CN107224296A - PET beds control system and its control method - Google Patents
PET beds control system and its control method Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
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- A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
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- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0487—Motor-assisted positioning
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Abstract
The present invention is applied to medical instruments field there is provided a kind of PET beds control system and its control method, and system includes PET beds control end, service end and bed driver；Configuration register and status register are provided with bed driver；PET beds control end receives the configuration data for the bed that user is set, and configuration data is sent into service end, and service end periodically carries out write operation to configuration register, carries out read operation to status register；Bed driver controls bed according to the configuration data of configuration register；The status information read from status register is periodically sent to PET bed control ends by service end.Service end rather than direct communication are set between PET beds control end and bed driver, when PET and the CT of outside different communication mode are integrated, only need adaptability that CT beds control adaptation end is set between CT beds control end and service end, you can to realize the CT beds control end of different communication mode merging access with PET bed control ends.
Description
Technical field
The invention belongs to medical instruments field, more particularly to a kind of PET beds control system and method.
Background technology
Current computer aided medicine imaging technique is widely used in medical diagnosis.In clinical scanning, doctor is frequent
The different scanning position according to different patients is needed, sick bed is moved to a position of custom, to facilitate corresponding clinical behaviour
Make.It can be pressed in the prior art by the button in frame, the control box button on console or the monitor on console
Button controls the position of sick bed.
Imaging of medical includes CT and MRI etc., only includes the monitoring control device of a bed, such as entitled " doctor
Learn the method for adjustment (Authorization Notice No. of imaging system scanning position parameter：CN100457042C) " Chinese patent and entitled
In technical scheme disclosed in " medical image system bed control method and device (application publication number CN103908285A) ", purpose
It is on the basis of the monitoring control device of a bed, to realize more precisely simple control.
PET full name are positron e mission computed tomography, can be by PET (function generations in modern medicine imaging technique
Thank to imaging) and the new image documentation equipment that is organically combined together of two kinds of advanced image technologies of CT (anatomical structure imaging),
It is by micro positron radionuclide tracer injection into the human body, this is then detected using special external survey meter (PET)
The distribution situation of each internal organs of a little positron radionuclide human bodies, the major organs of human body are shown by the method for computerized tomograph
Physiological metabolism, while being that these Nuclear analysis situations are accurately positioned using CT technologies, makes this machine while having
PET and CT advantage, has given play to respective sharpest edges.When specifically used, to realize that PET ends and CT ends can be to same beds
Motion control is carried out, but prior art lacks the solution that the monitoring control end of two beds controls same bed to move.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of PET beds control system and method, can at least overcome existing skill
The segmental defect of art.
The present embodiments relate to a kind of PET beds control system, including：PET beds control end, service end and bed
Bit driver；
Configuration register and status register are provided with the bed driver；
The PET beds control end receives the configuration data for the bed that user is set, and the configuration data is sent into institute
Service end is stated, the service end periodically carries out write operation to the configuration register, the status register is read
Operation；
The bed driver controls bed according to the configuration data of the configuration register；
The status information of the bed read from the status register is periodically sent to the PET by the service end
Bed control end.
Further, a kind of PET beds control system being related to as embodiment, the PET beds control end with it is described
Service end is communicated by TCP/IP modes, and the service end passes through Profinet or MODBUSTCP with the bed drive side
Mode communicates.
Further, a kind of PET beds control system being related to as embodiment, the PET beds control end includes：Hand over
Mutual keyboard and display screen, user input configuration data on the keyboard of the PET beds control end, control the motion of bed, bed
The status information of position motion is periodically sent to the PET beds control end by the service end, and user is in the interaction
Inquiry operation is carried out to demand data on keyboard, as a result shown in real time on the display screen；
It is preferred that, the status information of the bed that the service end is reported to the PET beds control end reports week
Phase is set according to the accuracy requirement controlled the bed.
Further, a kind of PET beds control system being related to as embodiment, the status register real-time storage bed
The status information of position includes：Bed real-time motion data, kinematic axis set exercise data, bed limit of sports record position data and bed
Position motion initialization, failure and completion status word information；
It is preferred that, the bed real-time motion data includes：Bed horizontal movement real-time speed, bed vertical movement are real-time
Speed, bed horizontal movement real time position and bed vertical movement real time position；
It is preferred that, the kinematic axis sets exercise data to include：The setting movement velocity of horizontal movement axle and vertical movement
The setting movement velocity of axle；
It is preferred that, the bed limit of sports record position data includes：Pole on inquiry vertical movement axle during bed horizontal movement
Extreme position and lower limit position, the inquiry preceding extreme position of horizontal movement axle and rear extreme position when bed moves vertically；
It is preferred that, the bed motion initialization, failure and completion status word information include：Status information of equipment, level
Kinematic axis mistake and fault status information, vertical movement axle mistake and fault status information, bed control fault status information, water
Flat motion drive status information, vertical movement Drive Status information and programmable controller status information.
