CN115363613A

CN115363613A - X-ray imaging system, X-ray receiving device, and X-ray emitting device

Info

Publication number: CN115363613A
Application number: CN202211034615.7A
Authority: CN
Inventors: 文琪; 张赞超
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Wuhan Mindray Medical Technology Research Institute Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Wuhan Mindray Medical Technology Research Institute Co Ltd
Priority date: 2022-08-26
Filing date: 2022-08-26
Publication date: 2022-11-22

Abstract

An X-ray camera system, an X-ray receiving device and an X-ray emitting device are provided, wherein the X-ray receiving device comprises an X-ray receiving device, an X-ray emitting device, a position detection device and a control device, and the position detection device comprises a relative position sensor and a laser ranging sensor. Because install position detecting device on X ray receiving arrangement, position detecting device includes two sensors of relative position sensor and laser range finding sensor, relative position sensor is used for detecting X ray receiver's relative high position, laser range finding sensor is used for detecting X ray receiver absolute high position, adopt two sensors to detect X ray receiver's high position, can improve the accuracy that detects, make the realization that X ray receiver and X ray receiver can be accurate go up and down to follow each other or swing the position and guide the lifting movement such as, improve the efficiency of making a video recording.

Description

X-ray imaging system, X-ray receiving apparatus, and X-ray transmitting apparatus

Technical Field

The application relates to the technical field of medical instruments, in particular to an X-ray camera system, an X-ray receiving device and an X-ray transmitting device.

Background

An X-ray imaging system, also known as a digital X-ray machine or DR, is a device combining a computer digital image processing technique with an X-ray radiation technique. The main components of the X-ray detector comprise an X-ray generator, an X-ray bulb tube, a rack system, a camera bed, an image workstation and a detector assembly. The X-ray bulb tube and the detector are arranged on the rack system, can freely move in space within the allowed range of the mechanical structure, and meet different clinical shooting requirements. The X-ray tube is an X-ray generating device, the X-ray receiver is an X-ray receiving device, and the light field of X-rays is required to hit the center of the X-ray receiver during shooting, so that high-quality images can be obtained.

In order to improve the positioning efficiency of workers, an X-ray generating device and an X-ray receiving device on an X-ray imaging system are arranged to follow each other, and when one of the X-ray generating device and the X-ray receiving device moves, the other one moves to a corresponding position.

In present product, the position that moves one side earlier among X ray generating device and the X ray receiving arrangement detects inaccurately, leads to the side of following to follow the position inaccurate, and the staff still need carry out manual operation and adjust, and the following sensitivity in the current product is lower promptly, and staff's pendulum position efficiency is not high.

Disclosure of Invention

In one embodiment, an X-ray imaging system is provided, including:

the X-ray emitting device comprises an X-ray emitter, a first supporting piece and a first driving assembly, wherein the X-ray emitter is arranged on the first supporting piece in a liftable mode, the X-ray emitter is used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece, the first driving assembly is connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move in a lifting mode;

the X-ray receiving device comprises an X-ray receiver, a second supporting piece and a second driving assembly, wherein the X-ray receiver is arranged on the second supporting piece in a lifting mode and is used for receiving X-rays passing through the shooting object; the second driving assembly is arranged on the second supporting piece, is connected with the X-ray receiver and is used for driving the X-ray receiver to move up and down; the second drive assembly includes a second linkage component that is in linkage with the X-ray receiver;

the position detection device comprises a relative position sensor and a laser ranging sensor, the relative position sensor is arranged on the second driving assembly, and the relative position sensor is used for detecting the lifting relative height position of the X-ray receiver and generating a first detection signal; the laser ranging sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the laser ranging sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; a distance measuring channel is arranged between the laser distance measuring sensor and the reflecting surface, the laser distance measuring sensor is used for emitting laser and irradiating the emitted laser to the reflecting surface through the distance measuring channel, the reflecting surface is used for reflecting the laser, the laser distance measuring sensor is also used for receiving the laser reflected by the reflecting surface, and the laser distance measuring sensor is used for detecting the lifting absolute height position of the X-ray receiver according to the emitted laser and the laser reflected by the receiving reflecting surface and generating a second detection signal; and

the control device is in signal connection with the first driving assembly, the second driving assembly, the relative position sensor and the laser ranging sensor respectively, and the control device is used for acquiring the first detection signal and the second detection signal, controlling the X-ray transmitter to move to the same height as the X-ray receiver and/or controlling the X-ray receiver to move to the same height as the X-ray transmitter according to the first detection signal and the second detection signal.

In one embodiment, the laser ranging sensor calibrates an initial height position of the X-ray receiver through the reflecting surface in advance, and the laser ranging sensor detects a relative height position of the X-ray receiver, and obtains an absolute height position of the X-ray receiver in combination with the initial height position.

In one embodiment, the laser ranging sensor is used for directly measuring the absolute height position of the lifting of the X-ray receiver.

In one embodiment, the laser distance measuring sensor is fixed on the top of the second supporting piece, and the reflecting surface is arranged at the end part of the second linkage part.

In one embodiment, the second linkage part has a reflection portion of an integral structure, the reflection portion forming the reflection surface; alternatively, a reflecting plate is attached to the second linkage member, and at least one surface of the reflecting plate forms the reflecting surface.

In one embodiment, a reflective coating is disposed on the reflective portion or the reflective plate, and the reflective coating forms the reflective surface.

In one embodiment, the second linkage member includes a belt and a weight, and the reflective surface is located on the belt and/or the weight.

In one embodiment, the second driving assembly further comprises a driving motor and a fixed pulley, the driving motor and the fixed pulley are arranged on the second supporting piece, the driving motor is connected with the fixed pulley, the transmission belt is wound on the fixed pulley, two ends of the transmission belt are located on two sides of the fixed pulley, one end of the transmission belt is connected with the X-ray receiver, the other end of the transmission belt is connected with the balancing weight, and the driving motor drives the X-ray receiver to ascend and descend through the fixed pulley and the transmission belt.

In one embodiment, the second driving assembly further comprises a pulley, the pulley is arranged on the second supporting member in a lifting manner, the transmission belt is connected with the pulley, and the X-ray receiver is arranged on the pulley.

In one embodiment, the second supporting member is a vertical column, a sliding groove in the vertical direction is formed in the side face of the vertical column, the second driving assembly and the laser ranging sensor are located in the vertical column, the X-ray receiver is located on the outer side of the vertical column, and the X-ray receiver is connected with the second driving assembly through the sliding groove.

In one embodiment, a mounting box is arranged in the upright post, the mounting box is provided with an opening or an open hole, the laser ranging sensor is positioned in the mounting box, and the laser ranging sensor transmits and receives laser through the opening or the open hole.

