• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention describes a mobile device (1) for generating 3D images by means of a flat laser beam, comprising: a drone (2) configured to move immersed in a fluid medium along a direction of movement (DD); a flat laser beam emitter (3) attached to the drone (2), where the flat laser beam (3) is contained in a plane perpendicular to the direction of travel (DD); and a camera (4) provided with a target (5) oriented towards the flat laser beam (3) according to the direction of movement (DD), where the camera (4) is configured to acquire images of the fluorescence light, auto- fluorescence and/or scattered emitted. Thus, when the drone (2) moves along the direction of movement (DD), the sequential acquisition of images from the camera (4) through the lens (5) allows to build a 3D image of a portion of the fluid medium. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2749734A1
    申请号:ES201830913
    申请日:2018-09-21
    公开日:2020-03-23
    发明作者:Lorenzo Jorge Ripoll
    申请人:Universidad Carlos III de Madrid；
    IPC主号:
    专利说明:

    [0001]
    [0002] Mobile 3D imaging device using a flat laser beam
    [0003]
    [0004] OBJECT OF THE INVENTION
    [0005]
    [0006] The object of the present invention is a mobile device based on the operation of a flat laser beam microscope capable of generating 3D images of the medium through which it moves.
    [0007]
    [0008] BACKGROUND OF THE INVENTION
    [0009]
    [0010] A flat laser beam microscope is primarily made up of a camera attached to a high numerical aperture objective and arranged in a direction called "detection direction", and an illumination means capable of emitting a thin sheet of light in a direction called " lighting direction ” which is perpendicular to the detection direction, following the original Siedentopf and Zsigmondy configuration coupled to a detection camera. With this configuration, the camera can obtain a 2D fluorescence image of the part of the sample illuminated by the illumination sheet or plane. If the sample is also moved in the direction of the detection axis and several 2D images are taken in different positions, a set or stack of 2D images is generated where each of the 2D images corresponds to a position of the illumination plane with respect to the sample. This stack of 2D images contains information on the z position (depth of the sample according to the detection direction) obtained when moving the sample, and the x and y positions present in each 2D image. The 2D image stack can then be fused to generate a 3D image of the sample, as described in US 7,554,725 to Stelzer et al. Subsequently, it was proposed to rotate the sample around its own axis, normally vertical, to capture several stacks of 2D images (commonly called "angular measurements") and merge them later, allowing anisotropy and image quality to be improved (S Preibisch et al, Nature Methods 7 (2010)).
    [0011]
    [0012] Since 2015, the inventors of the present application have filed several patent applications directed to various improvements in this type of microscope. These patent applications are as follows:
    [0013] PCT / ES2015 / 070455, entitled “Microscope and procedure for generating 3D images from a collection of samples” that describes a new microscope that combines the SPIM (Selective Plane Illumination Microscope) type flat laser beam technique with the Optical Projection Tomography (OPT).
    [0014]
    [0015] PCT / ES2016 / 070714, entitled "Multiple Loading Device for Flat Laser Beam Microscope" which describes a multiple loading device for feeding a continuous and sequential flow of samples to a flat laser beam microscope.
    [0016]
    [0017] PCT / ES2017 / 070028, entitled “Automatic Target Shifting Device for Flat Laser Beam Microscope ”, which describes a device that automatically changes the image acquisition target of a flat laser beam microscope based on magnification desired at any time.
    [0018]
    [0019] PCT / ES2017 / 070028, entitled "Rotary objective change device for a flat laser beam microscope ", which describes a device where the change of objective is made through rotations of the cuvette itself.
    [0020]
    [0021] PCT / ES2017 / 070184, entitled “ Microscope Sample Holding Device ”, which describes a device for mounting samples and measuring them on a flatbed laser beam kit.
    [0022]
    [0023] For a clearer understanding of this technique, Figs. 1a and 1b showing a first example of a flat laser beam microscope (100). Sample (107) is arranged on a support (101) inside a cuvette (102) filled with a liquid. A Gaussian, Bessel, Airy or similar linear illumination beam (103) hits a cylindrical lens (104) that focuses it thanks to an illumination objective (105) to generate the vertical flat illumination sheet (106). This sheet (106) of vertical flat illumination falls on the sample (107) according to the direction of illumination (DI), and the fluorescent light (108) emitted by that particular plane of the sample (107) is collected by a target (109 ) detection oriented according to the detection direction (DD), which is perpendicular to the illumination direction (DI). The support (101) can rotate around its vertical axis to allow the taking of various angular measurements according to the technique proposed by Preibisch.