Further, a kind of PET beds control system being related to as embodiment, the bed motion initialization, failure
And the data type of each state that completion status word packet contains is INT；
It is preferred that, the status information of equipment with comprising 16 BOOL data represent bed all directions it is out-of-limit, zero
The 1-16 kind states that position calibration and motion are completed, including：Bed is run just under not calibrated origin, bed horizontal movement is advanced
Limit position, bed horizontal movement retrogressing limit position, the vertical movement of bed horizontal movement zero-bit, bed rise limit position, bed and hung down
Straight motion falling-threshold position, bed vertical movement zero-bit, bed horizontal movement zero adjustment OK, bed vertical movement zero adjustment
OK, bed horizontal movement completion and bed vertical movement are completed；
It is preferred that, the horizontal movement axle mistake and fault status information with comprising 16 BOOL data represent the water
The 1-16 kind states of flat kinematic axis, including：Wiring error causes the failure of level zero, bed horizontal movement axle zero point correction wrong
Limit switch during limit switch action, bed zero point correction during mistake, bed horizontal movement mistake, bed horizontal movement
Act and expose；
It is preferred that, it is described vertical movement axle mistake and fault status information with comprising 16 BOOL data represent it is described hang down
The 1-16 kind states of straight kinematic axis, including：Wiring error causes vertical zero failure, bed vertical movement axle zero point correction wrong
By mistake, bed vertical movement mistake and vertical movement during limit switch act；
It is preferred that, bed control fault status information with comprising 16 BOOL data represent the control of the bed
The 1-16 kind states whether broken down, including：Vertical direction height lower limit position, bed when bed is highly less than horizontal movement
Horizontal direction when vertical direction height upper extreme position, bed horizontal level are less than vertical movement when position height is more than horizontal movement
Issued before being completed before when backward extreme position, bed horizontal level are more than vertical movement to extreme position, bed horizontal movement vertical
Horizontal direction Zero-point switch, which has been triggered, when straight motion command, startup zero point correction causes to hang down when calibration failure, startup zero point correction
Nogata has been triggered to Zero-point switch causes zero point correction failure and bed vertical movement to complete the front lower flat motion command of shampoo；
It is preferred that, the horizontal movement means status information and vertical movement Drive Status information are respectively with whole
The data of INT types illustrate the error condition of horizontal movement means and vertical movement driver, including：Without mistake, use
Family sets mistake, without feedback error, driver malfunction, driver communication failure and timing error；
It is preferred that, the programmable controller status information illustrates bed driver with the data of whole INT types
Motion state, including：No initializtion, operation, stopping and mistake.
Further, a kind of PET beds control system being related to as embodiment, the configuration of the configuration register storage
Data include：The extreme position for configuring kinematic axis, the movement velocity and target location and configuration control word life that configure kinematic axis
Order；
It is preferred that, the extreme position of configuration kinematic axis includes：Configuration vertical movement axle limes superiors position during bed horizontal movement
Put, bed horizontal movement when configuration vertical movement axle lower limit position, bed vertical movement when configuration level kinematic axis before the limit
Extreme position after configuration level kinematic axis when position and bed vertical movement；
It is preferred that, the movement velocity and target location for configuring kinematic axis include：The movement velocity of configuration level kinematic axis, match somebody with somebody
Put the target location of movement velocity, the target location of configuration level kinematic axis and the configuration vertical movement axle of vertical movement axle；
It is preferred that, configuration control word command includes：First control word and the second control word, first control word and described
The data type of second control word be INT, respectively with comprising 16 BOOL data represent 1-16 kind control commands；
First control word includes：Software jerk, reset, enable electric current loop, turn-off current ring, unlocking and bed stop
Motion；
Second control word includes：Bed horizontal movement order, bed vertical movement order and HOME origin orders.
Further, a kind of PET beds control system being related to as embodiment, the PET beds control system is also wrapped
The Auxiliary support kinematic axis set perpendicular to ground is included, at position of the bed horizontal movement to Auxiliary support kinematic axis, control
Auxiliary support axis of motion carries out Auxiliary support to the vertical direction height of bed to bed；
It is preferred that, the bed real-time motion data also includes：Bed synkinesia real-time speed, bed synkinesia are real
When position and bed Auxiliary support raising and lowering motion when horizontal movement axle real time position；
It is preferred that, the kinematic axis sets exercise data also to include：The setting movement velocity of Auxiliary support kinematic axis；
It is preferred that, the status information of equipment also includes：The motion of bed Auxiliary support rises limit position, bed Auxiliary support
Move falling-threshold position, bed Auxiliary support motion zero-bit, bed Auxiliary support motion zero adjustment OK and bed Auxiliary support
Motion is completed；
It is preferred that, the bed control fault status information also includes：Auxiliary support kinematic axis is not when bed moves vertically
In origin position and startup zero point correction, Auxiliary support directional null switch, which has been triggered, causes zero point correction to fail；
It is preferred that, the bed motion initialization, failure and completion status word information also include：Auxiliary support kinematic axis is wrong
Miss and fault status information and Auxiliary support motion drive status information；
The Auxiliary support kinematic axis mistake and fault message with comprising 16 BOOL data represent 1-16 kind states, it is auxiliary
Supporting movement axle mistake and fault status information is helped to include：Wiring error causes the failure of Auxiliary support zero, bed Auxiliary support
Kinematic axis zero point correction mistake, bed Auxiliary support ascending motion mistake, bed Auxiliary support descending motion mistake and auxiliary branch
Limit switch in motion process is supportted to act；
The Auxiliary support motion drive wrong status information illustrates Auxiliary support fortune with the data of whole INT types
The various states whether dynamic driver makes a mistake, including：Mistake is set, without feedback error, driver without mistake, user
Failure, driver communication failure and timing error.
Further, a kind of PET beds control system being related to as embodiment, the PET beds control system is also wrapped
The Auxiliary support kinematic axis set perpendicular to ground is included, at position of the bed horizontal movement to Auxiliary support kinematic axis, control
Auxiliary support axis of motion carries out Auxiliary support to the vertical direction height of bed to bed；
The configuration data of the configuration register storage of the bed also includes：Fortune is configured during bed Auxiliary support ascending motion
Horizontal movement shaft position and configuration are aided in during configuration motion when horizontal movement shaft position, bed Auxiliary support descending motion when dynamic
The movement velocity of supporting movement axle and target location.
The present embodiments relate to a kind of PET beds control system control method, the control method includes：
Step 1, the bed drive side periodically sends the status information of bed to the service end；
Step 2, the configuration data and the bed that PET beds control end described in the service end real-time reception is sent are driven
The status information of the bed of dynamic device end storage, the status information of bed described in the PET beds control end real-time reception；
Step 3, the service end is received in the configuration register that the bed driver is changed after configuration data
The configuration data of storage, the bed driver controls bed to move according to the configuration data of the configuration register.
The beneficial effect of a kind of PET beds control system and its control method provided in an embodiment of the present invention includes：
A kind of PET beds control system and its control method provided in an embodiment of the present invention, in PET beds control end and bed
Service end rather than directly control is set to communicate between bit driver, the CT of PET and outside different communication mode integrate in fact
During the control of existing same bed, only need adaptability that CT beds control adaptation is set between CT beds control end and service end
End, CT beds control end is controlled to be adapted between end and communicated by the communication modes of CT in itself with CT beds, CT beds control adaptation
End is communicated with service end by TCP/IP modes, you can realized the CT beds control end of different communication mode and PET bed controls
Fusion access in end processed, realizes PET/CT bed control.