In one embodiment, the position detection device is arranged on the X-ray emitting device, and the position detection device is used for measuring the absolute height position of the X-ray emitting device.

In one embodiment, an X-ray imaging system is provided, including:

the X-ray emitting device comprises an X-ray emitter, a first supporting piece and a first driving assembly, wherein the X-ray emitter is arranged on the first supporting piece in a lifting mode, the X-ray emitter is used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece, the first driving assembly is connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move up and down;

the X-ray receiving device comprises an X-ray receiver, a second supporting piece and a second driving assembly, wherein the X-ray receiver is arranged on the second supporting piece in a lifting mode and is used for receiving X-rays passing through the shooting object; the second driving assembly is arranged on the second supporting piece, is connected with the X-ray receiver and is used for driving the X-ray receiver to move up and down; the second drive assembly includes a second linkage component in linkage with the X-ray receiver;

the position detection device comprises a relative position sensor and a laser ranging sensor, the relative position sensor is arranged on the second driving assembly, and the relative position sensor is used for detecting the lifting relative height position of the X-ray receiver; the laser ranging sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the laser ranging sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the laser ranging sensor is used for emitting laser and enabling the emitted laser to penetrate through the ranging channel to irradiate the reflecting surface, the reflecting surface is used for reflecting the laser, the laser ranging sensor is further used for receiving the laser reflected by the reflecting surface, and the laser ranging sensor detects the absolute height position of the lifting of the X-ray receiver according to the emitted laser and the laser reflected by the reflecting surface.

In one embodiment, the laser distance measuring sensor is fixed on the top of the second support, and the reflecting surface is arranged at the end part of the second linkage part.

In one embodiment, the reflecting portion or the reflecting plate is provided with a reflecting coating, and the reflecting coating forms the reflecting surface.

In one embodiment, an X-ray imaging system is provided, including:

the X-ray emitting device comprises an X-ray emitter, a first supporting piece and a first driving assembly, wherein the X-ray emitter is movably arranged on the first supporting piece, the X-ray emitter is used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece, the first driving assembly is connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move;

the X-ray receiving device comprises an X-ray receiver, a second support and a second driving assembly, wherein the X-ray receiver is movably arranged on the second support and is used for receiving X-rays passing through the shooting object; the second driving assembly is arranged on the second support and is connected with the X-ray receiver, and the second driving assembly is used for driving the X-ray receiver to move; the second drive assembly includes a second linkage component that is in linkage with the X-ray receiver;

the position detection device comprises a relative position sensor and a distance measurement sensor, the relative position sensor is arranged on the second driving assembly, and the relative position sensor is used for detecting the relative position of the movement of the X-ray receiver; the distance measuring sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the distance measuring sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the range finding sensor is used for transmitting wireless signals and enabling the transmitted wireless signals to penetrate through the range finding channel to irradiate the reflecting surface, the reflecting surface is used for reflecting the wireless signals, the range finding sensor is further used for receiving the wireless signals reflected by the reflecting surface, and the range finding sensor detects the absolute position of the movement of the X-ray receiver according to the transmitted wireless signals and the received wireless signals reflected by the reflecting surface.

In one embodiment, the ranging sensor includes at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

In one embodiment, there is provided an X-ray imaging system including:

the X-ray emitting device comprises an X-ray emitter, a first supporting piece and a first driving assembly, wherein the X-ray emitter is arranged on the first supporting piece in a lifting mode, the X-ray emitter is used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece, the first driving assembly is connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move up and down; the first drive assembly comprises a first linkage member in linkage with the X-ray emitter;

the X-ray receiving device comprises an X-ray receiver, a second supporting piece and a second driving assembly, wherein the X-ray receiver is arranged on the second supporting piece in a lifting mode and is used for receiving X-rays passing through the shooting object; the second driving assembly is arranged on the second supporting piece, is connected with the X-ray receiver and is used for driving the X-ray receiver to move up and down;

the position detection device comprises a relative position sensor and a laser ranging sensor, the relative position sensor is arranged on the first driving assembly, and the relative position sensor is used for detecting the lifting relative height position of the X-ray emitter and generating a third detection signal; the laser ranging sensor is arranged on the first supporting piece, and a reflecting surface is arranged on the first linkage part, or the laser ranging sensor is arranged on the first linkage part, and a reflecting surface is arranged on the first supporting piece; a distance measuring channel is arranged between the laser distance measuring sensor and the reflecting surface, the laser distance measuring sensor is used for emitting laser and irradiating the emitted laser onto the reflecting surface through the distance measuring channel, the reflecting surface is used for reflecting the laser, the laser distance measuring sensor is also used for emitting the laser reflected by the reflecting surface, and the laser distance measuring sensor is used for detecting the absolute height position of the lifting of the X-ray emitter according to the emitted laser and the laser reflected by the reflecting surface and generating a fourth detection signal; and

the control device is in signal connection with the first driving assembly, the second driving assembly, the relative position sensor and the laser ranging sensor respectively, and the control device is used for acquiring the third detection signal and the fourth detection signal, and controlling the X-ray emitter to move to the same height as the X-ray receiver and/or controlling the X-ray emitter to move to the same height as the X-ray receiver according to the third detection signal and the fourth detection signal.

In one embodiment, the laser ranging sensor calibrates the initial height position of the X-ray emitter through the reflecting surface in advance, detects the relative height position of the lifting of the X-ray emitter, and obtains the absolute height position of the lifting of the X-ray emitter by combining the initial height position.

In one embodiment, the laser ranging sensor is used for directly measuring the absolute height position of the lifting of the X-ray emitter.

In one embodiment, an X-ray imaging system is provided, including:

the X-ray emitting device comprises an X-ray emitter, a first supporting piece and a first driving assembly, wherein the X-ray emitter is movably arranged on the first supporting piece and used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece and connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move;

the X-ray receiving device comprises an X-ray receiver, a second support and a second driving assembly, wherein the X-ray receiver is movably arranged on the second support and is used for receiving X-rays passing through the shooting object; the second driving assembly is arranged on the second support and is connected with the X-ray receiver, and the second driving assembly is used for driving the X-ray receiver to move; and

the X-ray emitting device and the X-ray receiving device are respectively provided with the position detection device, and the position detection device comprises a relative position sensor and a distance measurement sensor; the relative position sensor on the X-ray emitting device is used for detecting the relative height position of the X-ray emitter, and the ranging sensor on the X-ray emitting device is used for detecting the absolute height position of the X-ray emitter; the relative position sensor on the X-ray receiving device is used for detecting the relative height position of the X-ray receiver, and the ranging sensor on the X-ray receiving device is used for detecting the absolute height position of the X-ray receiver.