    [0024]
    [0025] Currently, when you want to monitor air pollution or the amount of Microplastics at sea using a flat laser beam microscope, it is necessary to carry out a relatively long and tedious process. First, samples are taken from the medium in question, then they are transported to a laboratory, placed in the cuvette of a flat laser beam microscope, and finally the microscope is operated to obtain a 3D image of all the elements contained in the sample housed in the cuvette.
    [0026]
    [0027] While this procedure may be fast enough for certain applications, it would be highly desirable to have a faster way to perform the analysis.
    [0028]
    [0029] DESCRIPTION OF THE INVENTION
    [0030]
    [0031] The present invention solves the above problem by combining a flat laser beam microscope with a drone.
    [0032]
    [0033] Indeed, drones are well known and are currently used for a large number of both military and civilian tasks. Drones essentially comprise a propulsion means mounted on a chassis designed to travel through a fluid medium, such as air or water. Drones designed to fly through the air often have a propulsion means comprising one or more propellers, while drones designed to move through water, such as at sea or in a river, may have means of jet propulsion.
    [0034]
    [0035] The device of the present invention is basically made up of a drone that carries some of the main elements of a flat laser beam microscope. Specifically, the drone has a flat laser beam emitter contained in a plane perpendicular to the direction of movement, so that the movement of the drone itself causes the advance of the flat laser beam through the medium in which it moves. The drone also has a camera equipped with a target oriented towards the flat laser beam in the direction of travel. Thus, the target captures at least one of the fluorescence light, auto-fluorescence light, and / or scattered light emitted by the illuminated fluid media sheet as the drone advances, thus allowing the formation of a 3D image of the medium in a manner similar to 3D imaging from a conventional flatbed laser beam microscope.
    [0036]
    [0037] This novel device allows the state of any fluid medium through which a drone can move to be monitored extremely quickly. susceptible to analysis using the flat laser beam technique. The device of the invention would therefore be useful for the analysis of the amount of particles in suspension in the water, such as microplastics, to determine the amount and size of polluting particles suspended in the air, or even to classify the particles or microplastics depending on its type or size.
    [0038]
    [0039] The present invention is directed to a 3D laser imaging mobile phone that basically comprises the following elements: a drone, a flat laser beam emitter, and a camera. Each of these elements is described in more detail below.
    [0040]
    [0041] a) Drone
    [0042]
    [0043] The drone is configured to travel immersed in a fluid medium along a direction of travel. That is, in the context of the present invention, the term "drone" is not limited to the type of unmanned aircraft conventionally known as a drone, but includes any mobile device capable of moving through a fluid medium such as water, air, or other types of liquid or gaseous media.
    [0044]
    [0045] In a preferred embodiment, the fluid medium through which the drone travels is air. Note that this includes drones capable of moving supported on a solid surface, so that it not only includes flying drones themselves, but also covers any vehicle capable of moving on wheels, skates, tracks, or any other support element on a solid surface. . In any case, the drone preferably moves by flying without touching the ground
    [0046]
    [0047] In another preferred embodiment, the fluid medium through which the drone travels is water. As in the previous case, note that this includes both drones that float on the surface of the water or other liquid, such as ships or boats, and fully underwater drones. In any case, the drone preferably moves completely submerged in the water
    [0048]
    [0049] In another particularly preferred embodiment of the invention, the drone is unmanned. That is, it is an autonomous vehicle that is operated by remote control, or depending on a certain program stored in a means of storage of the drone itself.
    [0050]
    [0051] b) Flat laser beam emitter
    [0052]
    [0053] It is a flat laser beam emitter that is attached to the drone, where the flat laser beam is contained in a plane perpendicular to the direction of travel. It is generally a conventional flat laser beam emitter of the type used in conventional flat laser beam microscopes.
    [0054]
    [0055] In principle, the flat laser beam emitter could be attached to the drone at any location as long as the flat laser beam emitted by it was perpendicular to the direction of travel. However, in order to avoid as far as possible the appearance of turbulence caused by the drone's own movement in the analyzed fluid portion, preferably the flat laser beam emitter is located in a front portion of said drone.