A kind of PET beds control system and its control method provided in an embodiment of the present invention, are set in PET beds control end
Interactive keyboard, user can to input control command on keyboard, both can by set bed speed, the direction of motion and the limit position
The data such as put, realize the accurate control to bed, the simple of control bed can also be realized by setting the direction of motion of bed
Start-stop is controlled.
PET bed control ends are provided with display screen, the status register real-time storage bed that bed drive side is set
Status data simultaneously periodically passes to PET bed control ends, and PET bed control ends are inquired about by button, and Query Result is aobvious
Shown in real time in display screen.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
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, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is a kind of structured flowchart of PET beds control system provided in an embodiment of the present invention；
Fig. 2 is a kind of control method flow chart of PET beds control system provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one
The embodiment for a kind of PET beds control system that the embodiment one that the present invention is provided provides for the present invention, such as Fig. 1 institutes
It is shown as a kind of structured flowchart of the embodiment for PET beds control system that the present invention is provided, as shown in Figure 1, the embodiment of the present invention
A kind of PET beds control system provided includes：PET beds control end, service end and bed driver.
Configuration register and status register are provided with bed driver.
PET beds control end receives the configuration data for the bed that user is set, and the configuration data is sent into service end, takes
End be engaged in periodically to configuration register progress write operation, to status register progress read operation.
Bed driver controls bed according to the configuration data of the configuration register.
The status information of the bed read from status register is periodically sent to PET bed control ends by service end.
A kind of PET beds control system provided in an embodiment of the present invention, between PET beds control end and bed driver
Service end rather than directly control is set to communicate, the CT of PET and outside different communication mode carries out integration and realizes same bed
Control when, only need adaptability set between CT beds control end and service end CT beds control adaptation end, CT beds control
Hold to control to be adapted between end with CT beds and communicated by the communication modes of CT in itself, CT beds control adaptation end passes through with service end
TCP/IP modes communicate, you can realize the CT beds control end of different communication mode merging access with PET bed control ends.
Service end is communicated with bed driver by Profinet or MODBUSTCP modes, is in the embodiment that Fig. 1 is provided
Profinet modes.
PET bed control ends include：Interactive keyboard and display screen, user inputs on the keyboard of PET bed control ends to be matched somebody with somebody
Data are put, the motion of bed is controlled, the status information of bed is periodically sent to PET bed control ends by service end, are used
Family carries out inquiry operation on interactive keyboard to demand data, is as a result shown in real time on a display screen.Service end is periodically
The bed reported to PET bed control ends status information, cycle length can be according to wanting during PET scan to bed precision
Ask determination, such as in the case of general speed 100nm/s, if reporting a data per 100ms, maximum bed precision
Error is 10nm.
The status information of status register real-time storage bed in bed driver, including：Bed real-time motion data,
Kinematic axis sets exercise data, bed limit of sports record position data and bed motion initialization, failure and completion status word information.
Specifically, bed real time kinematics include the motion in bed horizontal and vertical directions, bed real time kinematics
Data include bed horizontal and vertical movement real-time speed and position, i.e. bed real-time motion data includes：Bed horizontal movement
Real-time speed, bed vertical movement real-time speed, bed horizontal movement real time position and bed vertical movement real time position.
Kinematic axis includes vertical movement axle and horizontal movement axle, and kinematic axis sets exercise data to pass through CT bed control ends
Or the exercise data of the kinematic axis of the artificial setting of PET beds control end reception, including：The setting movement velocity of horizontal movement axle
With the setting movement velocity of vertical movement axle.
Bed limit of sports record position data mobile limit range when a direction is moved for bed, including：Bed
Inquiry vertical movement axle upper extreme position and lower limit position during horizontal movement, pole before inquiry horizontal movement axle when bed moves vertically
Extreme position and rear extreme position.
It is first that bed motion initialization, failure and completion status word information represent that bed receives progress after the control instruction issued
The status information that beginningization, extreme position alarm, calibration, failure and motion are completed, is specifically included：Status information of equipment, level fortune
Moving axis mistake and fault status information, vertical movement axle mistake and fault status information, bed control fault status information, level
Motion drive status information, vertical movement Drive Status information and programmable controller status information, above-mentioned bed motion
The data type for each status information that initialization, failure and completion status word packet contain is INT.
Specifically, status information of equipment with comprising 16 BOOL data represent out-of-limit, the zero-bit school of bed all directions
The 1-16 kind states that accurate and motion is completed, including：Bed is run just under not calibrated origin, the bed horizontal movement advance limit
Position, bed horizontal movement retrogressing limit position, the vertical movement of bed horizontal movement zero-bit, bed rise limit position, bed and vertically transported
Dynamic falling-threshold position, bed vertical movement zero-bit, bed horizontal movement zero adjustment OK, bed vertical movement zero adjustment OK,
Bed horizontal movement completion and bed vertical movement are completed.
Specifically, bed level before and after and vertically end be provided with limit switch, in real time monitoring bed before and after or
Whether vertical movement crosses the defined position of setting, bed horizontal movement advance limit position, bed horizontal movement retreat limit position,
Bed vertical movement rises limit position and bed vertical movement falling-threshold position and represents whether bed crosses corresponding defined position
Two states.
The motion initial position of bed horizontally and vertically is additionally provided with Zero-point switch, according to the Zero-point switch
Signal can control bed in the initial position of level, vertical direction, bed horizontal movement zero-bit and bed vertical movement zero-bit
Represent bed whether corresponding initial position horizontally and vertically two states.Bed horizontal movement zero-bit school
Quasi- OK and bed vertical movement zero adjustment OK represent bed horizontal movement completion and bed vertical movement zero adjustment whether
Complete two states.
Bed runs after expression bed is calibrated without dead-center position just under not calibrated origin and has begun to motion.
Bed horizontal movement completion and bed vertical movement complete represent bed horizontally or vertically direction motion whether
Complete two states.