In one embodiment, the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

In one embodiment, an X-ray receiving device is provided, which includes an X-ray receiver, a second support, a second driving assembly, a relative position sensor and a laser ranging sensor, wherein the X-ray receiver is arranged on the second support in a liftable manner, and is used for receiving X-rays passing through a photographic object; the second driving assembly is arranged on the second supporting piece, is connected with the X-ray receiver and is used for driving the X-ray receiver to move up and down; the second drive assembly includes a second linkage component in linkage with the X-ray receiver;

the relative position sensor is arranged on the second driving assembly and used for detecting the lifting relative height position of the X-ray receiver; the laser ranging sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the laser ranging sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the laser range finding sensor with the distance measuring passageway has between the plane of reflection, the laser range finding sensor is used for launching laser and passes the laser of transmission the distance measuring passageway shines extremely on the plane of reflection, the plane of reflection is used for reflecting laser, the laser range finding sensor still is used for receiving the laser of plane of reflection, the laser range finding sensor is according to the laser of transmission and receipt the laser detection of plane of reflection the absolute height position that X ray receiver goes up and down.

In one embodiment, an X-ray receiving device is provided, which includes an X-ray receiver movably disposed on a second support, a second driving assembly, a relative position sensor, and a distance measuring sensor, the X-ray receiver being configured to receive X-rays passing through a photographic subject; the second driving assembly is arranged on the second support and is connected with the X-ray receiver, and the second driving assembly is used for driving the X-ray receiver to move; the second drive assembly includes a second linkage component in linkage with the X-ray receiver;

the relative position sensor is arranged on the second driving assembly and is used for detecting the relative position of the movement of the X-ray receiver; the distance measuring sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the distance measuring sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the distance measuring device comprises a distance measuring sensor and a reflecting surface, wherein a distance measuring channel is arranged between the distance measuring sensor and the reflecting surface, the distance measuring sensor is used for transmitting a wireless signal and enabling the transmitted wireless signal to pass through the distance measuring channel to irradiate the reflecting surface, the reflecting surface is used for reflecting the wireless signal, the distance measuring sensor is also used for receiving the wireless signal reflected by the reflecting surface, and the distance measuring sensor detects the absolute position of the movement of the X-ray receiver according to the transmitted wireless signal and the received wireless signal reflected by the reflecting surface.

In one embodiment, an X-ray emitting device is provided, which includes an X-ray emitter, a first supporting member, a first driving assembly, a relative position sensor and a laser ranging sensor, wherein the X-ray emitter is arranged on the first supporting member in a liftable manner, the X-ray emitter is used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting member, the first driving assembly is connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move up and down; the first drive assembly comprises a first linkage member in linkage with the X-ray emitter;

the relative position sensor is arranged on the first driving assembly and used for detecting the relative height position of the lifting of the X-ray emitter; the laser ranging sensor is arranged on the first supporting piece, and a reflecting surface is arranged on the first linkage part, or the laser ranging sensor is arranged on the first linkage part, and a reflecting surface is arranged on the first supporting piece; the laser range finding sensor with the distance measuring passageway has between the plane of reflection, the laser range finding sensor is used for transmitting laser and passes the laser of transmission the distance measuring passageway shines extremely on the plane of reflection, the plane of reflection is used for reflecting laser, the laser range finding sensor still is used for receiving the laser of plane of reflection, the laser range finding sensor is according to the laser of transmission and receipt the laser detection of plane of reflection the absolute height position that X ray emitter goes up and down.

In one embodiment, the laser distance measuring sensor is fixed on the top of the first support, and the reflecting surface is arranged on the first linkage part.

In one embodiment, the first linkage part has a reflection portion of an integrated structure, the reflection portion forming the reflection surface; alternatively, a reflecting plate is attached to the first interlocking member, and the reflecting surface is formed on at least one surface of the reflecting plate.

In one embodiment, an X-ray emitting device is provided, which includes an X-ray emitter movably disposed on a first support, a first driving assembly for emitting X-rays to a subject, a relative position sensor, and a distance measuring sensor, wherein the first driving assembly is disposed on the first support, connected to the X-ray emitter, and used for driving the X-ray emitter to move up and down; the first drive assembly comprises a first linkage member in linkage with the X-ray emitter;

the relative position sensor is arranged on the first driving assembly and is used for detecting the relative height position of the movement of the X-ray emitter; the distance measuring sensor is arranged on the first supporting piece, and a reflecting surface is arranged on the first linkage part, or the distance measuring sensor is arranged on the first linkage part, and a reflecting surface is arranged on the first supporting piece; the distance measuring device comprises a distance measuring sensor and an X-ray emitter, and is characterized in that a distance measuring channel is arranged between the distance measuring sensor and the reflecting surface, the distance measuring sensor is used for emitting wireless signals and enabling the emitted wireless signals to penetrate through the distance measuring channel to irradiate the reflecting surface, the reflecting surface is used for reflecting the wireless signals, the distance measuring sensor is further used for receiving the wireless signals reflected by the reflecting surface, and the distance measuring sensor detects the absolute height position of the X-ray emitter in moving according to the emitted wireless signals and the received wireless signals reflected by the reflecting surface.

According to the X-ray camera system, the X-ray receiving device and the X-ray transmitting device of the embodiment, as the position detecting device is installed on the X-ray receiving device and comprises the relative position sensor and the laser ranging sensor, the relative position sensor is used for detecting the relative height position of the X-ray receiver, the laser ranging sensor is used for detecting the absolute height position of the X-ray receiver, the height position of the X-ray receiver is detected by adopting the double sensors, the detection accuracy can be improved, the X-ray receiver and the X-ray receiver can accurately realize lifting movement such as mutual lifting following or position swinging guiding, and the camera efficiency is improved.

Drawings

FIG. 1 is a schematic diagram of an embodiment of an X-ray receiving device;

FIG. 2 is a schematic diagram showing an internal structure of an X-ray receiving apparatus according to an embodiment;

FIG. 3 is a block diagram showing the structure of a control section of the X-ray receiving apparatus according to the embodiment;

FIG. 4 is a schematic diagram of an embodiment of an X-ray receiving device;

FIG. 5 is a schematic diagram of an embodiment of an X-ray emitting device;

FIG. 6 is a block diagram showing the structure of a control section of the X-ray emitting apparatus in one embodiment;

FIG. 7 is a schematic diagram of an embodiment of an X-ray imaging system;

FIG. 8 is a block diagram showing the configuration of a control section of the X-ray imaging system in one embodiment;

wherein the reference numbers are as follows:

1-an X-ray receiving device, 11-an X-ray receiver, 12-a second supporting piece, 121-a front shell, 122-a rear shell, 123-a top cover, 124-a mounting box, 13-a second driving component, 131-a driving motor, 132-a fixed pulley, 133-a driving belt, 134-a balancing weight, 135-a pulley and 14-a supporting seat;

2-X-ray emitting device, 21-X-ray emitter, 22-first support, 221-column, 222-cantilever, 23-first drive assembly, 24-ground rail;

3-position detection means, 31-distance measuring sensor, 32-relative position sensor;

4-control device.