    [0056]
    [0057] Furthermore, the flat laser beam emitter can be fixed on the upper or lower portion of the drone depending on the needs of each application. For example, in the case of a floating water drone for water analysis, the flat laser beam emitter would be attached to the lower portion of the drone so that it would be submerged underwater.
    [0058]
    [0059] c) Camera
    [0060]
    [0061] It is a camera equipped with a target oriented towards the flat laser beam according to the direction of movement, where the camera is configured to periodically acquire at least one of the fluorescence light, the autofluorescence light and / or the light scattered emitted by the sheet of fluid medium illuminated by the flat laser beam that is within its field of view. In principle, the objective can be of a similar type to that used in conventional flatbed laser beam microscopes. Similarly, the camera may simply be a CMOS camera, although without limitation.
    [0062]
    [0063] Thanks to this configuration, when the drone moves along the direction of movement, the sequential acquisition of images from the camera through the lens allows to build a 3D image of a portion of the fluid medium. Indeed, due to the movement of the drone each individual image captured will correspond to a different position within the fluid in question.
    [0064]
    [0065] In this context, the capture of the fluorescence light allows obtaining information about the biological matter present in the portion of fluid illuminated by the flat laser beam. For its part, the detection of scattered light allows information to be obtained about non-biological matter present in the portion of fluid illuminated by the flat laser beam, for example microplastics. Specifically, it is known that the greater the difference between the particle's refractive index and the medium's refractive index, the more intense is the captured light signal. Thirdly, the capture of the auto-fluorescence light is useful to distinguish different types of tissues, materials or species, since depending on their chemical composition the spectrum of auto-fluorescence varies.
    [0066]
    [0067] In this way, by means of a suitable selection of the type of measurement used, it is possible to classify the particles present in the portion of fluid illuminated by the flat laser beam. Alternatively, it would be possible to combine two types of measurement or a single type at several different wavelengths. For example, it is possible to measure fluorescence and scatter at the same time, or to measure two different fluorescence wavelengths. It is also possible to use two lasers of different wavelengths that alternately turn on and off. Fluorescence and scattering measurement could also be performed by dividing the optical path from the flat laser beam in two and using two different cameras. These options relating to the configuration of a plane laser beam microscope for fluorescence, auto-fluorescence, and refractive imaging are generally known in the art, and are therefore not described in detail herein.
    [0068]
    [0069] In a preferred embodiment of the invention, the flat laser beam emitter is configured to emit the flat laser beam continuously. In this way, the acquisition of images by the camera can be carried out at any chosen frequency without the need to act on the flat laser beam emitter itself. Alternatively, the flat laser beam emitter may be configured to emit the flat laser beam intermittently in synchronization with the image acquisition moments of the camera.
    [0070]
    [0071] In any case, by properly selecting the speed of the drone and the frequency of image acquisition, it is possible to obtain a stack of 2D images of the fluid, which are subsequently combined to obtain a 3D image. It is normally obtained, for Therefore, a cylindrical sample of the fluid in question along the path of the drone. This makes it possible not only to know the amount of pollutants within the sample but, as a function of the path traveled by the drone, also the way in which this amount of pollutants varies along a determined route.
    [0072]
    [0073] BRIEF DESCRIPTION OF THE FIGURES
    [0074]
    [0075] Figs. 1a and 1b show views of a conventional flat laser beam microscope according to the prior art.
    [0076]
    [0077] Fig. 2 shows a perspective image of a flying device according to the present invention.
    [0078]
    [0079] Fig. 3 schematically shows how the plurality of 2D images are acquired for the formation of the final 3D image.
    [0080]
    [0081] PREFERRED EMBODIMENT OF THE INVENTION
    [0082]
    [0083] Fig. 2 shows a simplified perspective image of an example of device (1) according to the present invention. The device (1) is basically made up of a drone (2) in whose upper portion a flat laser beam emitter (not shown) (3) and a camera (4) equipped with a target (5) have been fixed.
    [0084]
    [0085] The drone (2) is in this example a conventional unmanned flying drone equipped with four propellers and a chassis that supports the propellers, as well as the other components such as a means of control, means of communication, means of GPS positioning , or other means that a drone of this type usually includes.