Horizontal movement axle mistake and fault status information with comprising 16 BOOL data represent the 1-16 of horizontal movement axle
The state of kind, including：Wiring error causes the failure of level zero, bed horizontal movement axle zero point correction mistake, bed horizontal movement
During mistake, bed horizontal movement limit switch action and bed zero point correction during limit switch act, the 1-16 kinds
Horizontal movement axle mistake and malfunction represent whether horizontal movement axle occurs above-mentioned various wrong two states respectively.Wherein
Bed horizontal movement axle zero point correction mistake can represent a variety of zero point correction mistakes with multidigit.
Vertical movement axle mistake and fault status information with comprising 16 BOOL data represent vertical movement axle whether send out
The 1-16 kind states of raw mistake or failure, including：Wiring error causes vertical zero failure, bed vertical movement axle zero point correction
Limit switch is acted during mistake, bed vertical movement mistake and vertical movement, wherein bed vertical movement axle zero point correction
Mistake can represent a variety of zero point correction mistakes with multidigit.1-16 kinds vertical movement axle mistake and malfunction difference
Represent whether vertical movement axle occurs above-mentioned various wrong two states.
Bed control fault status information with comprising 16 BOOL data represent that bed controls whether the 1- broken down
16 kinds of states, including：Vertical direction height lower limit position (LLPMH), bed are highly big when bed is highly less than horizontal movement
Horizontal direction when vertical direction height upper extreme position (HLPMH), bed horizontal level are less than vertical movement when horizontal movement
Transported before when backward extreme position (BLPMV), bed horizontal level are more than vertical movement to extreme position (FLPMV), bed level
Horizontal direction Zero-point switch, which has been triggered, when vertical movement order is issued before dynamic completion, starting zero point correction causes calibration to fail, open
Vertical direction Zero-point switch, which has been triggered, during dynamic zero point correction causes zero point correction failure and bed vertical movement to complete front lower shampoo
Flat motion command.Above-mentioned 1-16 kinds state represents whether bed occurs the two states of above-mentioned failure respectively, once occur any
During above-mentioned bed control failure, bed stop motion at once.
Horizontal movement means status information and vertical movement Drive Status information are respectively with the data of whole INT types
The state of horizontal movement means and vertical movement driver is illustrated, including：Set wrong, no anti-without mistake, user
Present mistake, driver malfunction mistake, driver communication failure mistake and timing error, whole horizontal movement means state with
Vertical movement Drive Status is represented without one kind in mistake or any six kinds of wrong states of generation respectively.
Programmable controller status information illustrates the state of programmable controller with the data of whole INT types, including：
No initializtion, operation, stopping and mistake, the motion state of whole bed driver represent bed driver no initializtion, fortune
The one of which of row, stopping and wrong four kinds of states.
The configuration data of the configuration register storage of bed includes：Configure the extreme position of kinematic axis, configure kinematic axis
Movement velocity and target location and configuration control word command.
Wherein, the extreme position of configuration kinematic axis includes：Configuration vertical movement axle upper extreme position during bed horizontal movement,
Extreme position before configuration level kinematic axis when configuration vertical movement axle lower limit position, bed move vertically during bed horizontal movement
Extreme position after configuration level kinematic axis when being moved vertically with bed.Ensure bed when some direction is moved in another side
To limit range in.
The movement velocity and target location for configuring kinematic axis include：The movement velocity of configuration level kinematic axis, configuration are vertical
Movement velocity, the target location of configuration level kinematic axis and the target location for configuring vertical movement axle of kinematic axis.Make bed
Moved according to the speed of configuration and target location.
Configuration control word command includes：First control word and the second control word, first control word and the second control word
Data type is INT, with comprising 16 BOOL data represent 1-16 kind control commands.
Specifically, the first control word includes：Software jerk, reset, enable electric current loop, turn-off current ring, unlocking and bed
Stop motion；Second control word includes：Bed horizontal movement order, bed vertical movement order and HOME origin orders.
In concrete operations, user inputs configuration data on PET bed control end keyboards, specifically, needing to control bed
When being moved, user can control bed to transport by setting after the related datas such as the direction of motion, movement velocity, extreme position
It is dynamic.
It is preferred that, in a kind of embodiment of the control method for PET beds control system that the present invention is provided, it is provided with vertical
Auxiliary support kinematic axis in ground, at position of the bed horizontal movement to Auxiliary support kinematic axis, control Auxiliary support fortune
Moving axis moves to the vertical direction height of bed, carries out Auxiliary support to bed, reduces the work of initial position vertical support axle
Firmly, it is to avoid bed relative initial position horizontal direction displacement easily produces bed plate sagging deflections farther out, reduce follow-up soft
Part needs to carry out the data volume of large range of bed position compensation adjustment.
Auxiliary support kinematic axis carries out descending operation according to the horizontal level of bed, and bed is moved toward PET/CT equipment the inside
During to certain position, Auxiliary support kinematic axis rises to be supported to bed, and bed is toward moving to a positioning outside PET/CT equipment
When putting, Auxiliary support kinematic axis declines the smooth movement for ensureing bed horizontal direction.
Therefore the bed real-time motion data in the status information of bed also includes：Bed synkinesia real-time speed, bed
Horizontal movement axle real time position when position synkinesia real time position and the motion of bed Auxiliary support raising and lowering.
Kinematic axis in the status information of the bed stored in status register sets exercise data also to include：Auxiliary support
The setting movement velocity of axle.
Corresponding, the status information of equipment in bed motion initialization, failure and completion status information also includes：Bed is auxiliary
Supporting movement is helped to rise limit position, bed Auxiliary support motion falling-threshold position, bed Auxiliary support motion zero-bit, bed auxiliary
Supporting movement zero adjustment OK and the motion of bed Auxiliary support are completed.Bed is provided with bed in Auxiliary support kinematic axis upper and lower side
Whether synkinesia upper limit position switch and bed synkinesia lower position switch, in real time monitoring bed synkinesia cross setting
Defined position, bed Auxiliary support motion rises limit position and bed Auxiliary support motion falling-threshold position and represents that bed is auxiliary respectively
Help whether supporting movement crosses corresponding upper extreme position or lower limit position two states.It is first that bed Auxiliary support is moved
Beginning, position was provided with bed Auxiliary support motion Zero-point switch, can be with according to the signal that the bed Auxiliary support moves Zero-point switch
The initial position of bed Auxiliary support motion is controlled, bed Auxiliary support motion zero-bit represents bed whether in bed Auxiliary support
The two states of the initial position of motion.Bed Auxiliary support motion zero adjustment OK represents the zero-bit of bed Auxiliary support motion
Whether calibration completes two states.The motion of bed Auxiliary support completes to represent whether the motion of bed Auxiliary support completes two kinds of shapes
State.