Detailed Description

In the existing product, install the encoder in the X ray receiving arrangement and detect X ray receiver's high position, but the encoder belongs to relative position sensor, its detection principle is the difference in height that measures the lift, combine the measuring result of previous time again, reachs the high position of X ray receiver relative ground, when X ray receiver height error appears in the previous measuring process, then follow-up measurement will inherit this error, and the error still can add up, the high position that finally leads to detecting out very easily has great deviation with actual height position, need the manual work to intervene the correction adjustment this moment, can realize accurate follow or operating control such as the pendulum position guide, the efficiency and the accuracy of making a video recording have been influenced.

Based on above-mentioned analysis, the mode that adopts the dual sensor in this application detects the high position on the relative ground of X ray receiver, and the dual sensor includes relative position sensor and range finding sensor, and relative position sensor and range finding sensor measure the high position of X ray receiver respectively simultaneously, and contrastive analysis can be carried out to two measuring results to eliminate measuring error, improve measurement accuracy, realize higher precision and more quick follow or pendulum position and guide etc. operation control, improve the efficiency of making a video recording.

The measuring mode of the relative position sensor is the same as that of the existing scheme, and the height position of the X-ray receiver relative to the ground after the lifting movement is calculated by combining the relative position measured at this time on the basis of the previous measuring result; each measurement of the distance measuring sensor is to measure the distance between the transmitting end and the reflecting surface, and the height position of the X-ray receiver relative to the ground is calculated through the distance. The relative position sensor indirectly measures the height position of the X-ray receiver relative to the ground, and the result of the latter measurement is influenced by the result of the former measurement, so that an accumulated error exists; the distance measuring sensor directly measures the height position of the X-ray receiver relative to the ground, the measuring results of each time are independent, calculation is not carried out on the basis of the previous measuring result, and therefore the succession and the accumulated error of the error can be avoided. It can be seen that the ranging sensor can be used to correct the error of the relative position sensor, and the ranging sensor can also perform the measurement of the height position alone. Of course, the comparative analysis between the two results respectively measured by the relative position sensor and the ranging sensor can also mutually eliminate errors, for example, the ranging sensor may have errors in a single measurement process, and the measurement result of the relative position sensor can also be used for correcting the errors of the ranging sensor.

In this application, relative position sensor can adopt sensors such as ordinary encoder, and range finding sensor can adopt at least one in laser rangefinder sensor, infrared ranging sensor, radar range finding sensor and the ultrasonic ranging sensor. This application adopts the combination of relative position sensor and range finding sensor not only can improve and detect the precision, still has cost advantage.

In some embodiments, the dual sensors may be replaced by an absolute position encoder, which also enables higher accuracy position measurement, but the cost of the absolute position encoder is higher than that of the dual sensors described above.

In some schemes, a double sensor can be arranged on the X-ray emitting device, and the double sensor detects the height position of the X-ray emitter, so that the accuracy of mutual following and other positioning lifting between the X-ray emitter and the X-ray receiver is improved.

The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous specific details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the described features, operations, or characteristics may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of clearly describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where a certain sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connect" or "connect" as used herein, unless otherwise specified, includes both direct and indirect connections (connections), where the relative height position and the absolute height position are both relative to the ground or relative to a given reference, and the relative height position and the absolute height position are distinguished by: the measurement mode and the calculation mode of the two are different; the relative height position is obtained by adopting an indirect measurement mode and is influenced by the previous measurement result; the absolute height position is a height position in a direct measurement mode, and is irrelevant to the previous measurement result.

In one embodiment, an X-ray receiving device 1 is provided, where the X-ray receiving device 1 may be a vertical structure, and the X-ray receiving device 1 has a liftable X-ray receiver. Still be equipped with relative position sensor and range finding sensor on the X ray receiving arrangement 1, relative position sensor and range finding sensor are used for respectively the simultaneous measurement X ray receiver's high position to improve measuring precision, be favorable to realizing that X ray receiver's high accuracy is followed, improve the efficiency of making a video recording.

In other embodiments, the X-ray receiving device 1 may also be a suspended structure, the X-ray receiving device 1 also has a liftable X-ray receiver, and the dual sensors are used for simultaneously measuring the height position of the liftable X-ray receiver.

In other embodiments, the X-ray receiving device 1 may also be a horizontal structure, the X-ray receiving device 1 has an X-ray receiver movable along a horizontal direction, and the dual sensors are used for simultaneously measuring the horizontal position of the X-ray receiver.

Referring to fig. 1 to 3, the X-ray receiving device 1 of the present embodiment mainly includes an X-ray receiver 11, a second supporting member 12 and a second driving assembly 13, wherein the position detecting device 3 is installed in the second supporting member 12.

X ray receiver 11 can be the spool box, can cartridge flat panel detector in the spool box, and the spool box has vertical collection face, and the shooting object can stand and paste on the collection face of spool box, and flat panel detector can pass the X ray of shooting object through gathering the face collection, carries out X ray formation of image to the shooting object through the X ray of gathering.

Second support member 12 may be a vertical column, a support seat 14 is provided at a lower end of second support member 12, second support member 12 is placed on the ground through support seat 14, support seat 14 may be fixedly connected to second support member 12 through clamping, welding, screw connection, etc., and support seat 14 may also be integrated with second support member 12.

Second support piece 12 can include preceding shell 121 and backshell 122, and preceding shell 121 and backshell 122 are vertical rectangular structure, and preceding shell 121 and backshell 122 are connected around through modes such as joint, welding, screw connection, form the holding chamber between preceding shell 121 and the backshell 122, still have the spout of vertical direction between preceding shell 121 and the backshell 122, and the spout is located the left and right sides of second support piece 12, spout and holding chamber UNICOM. The upper ends of the front case 121 and the rear case 122 have openings, the openings are communicated with the receiving cavities, the upper ends of the front case 121 and the rear case 122 are mounted with top covers 123, the top covers 123 cover the openings of the upper ends of the front case 121 and the rear case 122, and the top covers 123 have certain receiving spaces themselves. The top cover 123 is provided to facilitate mounting of the second drive assembly 13 and the position sensing device 3 within the second support member 12.

