to image identification system and After between background assemblies, the master control system control is described to calculate the image that alignment system is obtained to described image identifying system Analysis calculating is carried out, before the positional information for obtaining the cornea, methods described also includes：

The master control system control described image identifying system and the Machinery Control System make determining for the clamp assemblies The center of position window is located on the vertical center line of the positioning screen.

12. cornea automatic positioning method according to claim 11, it is characterised in that the master control system control is described Image identification system and the Machinery Control System make the center of the location window of the clamp assemblies be located at the positioning On the vertical center line of screen, including：

The Machinery Control System control the robot assemblies by the cornea package body be moved to image identification system and After between background assemblies, the Machinery Control System sends secondary signal to the master control system, to indicate the cornea Package body is moved between image identification system and background assemblies；

If the center position coordinates of the location window are mismatched with default centre coordinate, described image identifying system will be described Deviation information between the center position coordinates of location window and default centre coordinate is sent to the master control system；

13. cornea automatic positioning method according to claim 6, it is characterised in that methods described also includes：

If described calculate the image progress analysis calculating that alignment system is obtained to described image identifying system, determine in described image In the absence of the relevant information of cornea, then the 3rd signal is sent to the master control system；