Bed control fault status information in bed motion initialization, failure and completion status information also includes：Bed
In origin position and startup zero point correction, Auxiliary support directional null is not switched Auxiliary support kinematic axis during vertical movement
Triggering causes zero point correction to fail.
Further, bed motion initialization, failure and completion status word information also include：Auxiliary support kinematic axis mistake
And fault status information and Auxiliary support motion drive status information.
Auxiliary support kinematic axis mistake and fault message with comprising 16 BOOL data represent 1-16 kind states, auxiliary branch
Support kinematic axis mistake and fault status information include：Wiring error causes the failure of Auxiliary support zero, the motion of bed Auxiliary support
Axle zero point correction mistake, bed Auxiliary support ascending motion mistake, bed Auxiliary support descending motion mistake and Auxiliary support fortune
Limit switch is acted during dynamic, and wherein bed vertical movement axle zero point correction mistake can represent a variety of zero with multidigit
Point alignment error.Represent whether Auxiliary support kinematic axis occurs above-mentioned various mistakes or failure two states respectively.
Auxiliary support motion drive wrong status information illustrates Auxiliary support motion drive with the data of whole INT types
The various states whether dynamic device makes a mistake, including：No mistake, user set mistake, without feedback error, driver event
Barrier, driver communication failure and timing error, whole Auxiliary support motion drive error condition represent without mistake or
Occurs one kind in any wrong six kinds of states.
The configuration data of the configuration register storage of bed also includes：When configuring motion during bed Auxiliary support ascending motion
Horizontal movement shaft position and configuration Auxiliary support when motion is configured when horizontal movement shaft position, bed Auxiliary support descending motion
The movement velocity of kinematic axis and target location.
Embodiment two
A kind of implementation of the control method for PET beds control system that the embodiment two that the present invention is provided provides for the present invention
Example, the flow chart of this method is as shown in Fig. 2 as shown in Figure 2, this method includes：
Step 1, bed drive side periodically sends the status information of bed to service end.
Step 2, what the configuration data and bed drive side that service end real-time reception PET beds control end is sent were stored
The status information of bed, the status information of the PET bed control end real-time receptions bed.
Step 3, service end receives the configuration number stored in the configuration register that bed driver is changed after configuration data
According to bed driver controls bed to move according to the configuration data of the configuration register.
During concrete operations PET bed control systems, the real time data of bed motion is periodically sent out by service end
PET bed control ends are given, PET beds control end includes interactive keyboard and display screen, keyboard of the user in PET bed control ends
Upper input control command, controls the motion of bed, and user carries out inquiry operation, PET beds on interactive keyboard to demand data
The result that control end is locally stored is shown in real time over the display.
Further, the status information of the status register real-time storage bed in step 1 in bed driver, including：
Bed real-time motion data, kinematic axis set exercise data, bed limit of sports record position data and bed motion initialization, failure
And completion status word information.
Specifically, bed real time kinematics include the motion in bed horizontal and vertical directions, bed real time kinematics
The bed real-time motion data that data are included in bed horizontal and vertical movement real-time speed and position, i.e. step 1 includes：Bed
Horizontal movement real-time speed, bed vertical movement real-time speed, bed horizontal movement real time position and bed vertical movement are real-time
Position.
The kinematic axis that kinematic axis is included in vertical movement axle and horizontal movement axle, i.e. step 1 sets exercise data to include：Water
The setting movement velocity of flat kinematic axis and the setting movement velocity of vertical movement axle.
Bed limit of sports record position data includes：Inquiry vertical movement axle upper extreme position and limit inferior during bed horizontal movement
Position, the inquiry preceding extreme position of horizontal movement axle and rear extreme position when bed moves vertically.
It is first that bed motion initialization, failure and completion status word information represent that bed receives progress after the control instruction issued
The status information that beginningization, extreme position alarm, calibration, failure and motion are completed, is specifically included：Status information of equipment, level fortune
Moving axis mistake and fault status information, vertical movement axle mistake and fault status information, bed control fault status information, level
Motion drive status information, vertical movement Drive Status information and programmable controller status information, above-mentioned bed motion
The data type for each status information that initialization, failure and completion status word packet contain is INT.
Specifically, status information of equipment with comprising 16 BOOL data represent out-of-limit, the zero-bit school of bed all directions
The 1-16 kind states that accurate and motion is completed, including：Bed is run just under not calibrated origin, the bed horizontal movement advance limit
Position, bed horizontal movement retrogressing limit position, the vertical movement of bed horizontal movement zero-bit, bed rise limit position, bed and vertically transported
Dynamic falling-threshold position, bed vertical movement zero-bit, bed horizontal movement zero adjustment OK, bed vertical movement zero adjustment OK,
Bed horizontal movement completion and bed vertical movement are completed.
Specifically, bed level before and after and vertically end be provided with limit switch, in real time monitoring bed before and after or
Whether vertical movement crosses the defined position of setting, bed horizontal movement advance limit position, bed horizontal movement retreat limit position,
Bed vertical movement rises limit position and bed vertical movement falling-threshold position and represents whether bed crosses corresponding defined position
Two states.
The motion initial position of bed horizontally and vertically is additionally provided with Zero-point switch, according to the Zero-point switch
Signal can control bed in the initial position of level, vertical direction, bed horizontal movement zero-bit and bed vertical movement zero-bit
Represent bed whether corresponding initial position horizontally and vertically two states.Bed horizontal movement zero-bit school
Quasi- OK and bed vertical movement zero adjustment OK represent bed horizontal movement completion and bed vertical movement zero adjustment whether
Complete two states.
Bed runs after expression bed is calibrated without dead-center position just under not calibrated origin and has begun to motion.