In other embodiments, the front case 121 and the rear case 122 may also be a unitary structure, and the unitary structure of the front case 121 and the rear case 122 has a more stable structural emphasis. Of course, the top cover 123 may be provided as an integral structure with the front case 121 and the rear case 122, and the second driving assembly 13 and the position detecting device 3 may be loaded from the lower end of the second support 12.

In this embodiment, the second driving assembly 13 is installed in the accommodating cavity of the second support 12, and the second driving assembly 13 is configured to drive the X-ray receiver 11 to move up and down along the sliding slot of the second support 12.

The second driving assembly 13 includes a driving motor 131, a fixed pulley 132, a transmission belt 133, a counterweight 134 and a pulley 135, the driving motor 131 and the fixed pulley 132 are installed at the upper end of the accommodating cavity of the second supporting member 12, an output shaft of the driving motor 131 may be connected with the fixed pulley 132 through a transmission device such as a gear set or a coupling, the output shaft of the driving motor 131 may also be directly connected with the fixed pulley 132, and the driving motor 131 is used for driving the fixed pulley 132 to rotate forward and backward. The transmission belt 133 may be a rope structure, the transmission belt 133 may also be a belt structure, the transmission belt 133 is connected to the fixed pulley 132, the transmission belt 133 has a first end and a second end, the first end and the second end of the transmission belt 133 respectively extend downward vertically, and the fixed pulley 132 is configured to drive the first end and the second end of the transmission belt 133 to respectively move up and down along opposite directions.

The weight 134 is located in the accommodating cavity of the second supporting member 12, and the weight 134 is connected to the first end of the transmission belt 133. The pulley 135 is located at the outer side of the second support 12, the left and right sides of the pulley 135 are provided with connecting portions, the connecting portions of the sliding groove 135 penetrate through the sliding groove to extend into the accommodating cavity to be connected with the second end of the transmission belt 133, and the X-ray receiver 11 is mounted on the pulley 135.

The principle of the second driving assembly 13 for driving the lifting is as follows: the driving motor 131 drives the fixed pulley 132 to rotate forward and backward, and the fixed pulley 132 drives the first end and the second end of the driving belt 133 to move up and down along opposite directions, thereby driving the X-ray receiver 11 and the counterweight 134 to move up and down along opposite directions.

The weight of the counterweight 134 is equal or approximately equal to the sum of the weight of the X-ray receiver 11 and the trolley 135. The setting of balancing weight can reduce driving motor 131's output torque, and then can improve the stationarity that driving motor 131 drives the ascending and descending of X ray receiver 11, makes X ray receiver 11 can realize hovering under the unpowered condition simultaneously, practices thrift the energy consumption.

In other embodiments, the second driving assembly 13 may not include a weight block, and the lifting driving and hovering of the X-ray receiver 11 can be realized by the driving force of the driving motor 131.

In other embodiments, the driving motor 131 may also be installed at the lower end of the accommodating cavity of the second supporting member 12, a fixed pulley 132 is respectively disposed at the upper end and the lower end of the accommodating cavity, and the driving belt 133 is connected end to form an annular structure, which can also realize the lifting driving of the X-ray receiver 11.

In other embodiments, the fixed pulley 132 has a plurality of fixed pulleys 132, the plurality of fixed pulleys 132 are installed at an upper end of the receiving cavity of the second support member 12, the plurality of fixed pulleys 132 are spaced apart, the driving belt 133 is connected to the plurality of fixed pulleys 132, and the plurality of fixed pulleys 132 are used to enlarge a horizontal interval between the first end and the second end of the driving belt 133.

In other embodiments, the second driving assembly 13 may not include the driving motor 131, a connection terminal is disposed on the second supporting member 12, one end of the connection terminal extends into the accommodating cavity of the second supporting member 12 and is connected to the fixed pulley 132, and the other end of the connection terminal is located outside the second supporting member 12 and is connected to an external driving motor, so that the lifting driving of the X-ray receiver 11 can be realized.

In this embodiment, the X-ray receiver 11 has a second linkage part, which moves up and down along with the X-ray receiver 11, and the direction of the second linkage part can be the same as or opposite to the direction of the X-ray receiver 11. The belt 133, the weight 134 and the trolley 135 can all serve as a second linkage component of the X-ray receiver 11.

In this embodiment, the position detecting device 3 includes a distance measuring sensor 31 and a relative position sensor 32, and both the distance measuring sensor 31 and the relative position sensor 32 are installed in the accommodating cavity of the second support 12.

Ranging sensor 31 can be laser ranging sensor, and ranging sensor 31 installs the top or the upper end in the holding intracavity of second support piece 12, and mounting box 124 can be installed to the top or the upper end in the holding intracavity of second support piece 12, and the lower extreme of mounting box 124 is equipped with opening or trompil, and ranging sensor 31 installs in mounting box 124, and ranging sensor 31's transmitting terminal and receiving terminal all are located the lower extreme to align from top to bottom with opening or trompil, make ranging sensor 31 can pass through opening or trompil transmission laser and receive laser. The mounting box 124 can protect the distance measuring sensor 31, prevent the distance measuring sensor 31 from colliding with other components, and prevent foreign matters from entering the distance measuring sensor 31.

In other embodiments, the distance measuring sensor 31 may also be one or more of distance measuring sensors such as an infrared distance measuring sensor, a radar distance measuring sensor, and an ultrasonic distance measuring sensor, and the plurality of distance measuring sensors respectively and independently detect the distance measuring signals, and then perform a comparison analysis on a plurality of results to further eliminate the measurement error and improve the measurement accuracy. The distance measuring sensor 31 transmits and receives infrared light, electromagnetic waves or ultrasonic waves, the reflecting surface is set to be used for reflecting the infrared light, the electromagnetic waves or the ultrasonic waves, the distance between the distance measuring sensor 31 and the reflecting surface can be measured by the distance measuring sensor 31 by adopting other optical or mechanical waves, and then the height position of the X-ray receiver 11 relative to the ground is calculated.

In other embodiments, the distance measuring sensor 31 may also be directly installed in the accommodating cavity of the second support 12, and may also enable the height position measurement of the X-ray receiver 11.

In other embodiments, the distance measuring sensor 31 may also be mounted on the outside of the second support 12, the reflecting surface is arranged on the X-ray receiver 11 or on the trolley 135 on the outside of the second support 12, and the distance measuring channel is located on the outside of the second support 12, which can also measure the absolute height position of the X-ray receiver 11.

In this embodiment, the second linkage part is provided with a reflecting surface, the second linkage part is provided with a reflecting part of an integrated structure, and the top surface of the reflecting part forms the reflecting surface; or a reflecting plate is arranged on the second linkage part, and the top surface of the reflecting plate forms a reflecting surface. The reflecting surfaces and the distance measuring sensors 31 are arranged one by one in the up-down direction.