    [0086]
    [0087] The flat laser beam emitter (3) and the camera (4) equipped with the objective (5) are fixed to the upper surface of the drone so that they are aligned along the direction of travel (DD) of the drone (2) . More specifically, the flat laser beam emitter (3) is oriented so that the flat laser beam (3) is perpendicular to the direction of travel (DD) of the drone (2), while the camera (4) equipped with the objective (5) is oriented in said direction of travel (DD). In this example, the flat laser beam emitter (3) emits the flat laser beam (3) continuously, so there is no need to worry about the timing between the emission of the flat laser beam (3) and the acquisition of images by the camera (4).
    [0088]
    [0089] Thus, as shown schematically in Fig. 3, suitably controlling the image acquisition frequency by the camera (4), a stack of images corresponding to positions separated by a determined distance z is obtained. Indeed, taking as the coordinate system the one shown in Fig. 2, where the z axis coincides with the direction of movement (DD) of the drone (2), it is determined that the distance between each pair of acquired images is:
    [0090] z = v / fps
    [0091] where:
    [0092] v is the speed of the drone (2),
    [0093] fps is the frequency of acquisition of images from the camera ( “frames per second ')
    [0094]
    [0095] Fig. 3 thus shows the objective (5) which, attached to the drone (2), moves at speed v. At three determined moments corresponding to the positions z 1 , z 2 , and z 3 , the camera (4) acquires through the objective (5) three images of the fluorescence emission of the portion of fluid medium through which the set illuminated by the flat laser beam (3). In this example, the tone of the images represents the amount of suspended contaminating particles, so that the first image taken at z = z 1 corresponds to a point in the fluid medium where the contamination is high, the second image taken at z = z 2 corresponds to a point in the fluid medium where contamination is less, and finally the third image taken at z = z 3 corresponds to a point in the fluid medium where contamination is minimal. By properly selecting the speed of the drone (2), it is possible to choose the distance between each pair of images so that they can combine to form a 3D image of the portion of the medium that has crossed the target (5) attached to the drone (2) .
    权利要求:
    Claims (9)
    [1]
    1. Mobile device (1) for generating 3D images using a flat laser beam, characterized by comprising:
    - a drone (2) configured to move immersed in a fluid medium along a direction of travel (DD);
    - a flat laser beam emitter (3) attached to the drone (2), where the flat laser beam (3) is contained in a plane perpendicular to the direction of travel (DD);
    - a camera (4) provided with a target (5) oriented towards the flat laser beam (3) according to the direction of movement (DD), where the camera (4) is configured to periodically acquire images of at least one of between the fluorescence light, the autofluorescence light and / or the scattered light emitted by the portion of fluid medium illuminated by the flat laser beam (3) that is within the field of view of said camera (4),
    so that when the drone (2) moves along the direction of movement (DD), the sequential acquisition of images from the camera (4) through the lens (5) allows to build a 3D image of a portion of the fluid medium.
    [2]
    2. Device (1) according to claim 1, wherein the flat laser beam emitter (3) is attached to a front portion of the drone (2).
    [3]
    3. Device (1) according to any of the preceding claims, wherein the flat laser beam emitter (3) is configured to emit the flat laser beam (3) continuously.
    [4]
    Device (1) according to any of claims 1-2, wherein the flat laser beam emitter (3) is configured to emit the flat laser beam (3) intermittently in synchronization with the image acquisition moments from the camera (4).
    [5]
    5. Device (1) according to any of the preceding claims, wherein the fluid medium through which the drone (2) moves is air.
    [6]
    6. Device (1) according to claim 5, wherein the drone (2) flies without touching the ground.
    [7]
    7. Device (1) according to any of claims 1-4, wherein the medium fluid through which the drone (2) moves is water.
    [8]
    8. Device (1) according to claim 7, where the drone (2) moves completely submerged in water.
    [9]
    9. Device (1) according to any of the preceding claims, wherein the drone (2) is unmanned.
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    法律状态:
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    优先权:
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    ES201830913A|ES2749734B2|2018-09-21|2018-09-21|Flat laser beam 3D imaging mobile device|ES201830913A| ES2749734B2|2018-09-21|2018-09-21|Flat laser beam 3D imaging mobile device|
    PCT/ES2019/070630| WO2020058557A1|2018-09-21|2019-09-20|Mobile device for 3d image generation by means of a planar laser beam|
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