Bed horizontal movement completion and bed vertical movement complete represent bed horizontally or vertically direction motion whether
Complete two states.
Horizontal movement axle mistake and fault status information with comprising 16 BOOL data represent whether horizontal movement axle is sent out
The 1-16 kind states of raw various motion errors, including：Wiring error causes the failure of level zero, bed horizontal movement axle zero point school
Limited during quasi- mistake, bed horizontal movement mistake, bed horizontal movement during limit switch action and bed zero point correction
It is above-mentioned various that bit switch action, the 1-16 kinds horizontal movement axle mistake and malfunction represent whether horizontal movement axle occurs respectively
The two states of mistake.
Wherein bed horizontal movement axle zero point correction mistake can represent a variety of zero point correction mistakes with multidigit.
Vertical movement axle mistake and fault status information with comprising 16 BOOL data represent 1-16 kind states, including：
Wiring error causes vertical zero failure, bed vertical movement axle zero point correction mistake, bed vertical movement mistake and vertical fortune
Limit switch is acted during dynamic, and wherein bed vertical movement axle zero point correction mistake can represent a variety of zero with multidigit
Point alignment error.It is above-mentioned various that 1-16 kinds vertical movement axle mistake and malfunction represent whether vertical movement axle occurs respectively
Mistake two states.
Bed control fault status information with comprising 16 BOOL data represent 1-16 kind states, including：Bed height
Vertical direction is high when vertical direction height lower limit position (LLPMH), bed are highly more than horizontal movement during less than horizontal movement
To extreme position (BLPMV), bed after horizontal direction when spending upper extreme position (HLPMH), bed horizontal level less than vertical movement
Vertical movement life is issued before being completed before when position horizontal level is more than vertical movement to extreme position (FLPMV), bed horizontal movement
Horizontal direction Zero-point switch has triggered vertical direction zero when causing calibration failure, startup zero point correction when making, starting zero point correction
Point switch, which has been triggered, causes zero point correction failure and bed vertical movement to complete the front lower flat motion command of shampoo.Above-mentioned 1-16 kinds shape
State represents whether bed occurs the two states of above-mentioned failure respectively, when occurring any above-mentioned bed control failure, bed
Stop motion at once.
Horizontal movement means status information and vertical movement Drive Status information are respectively with the data of whole INT types
The state of horizontal movement means and vertical movement driver is illustrated, including：Set wrong, no anti-without mistake, user
Present mistake, driver malfunction mistake, driver communication failure mistake and timing error, whole horizontal movement means state with
Vertical movement Drive Status is represented without one kind in mistake or any six kinds of wrong states of generation respectively.
Programmable controller status information illustrates the state of programmable controller with the data of whole INT types, including：
No initializtion, operation, stopping and mistake, the motion state of whole bed driver represent bed driver no initializtion, fortune
The one of which of row, stopping and wrong four kinds of states.
The configuration data that PET beds control end is sent in step 2 includes：Configure extreme position, the configuration motion of kinematic axis
The movement velocity of axle and target location and configuration control word command.
Wherein, the extreme position of configuration kinematic axis includes：Bed horizontal movement configuration vertical movement axle upper extreme position, bed
Extreme position and bed before position horizontal movement configuration vertical movement axle lower limit position, bed vertical movement configuration level kinematic axis
Extreme position after vertical movement configuration level kinematic axis.
Wherein, the extreme position of configuration kinematic axis includes：Configuration vertical movement axle upper extreme position during bed horizontal movement,
Extreme position before configuration level kinematic axis when configuration vertical movement axle lower limit position, bed move vertically during bed horizontal movement
Extreme position after configuration level kinematic axis when being moved vertically with bed.Ensure bed when some direction is moved in another side
To limit range in.
The movement velocity and target location for configuring kinematic axis include：The movement velocity of configuration level kinematic axis, configuration are vertical
Movement velocity, the target location of configuration level kinematic axis and the target location for configuring vertical movement axle of kinematic axis.Make bed
Moved according to the speed of configuration and target location.
Configuration control word command includes：The data type of control word 1 and control word 2, the control word 1 and control word 2 is
INT, with comprising 16 BOOL data represent 1-16 kind control commands.
Specifically, control word 1 includes：Software jerk, reset, enable electric current loop, turn-off current ring, unlocking and bed stop
Motion；Control word 2 includes：Bed horizontal movement order, bed vertical movement order and HOME origin orders.
In concrete operations, user inputs configuration data on the keyboard of PET bed control ends, including：Bed horizontal movement,
Bed vertical movement, bed motion stop, zero, the bed horizontal velocity of user's setting are set, bed vertical speed is set, bed
The horizontal movement axle front/rear limit when setting of vertical movement axle up/down extreme position and bed move vertically during the horizontal movement of position
Position is set and fault clearance, specifically, needing control bed when being moved, user can set the direction of motion, motion fast
Bed motion is controlled after the related datas such as degree, extreme position.
It is preferred that, in a kind of embodiment of the control method for PET beds control system that the present invention is provided, it is provided with vertical
Auxiliary support kinematic axis in ground, at position of the bed horizontal movement to Auxiliary support kinematic axis, control Auxiliary support fortune
Moving axis moves to the vertical direction height of bed, carries out Auxiliary support to bed, reduces initial position vertical support kinematic axis
Active force, it is to avoid bed relative initial position horizontal direction displacement easily produces bed plate sagging deflections farther out, after reduction
Continuous software needs to carry out the data volume of large range of bed position compensation adjustment.
Auxiliary support kinematic axis carries out descending operation according to the horizontal level of bed, and bed is moved to toward PET device the inside
During certain position, Auxiliary support kinematic axis rises to be supported to bed, bed toward when moving to certain position outside PET device,
Auxiliary support kinematic axis declines the smooth movement for ensureing bed horizontal direction.
Therefore the bed real-time motion data in the status information of the bed in step 1 also includes：Bed synkinesia is real
Horizontal movement axle real-time position when Shi Sudu, bed synkinesia real time position and the motion of bed Auxiliary support raising and lowering
Put.
Kinematic axis in the status information of the bed stored in status register sets exercise data also to include：Auxiliary support
The setting movement velocity of axle.