Referring to fig. 4, in other embodiments, a plurality of distance measuring sensors 31 may also be disposed, for example, two distance measuring sensors 31 are disposed at two ends of the upper and lower ends of the accommodating cavity of the second supporting member 12, and the two distance measuring sensors 31 measure on the reflecting surfaces corresponding to the upper and lower surfaces of the reflecting portion or the reflecting plate disposed on the second linkage part, respectively, so as to further eliminate the measurement error.

In the present embodiment, the weight 134 is used as a second linkage component of the X-ray receiver 11, and the reflective surface may be disposed on the weight 134, or on the belt 133 and the pulley 135. The reflecting surface is disposed at the upper end of the weight 134, and the upper surface of the weight 134 may be sprayed or printed to form a reflecting coating, which forms the reflecting surface. Or, a reflective plate is installed on the upper end of the weight 134, and a reflective coating is provided on the reflective plate, so as to form a reflective surface.

The distance measuring sensor 31 is vertically aligned with the reflecting surface along the up-down direction, the reflecting surface is horizontally arranged, a distance measuring channel is formed between the distance measuring sensor 31 and the reflecting surface, and no other part blocks the transmission of laser in the distance measuring channel. The distance measuring sensor 31 is used for emitting laser light to irradiate the reflecting surface along the vertical direction, the reflecting surface is used for reflecting the laser light, the distance measuring sensor 31 is also used for receiving the laser light reflected by the reflecting surface, the distance measuring sensor 31 calculates the distance between the distance measuring sensor 31 and the reflecting surface according to the time difference of emitting and receiving the laser light and generates a corresponding second detection signal, and the second detection signal can be used for calculating the absolute height position of the X-ray receiver 11.

In other embodiments, the laser emitted by the distance measuring sensor 31 may be inclined at a certain angle with respect to the vertical direction, the corresponding reflecting surface has the same inclination angle with respect to the horizontal plane, and the distance measuring sensor 31 is used for measuring the distance between the distance measuring sensor 31 and the reflecting surface, and the distance can also calculate the absolute height position of the ascending and descending of the X-ray receiver 11 by combining the inclination angle of the emitted laser.

In this embodiment, the distance measuring sensor 31 is fixedly installed, and the reflecting surface serves as a moving member, so that stability of emitting and receiving laser light by the distance measuring sensor 31 can be provided. In other embodiments, the positions of the distance measuring sensor 31 and the reflecting surface may be interchanged, the distance measuring sensor 31 is disposed on the counterweight block 135 or other second linkage components, and the reflecting surface is fixedly disposed in the accommodating cavity of the second supporting member 12, so as to also implement the height position measurement of the X-ray receiver 11.

In this embodiment, the relative position sensor 32 may be a photoelectric encoder, the relative position sensor 32 may be mounted on the fixed pulley 132, and the relative position sensor 32 measures the number of turns and the angle of the turns of the fixed pulley 132 and generates a first detection signal, which may be used to calculate the relative height position of the X-ray receiver 11 during the lifting process.

In other embodiments, the relative position sensor 32 may be mounted on the output shaft of the driving motor 131 or on the transmission between the driving motor 131 and the fixed pulley 132, and can also detect the relative height position of the X-ray receiver 11 when it is lifted.

In this embodiment, the X-ray receiving device 1 further includes a control device 4, and the control device 4 is in signal connection with the driving motor 131, the distance measuring sensor 31, and the relative position sensor 32, respectively. The control device 4 comprises a processing unit and a control unit, wherein the processing unit is used for respectively calculating a relative height position and an absolute height position according to the first detection signal and the second detection signal, selecting the absolute height position as a final height position, or selecting an average value of the relative height position and the absolute height position as the final height position, and the control unit controls one or both of the X-ray emitter and the X-ray receiver 11 to move up and down according to the final height position so as to realize horizontal alignment or move to a specified position.

In other embodiments, the X-ray receiving device 1 may not include the control device 4, the control device 4 is installed on another device such as an X-ray emitting device or an upper computer, and the driving motor 131, the distance measuring sensor 31, and the relative position sensor 32 of the X-ray receiving device 1 are connected to the control device 4 in a wired or wireless communication manner, so that the height position measurement and the elevation control of the X-ray receiver 11 can be realized.

In the present embodiment, the principle of the distance measuring sensor 31 measuring the absolute height position of the X-ray receiver 11 when it is lifted is as follows:

the control device 4 stores an initial height position and a height position H0 of the distance measuring sensor 31 with respect to the ground in advance. Moreover, the height position H of the X-ray receiver 11 relative to the ground and the height position H1 of the reflecting surface relative to the ground have a fixed variation relationship, and the sum of the heights of the two plus the length L of the conveyor belt 133 is a fixed value, which is equal to twice the height H2 of the highest point of the fixed pulley 132 relative to the ground, i.e., H + H1+ L =2 × H2. It should be noted that the height position H of the X-ray receiver 11 relative to the ground may be a height position of a connection between the first end of the conveyor belt 133 and the trolley 135, or the height position of the connection between the first end of the conveyor belt 133 and the trolley 135 plus a corresponding fixed difference may also be used to obtain the height position of the X-ray receiver 11.

After the X-ray receiver 11 moves up and down, the distance measuring sensor 31 measures and generates a second detection signal, the control device 4 obtains a time difference between the distance measuring sensor 31 and the reflecting surface according to the second detection signal, calculates a relative height position H3 (a height difference between the distance measuring sensor 31 and the reflecting surface) between the distance measuring sensor 31 and the reflecting surface, and calculates a height position H1, H1= H0-H3 of the reflecting surface relative to the ground according to a height position H0 of the distance measuring sensor 31 relative to the ground and a height difference H3 between the distance measuring sensor 31 and the reflecting surface which are stored in advance;

knowing the values of H1, L and H2, H1 (perceived absolute height position) can be calculated by the above formula H + H1+ L =2 × H2.

If the distance measuring sensor 31 does not vertically emit laser light, the inclination angle of the laser light with respect to the vertical direction needs to be substituted for calculation, and the height difference between the distance measuring sensor 31 and the reflecting surface can be calculated.

In other embodiments, when the reflecting surface and the X-ray receiver 11 are lifted and lowered together, a fixed height difference H4 exists between the reflecting surface and the X-ray receiver 11, and the height difference may also be zero; the absolute height position H of the X-ray receiver 11 can be calculated by the formula H = H0-H4-H3.