Corresponding, the status information of equipment in bed motion initialization, failure and completion status information also includes：Bed is auxiliary
Supporting movement is helped to rise limit position, bed Auxiliary support motion falling-threshold position, bed Auxiliary support motion zero-bit, bed auxiliary
Supporting movement zero adjustment OK and the motion of bed Auxiliary support are completed.Bed is provided with bed in Auxiliary support kinematic axis upper and lower side
Whether synkinesia upper limit position switch and bed synkinesia lower position switch, in real time monitoring bed synkinesia cross setting
Defined position, bed Auxiliary support motion rises limit position and bed Auxiliary support motion falling-threshold position and represents that bed is auxiliary respectively
Help whether supporting movement crosses corresponding upper extreme position or lower limit position two states.It is first that bed Auxiliary support is moved
Beginning, position was provided with bed Auxiliary support motion Zero-point switch, can be with according to the signal that the bed Auxiliary support moves Zero-point switch
The initial position of bed Auxiliary support motion is controlled, bed Auxiliary support motion zero-bit represents bed whether in bed Auxiliary support
The two states of the initial position of motion.Bed Auxiliary support motion zero adjustment OK represents the zero-bit of bed Auxiliary support motion
Whether calibration completes two states.The motion of bed Auxiliary support completes to represent whether the motion of bed Auxiliary support completes two kinds of shapes
State.
Bed control fault status information in bed motion initialization, failure and completion status information also includes：Bed
In origin position and startup zero point correction, Auxiliary support directional null is not switched Auxiliary support kinematic axis during vertical movement
Triggering causes zero point correction to fail.
Further, bed motion initialization, failure and completion status information also include：Auxiliary support kinematic axis mistake and
Fault status information and Auxiliary support motion drive status information.
Auxiliary support kinematic axis mistake and fault message with comprising 16 BOOL data represent 1-16 kind states, auxiliary branch
Support kinematic axis mistake and fault status information include：Wiring error causes the failure of Auxiliary support zero, the motion of bed Auxiliary support
Axle zero point correction mistake, bed Auxiliary support ascending motion mistake, bed Auxiliary support descending motion mistake and Auxiliary support fortune
Limit switch is acted during dynamic, and wherein bed vertical movement axle zero point correction mistake can represent a variety of zero with multidigit
Point alignment error.Represent whether Auxiliary support kinematic axis occurs above-mentioned various mistakes or failure two states respectively.
Auxiliary support motion drive error condition illustrates Auxiliary support motion drive with the data of whole INT types
Error condition, including：Mistake is set, without feedback error, driver malfunction, driver communication failure without mistake, user
And timing error, whole Auxiliary support motion drive error condition represents without mistake or occurs any wrong six kinds of shapes
One kind in state.
The configuration data that PET beds control end is sent in step 2 also includes：Fortune is configured during bed Auxiliary support ascending motion
Horizontal movement shaft position and configuration are aided in during configuration motion when horizontal movement shaft position, bed Auxiliary support descending motion when dynamic
Support transported program to instruct the hardware of correlation to complete, and described program can be stored in computer read/write memory medium
In, described storage medium, including：ROM/RAM, disk, CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of PET beds control system, it is characterised in that the system includes：PET beds control end, service end and bed
Bit driver；
Configuration register and status register are provided with the bed driver；
The PET beds control end receives the configuration data for the bed that user is set, and the configuration data is sent into the clothes
Business end, the service end periodically carries out write operation to the configuration register, carries out read operation to the status register；
The bed driver controls bed according to the configuration data of the configuration register；
The status information of the bed read from the status register is periodically sent to the PET beds by the service end
Control end.
2. the system as claimed in claim 1, it is characterised in that the PET beds control end passes through TCP/ with the service end
IP modes are communicated, and the service end is communicated with the bed drive side by Profinet or MODBUS TCP modes.
3. the system as claimed in claim 1, it is characterised in that the PET beds control end includes：Interactive keyboard and display
Screen, user inputs configuration data on the keyboard of the PET beds control end, controls the motion of bed, the state of bed motion
Property information cycle by the service end is sent to the PET beds control end, and user is on the interactive keyboard to demand
Data carry out inquiry operation, are as a result shown in real time on the display screen；
It is preferred that, the report cycle root of the status information for the bed that the service end is reported to the PET beds control end
Set according to the accuracy requirement controlled the bed.
4. the system as claimed in claim 1, it is characterised in that the status information bag of the status register real-time storage bed
Include：Bed real-time motion data, kinematic axis setting exercise data, bed limit of sports record position data and bed motion initialization,
Failure and completion status word information；
It is preferred that, the bed real-time motion data includes：Bed horizontal movement real-time speed, the real-time speed of bed vertical movement
Degree, bed horizontal movement real time position and bed vertical movement real time position；
It is preferred that, the kinematic axis sets exercise data to include：The setting movement velocity of horizontal movement axle and the axle that moves vertically
Movement velocity is set；
It is preferred that, the bed limit of sports record position data includes：Inquiry vertical movement axle limes superiors position during bed horizontal movement
Put and lower limit position, the inquiry preceding extreme position of horizontal movement axle and rear extreme position when bed moves vertically；
It is preferred that, the bed motion initialization, failure and completion status word information include：Status information of equipment, horizontal movement
Axle mistake and fault status information, vertical movement axle mistake and fault status information, bed control fault status information, level fortune
Dynamic Drive Status information, vertical movement Drive Status information and programmable controller status information.
5. system as claimed in claim 4, it is characterised in that the bed motion initialization, failure and completion status word letter
The data type for ceasing each state included is INT；
It is preferred that, the status information of equipment with comprising 16 BOOL data represent out-of-limit, the zero-bit school of bed all directions
The 1-16 kind states that accurate and motion is completed, including：Bed is run just under not calibrated origin, the bed horizontal movement advance limit
Position, bed horizontal movement retrogressing limit position, the vertical movement of bed horizontal movement zero-bit, bed rise limit position, bed and vertically transported
Dynamic falling-threshold position, bed vertical movement zero-bit, bed horizontal movement zero adjustment OK, bed vertical movement zero adjustment OK,
Bed horizontal movement completion and bed vertical movement are completed；
It is preferred that, the horizontal movement axle mistake and fault status information with comprising 16 BOOL data represent that the level is transported
The 1-16 kind states of moving axis, including：Wiring error causes the failure of level zero, bed horizontal movement axle zero point correction mistake, bed
Limit switch is acted during limit switch action, bed zero point correction during position horizontal movement mistake, bed horizontal movement
Expose；
It is preferred that, it is described vertical movement axle mistake and fault status information with comprising 16 BOOL data represent the vertical fortune
The 1-16 kind states of moving axis, including：Wiring error causes vertical zero failure, bed vertical movement axle zero point correction mistake, bed
Limit switch is acted during position vertical movement mistake and vertical movement；
It is preferred that, bed control fault status information with comprising 16 BOOL data represent controlling whether for the bed
The 1-16 kind states broken down, including：Vertical direction height lower limit position, bed are high when bed is highly less than horizontal movement
Horizontal direction is backward when vertical direction height upper extreme position, bed horizontal level are less than vertical movement when degree is more than horizontal movement
Vertical fortune is issued before being completed before when extreme position, bed horizontal level are more than vertical movement to extreme position, bed horizontal movement
Horizontal direction Zero-point switch has triggered Vertical Square when causing calibration to fail, starting zero point correction when dynamic order, startup zero point correction
Having been triggered to Zero-point switch causes zero point correction failure and bed vertical movement to complete the front lower flat motion command of shampoo；
It is preferred that, the horizontal movement means status information and vertical movement Drive Status information are respectively with whole INT classes
The data of type illustrate the error condition of horizontal movement means and vertical movement driver, including：Set without mistake, user
Mistake, no feedback error, driver malfunction, driver communication failure and timing error；
It is preferred that, the programmable controller status information illustrates the motion of bed driver with the data of whole INT types
State, including：No initializtion, operation, stopping and mistake.
6. the system as claimed in claim 1, it is characterised in that the configuration data of the configuration register storage includes：Configuration
The extreme position of kinematic axis, the movement velocity for configuring kinematic axis and target location and configuration control word command；
It is preferred that, the extreme position of configuration kinematic axis includes：Configuration vertical movement axle upper extreme position, bed during bed horizontal movement
During the horizontal movement of position when configuration vertical movement axle lower limit position, bed vertical movement before configuration level kinematic axis extreme position and
Extreme position after configuration level kinematic axis when bed moves vertically；
It is preferred that, the movement velocity and target location for configuring kinematic axis include：The movement velocity of configuration level kinematic axis, configuration are hung down
Movement velocity, the target location of configuration level kinematic axis and the target location for configuring vertical movement axle of straight kinematic axis；
It is preferred that, configuration control word command includes：First control word and the second control word, first control word and described second
The data type of control word be INT, respectively with comprising 16 BOOL data represent 1-16 kind control commands；
First control word includes：Software jerk, reset, enable electric current loop, turn-off current ring, unlocking and bed stop fortune
It is dynamic；
Second control word includes：Bed horizontal movement order, bed vertical movement order and HOME origin orders.
7. system as claimed in claim 4, it is characterised in that the PET beds control system also includes setting perpendicular to ground
The Auxiliary support kinematic axis put, at position of the bed horizontal movement to Auxiliary support kinematic axis, controls Auxiliary support kinematic axis
The vertical direction height of bed is moved to, Auxiliary support is carried out to bed；
It is preferred that, the bed real-time motion data also includes：Bed synkinesia real-time speed, the real-time position of bed synkinesia
Put and bed Auxiliary support raising and lowering motion when horizontal movement axle real time position；
It is preferred that, the kinematic axis sets exercise data also to include：The setting movement velocity of Auxiliary support kinematic axis；
It is preferred that, the status information of equipment also includes：The motion of bed Auxiliary support rises limit position, the motion of bed Auxiliary support
Falling-threshold position, bed Auxiliary support motion zero-bit, bed Auxiliary support motion zero adjustment OK and the motion of bed Auxiliary support
Complete；
It is preferred that, the bed control fault status information also includes：Auxiliary support kinematic axis is not in original when bed moves vertically
Auxiliary support directional null switch, which has been triggered, when point position and startup zero point correction causes zero point correction to fail；
It is preferred that, the bed motion initialization, failure and completion status word information also include：Auxiliary support kinematic axis mistake and
Fault status information and Auxiliary support motion drive status information；
The Auxiliary support kinematic axis mistake and fault message with comprising 16 BOOL data represent 1-16 kind states, auxiliary branch
Support kinematic axis mistake and fault status information include：Wiring error causes the failure of Auxiliary support zero, the motion of bed Auxiliary support
Axle zero point correction mistake, bed Auxiliary support ascending motion mistake, bed Auxiliary support descending motion mistake and Auxiliary support fortune
Limit switch is acted during dynamic；
The Auxiliary support motion drive wrong status information illustrates Auxiliary support motion drive with the data of whole INT types
The various states whether dynamic device makes a mistake, including：No mistake, user set mistake, without feedback error, driver event
Barrier, driver communication failure and timing error.
8. system as claimed in claim 6, it is characterised in that the PET beds control system also includes setting perpendicular to ground
The Auxiliary support kinematic axis put, at position of the bed horizontal movement to Auxiliary support kinematic axis, controls Auxiliary support kinematic axis
The vertical direction height of bed is moved to, Auxiliary support is carried out to bed；
The configuration data of the configuration register storage of the bed also includes：When configuring motion during bed Auxiliary support ascending motion
Horizontal movement shaft position and configuration Auxiliary support when motion is configured when horizontal movement shaft position, bed Auxiliary support descending motion
The movement velocity of kinematic axis and target location.
9. the control method of a kind of PET bed control systems as described in claim any one of 1-8, it is characterised in that described
Control method includes：
Step 1, the bed drive side periodically sends the status information of bed to the service end；
Step 2, PET beds control end described in the service end real-time reception is sent configuration data and the bed driver
Hold the status information of the bed of storage, the status information of bed described in the PET beds control end real-time reception；
Step 3, the service end is received in the configuration register that the bed driver is changed after configuration data and stored
Configuration data, the bed driver according to the configuration data of the configuration register control bed move.
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