In the present embodiment, the principle of the relative position sensor 32 measuring the relative height position of the X-ray receiver 11 when it is lifted is as follows:

the control device 4 stores an initial height position h0 in advance, where the initial height position h0 is a height position of the X-ray receiver 11 relative to the ground, and the initial height position may be a first preset height position or a previously measured height position.

After the X-ray receiver 11 moves up and down, the relative position sensor 32 measures and generates a first detection signal, the control device 4 obtains the number of rotation turns and the rotation angle of the fixed pulley 132 according to the first detection signal, and then calculates the running length of the transmission belt 133 by combining the diameter of the fixed pulley 132, the running length of the transmission belt 133 is the height difference h1 of the X-ray receiver 11 in the up-down direction, wherein the height difference h1 can be the plus or minus sign of the up-down direction;

finally, according to the formula h = h0+ h1, the height position (relative height position) of the X-ray receiver 11 with respect to the ground is calculated.

In this embodiment, the distance measuring sensor 31 and the relative position sensor 32 can detect the height position of the X-ray receiver 11 relative to the ground independently, based on the difference of the detection principle, there will be a certain difference between the two detection results, wherein there are single detection error and accumulated error in the relative position sensor 32, the distance measuring sensor 31 only has the error of single detection, therefore the distance measuring sensor 31 has higher detection precision, the height position detected by the two sensors can also be compared and analyzed, eliminate the error that the two sensors appear respectively, and finally improve the detection precision.

In other embodiments, the X-ray receiving device 1 may also be a horizontal structure, the X-ray receiving device 1 having an X-ray receiver 11 movable in a horizontal direction, and the dual sensors are used to simultaneously measure the horizontal position of the X-ray receiver.

Wherein the belt 133 in the second driving assembly 13 is disposed along the horizontal direction, and the driving motor 131 drives the belt 133 to move along the horizontal direction, so as to drive the X-ray receiver 11 to move horizontally.

The distance measuring sensor 31 may be an optical, acoustic or electromagnetic distance measuring sensor, the distance measuring sensor 31 and the reflecting surface are aligned on a horizontal line, and a horizontal distance measuring channel is formed between the distance measuring sensor 31 and the reflecting surface. The distance measuring sensor 31 is used for transmitting and receiving a wireless signal such as laser light, ultrasonic wave or electromagnetic wave, and generating a second detection signal. The second detection signal may be used to calculate an absolute horizontal position of the X-ray receiver 11 after the horizontal movement, where the absolute horizontal position is a horizontal coordinate position of the X-ray receiver 11, a zero coordinate is set in a direction in which the X-ray receiver 11 moves horizontally, and a horizontal position of the X-ray receiver 11 relative to the zero coordinate. The relative position sensor 32 may also be a photoelectric encoder, and the relative position sensor 32 is used to transmit and receive optical signals to generate a second detection signal. The second detection signal can be used to calculate the relative horizontal position of the X-ray receiver 11, which is the horizontal position of the distance measuring sensor 31 with respect to the zero point coordinate on the basis of the previous measurement result.

In one embodiment, an X-ray emitting device 2 is provided, the X-ray emitting device 2 is of a vertical structure, and the X-ray emitting device 2 is provided with a liftable X-ray receiver. Still be equipped with relative position sensor and range sensor on the X ray emitter 2, relative position sensor and range sensor are used for measuring the high position of X ray receiver simultaneously to improve measuring precision, be favorable to realizing that X ray receiver's high accuracy is followed, improve the efficiency of making a video recording.

In other embodiments, the X-ray emitting device 2 may be a suspended structure, the X-ray emitting device 2 also has a liftable X-ray receiver, and the dual sensors are used for simultaneously measuring the height position of the liftable X-ray receiver.

Referring to fig. 5 and 6, the X-ray emitting device 2 of the present embodiment mainly includes an X-ray emitter 21, a first supporting member 22 and a first driving assembly 23, wherein the position detecting device 3 is installed in the first supporting member 22.

The lower end of the first support 22 has a ground rail 24, the first support 22 is placed on the ground through the ground rail 24, the lower end of the first support 22 is slidably connected with the ground rail 24 through a trolley, and the first support 22 can move in the horizontal direction relative to the ground rail 24.

The first support 22 may include a vertical column 221 and a cantilever 222, the structures of the vertical column 221 and the first support 22 are the same or similar, the structures of the first driving assembly 23 and the second driving assembly 13 are the same or similar, and the position of the position detection device 3 installed in the vertical column is the same or similar to that of the X-ray receiving device 1, which will not be described again,

one end of the cantilever 222 is fixedly mounted on the carriage of the first driving assembly 23, and the cantilever 222 can move up and down along the sliding slot on the upright 221.

The X-ray emitter 21 may be a transmitting ball, and the X-ray emitter 21 is used for emitting X-rays to irradiate the photographic subject. The X-ray emitter 21 is mounted at an end of the cantilever 222 away from the column 221, and the X-ray emitter 21 can also rotate relative to the cantilever 222. The first driving assembly 23 is used for driving the X-ray emitter 21 to ascend and descend along with the cantilever 222.

In this embodiment, the X-ray emitter 21 has a first linkage member, and the first linkage member moves up and down along with the X-ray emitter 21, and the direction of the first linkage member can be the same as or opposite to the direction of the X-ray emitter 21. The belt, weight and pulley on the first driving assembly 23 and the cantilever 222 can be used as the first linkage component of the X-ray emitter 21.

In this embodiment, the position detecting device 3 includes a distance measuring sensor 31 and a relative position sensor 32, and both the distance measuring sensor 31 and the relative position sensor 32 are installed in the accommodating cavity of the first supporting member 22.

The distance measuring sensor 31 can be a laser distance measuring sensor, the distance measuring sensor 31 can also be one or more of distance measuring sensors such as an infrared distance measuring sensor, a radar distance measuring sensor and an ultrasonic distance measuring sensor, various distance measuring sensors respectively and independently detect, and then a plurality of results are subjected to contrastive analysis so as to further eliminate measuring errors and improve the measuring precision. The distance measuring sensor 31 is installed on the top or upper end of the accommodating cavity of the upright 221, and the reflecting surface is arranged on the first linkage part, for example, the reflecting surface is arranged on the upper end of the counterweight block.

In other embodiments, the distance measuring sensor 31 may also be mounted on the first linkage member, for example, the distance measuring sensor 31 is mounted at the upper end of the counterweight block; the reflecting surface is disposed at the top or upper end of the accommodating cavity of the upright 221.

In this embodiment, the distance measuring sensor 31 and the reflecting surface are aligned on a vertical straight line, and a distance measuring channel is formed therebetween and arranged along the vertical direction. Of course, the distance measuring sensor 31 and the reflecting surface are aligned on an inclined straight line, and the distance measuring channel is arranged in an inclined direction. The vertical or inclined arrangement of the ranging channel can realize the transmission of wireless signals such as laser, infrared rays, electromagnetic waves or ultrasonic waves. For example, the distance measuring sensor 31 is used for emitting laser light to the reflection surface and receiving the laser light reflected by the reflection surface, and generating a fourth detection signal, which can be used for calculating the absolute height position of the X-ray emitter 21.

In this embodiment, the relative position sensor 32 may be a photoelectric encoder, the relative position sensor 32 may be installed on the fixed pulley of the first driving assembly 23, the relative position sensor 32 measures the number of turns of the fixed pulley and the angle of the fixed pulley, and generates a third detection signal, and the third detection signal may be used to calculate the relative height position of the X-ray emitter 21.

In other embodiments, the relative position sensor 32 may also be installed on the output shaft of the driving motor of the first driving assembly 23, or on the transmission device between the driving motor of the first driving assembly 23 and the fixed pulley, and can also detect the relative height position of the lifting of the X-ray emitter 21.

In this embodiment, the X-ray emitting device 2 further includes a control device 4, and the control device 4 is in signal connection with the driving motor of the first driving assembly 23, the distance measuring sensor 31 and the relative position sensor 32. The control device 4 comprises a processing unit and a control unit, wherein the processing unit is used for respectively calculating a relative height position and an absolute height position according to the third detection signal and the fourth detection signal, selecting the absolute height position as a final height position, or selecting an average value of the relative height position and the absolute height position as the final height position, and the control unit controls one or both of the X-ray emitter 21 and the X-ray receiver 11 to move up and down along with the final height position so as to realize horizontal alignment or move to a specified position.

In other embodiments, the X-ray emitting device 2 may not include the control device 4, the control device 4 is installed on the X-ray receiving device 1 or other devices such as an upper computer, and the driving motor of the first driving assembly 23 of the X-ray emitting device 2, the distance measuring sensor 31 and the relative position sensor 32 are respectively connected with the control device 4 in a wired or wireless communication manner, so that the height position measurement and the lifting control of the X-ray emitter 21 can also be realized.

In this embodiment, the measurement and calculation principle of the distance measuring sensor 31 and the relative position sensor 32 on the X-ray emitting device 2 is the same as or similar to that of the distance measuring sensor 31 and the relative position sensor 32 on the X-ray receiving device 1, and therefore, the description thereof is omitted.

In this embodiment, the distance measuring sensor 31 and the relative position sensor 32 can detect the height position of the X-ray emitter 21 relative to the ground independently, and the height positions detected by the two sensors can be compared and analyzed to eliminate errors, so as to finally improve the detection precision and improve the shooting efficiency.

Referring to fig. 7 and 8, in one embodiment, an X-ray imaging system is provided, the X-ray imaging system includes the X-ray receiving apparatus 1 in any one of the above embodiments and the X-ray emitting apparatus 2 in any one of the above embodiments, and the X-ray imaging system further includes a position detecting apparatus 3 and a control apparatus 4. Wherein, the X-ray receiving device 1 and the X-ray emitting device 2 are both provided with a position detecting device 3, the position detecting device 3 on the X-ray receiving device 1 is used for detecting the absolute height position and the relative height position of the X-ray receiver 11, and the position detecting device 3 on the X-ray emitting device 2 is used for detecting the absolute height position and the relative height position of the X-ray emitter 21. The position detection devices 3 on the X-ray receiving device 1 and the X-ray emitting device 2 can work and detect at the same time, and one of the work and the detection can be selected, so that the X-ray receiver 11 and the X-ray emitting device 21 can move to a specified height position or follow each other.

In other embodiments, one of the X-ray receiving device 1 and the X-ray emitting device 2 is equipped with the position detecting device 3, and it is also possible to realize that the X-ray receiver 11 and the X-ray emitting device 21 move to a specified height position or follow each other.

In the present embodiment, the control device 4 may be mounted on one of the X-ray receiving device 1 and the X-ray emitting device 2. In other embodiments, the X-ray imaging system may not include the control device, and the control device 4 may be mounted on another device such as an upper computer.

In this embodiment, taking the example that the position detection device 3 is disposed on the X-ray receiving device 1 as an example, in this embodiment, the control device 4 is respectively in signal connection with the second driving assembly 13, the distance measurement sensor 31 and the relative position sensor 32, the control device 4 calculates the absolute height position and the relative height position of the X-ray receiving device 11 according to the first detection signal and the second detection signal respectively generated by the distance measurement sensor 31 and the relative position sensor 32, and then performs a comparison analysis on the two height positions to eliminate an error and select a more accurate one of the position accuracies as a final height position, or takes the average value of the two height positions as the final height position. The control device 4 controls one or two of the first driving assembly 23 and the second driving assembly 13 according to the final result, and drives one or two of the X-ray receiver 11 and the X-ray emitter 21 to move up and down, so as to realize mutual following or moving to a specified position.

One usage scenario is as follows: when the doctor manually or electrically drives the X-ray receiver 11 to move up and down to a specified position, the specified position is horizontally aligned with the shooting part of the shooting object; the position detection device 3 detects the absolute height position and the relative height position of the X-ray receiver 11 after movement, and the control device 4 calculates and analyzes the final height position of the X-ray receiver 11; the control device 4 controls the X-ray emitter 21 to move up and down to be equal to the height of the X-ray receiver 11, and automatic following is realized. On the contrary, when the doctor actively controls the X-ray emitter 21 to move up and down, the X-ray receiver 11 can also move to the same height as the X-ray emitter 21.

In this embodiment, the X-ray imaging system uses two sensors to measure the height, the distance measuring sensor 31 and the relative position sensor 32 can detect the height of the X-ray emitter 21 relative to the ground independently, and the height detected by the two sensors can be compared and analyzed to eliminate errors, so as to finally improve the detection precision and improve the imaging efficiency.

The present application has been described with reference to specific examples, which are provided only to aid understanding of the present application and are not intended to limit the present application. For a person skilled in the art to which the application pertains, several simple deductions, modifications or substitutions may be made according to the idea of the application.

Claims

1. An X-ray imaging system, comprising:

the position detection device comprises a relative position sensor and a laser ranging sensor, the relative position sensor is arranged on the second driving assembly, and the relative position sensor is used for detecting the lifting relative height position of the X-ray receiver and generating a first detection signal; the laser ranging sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the laser ranging sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; a distance measuring channel is arranged between the laser distance measuring sensor and the reflecting surface, the laser distance measuring sensor is used for emitting laser and irradiating the emitted laser to the reflecting surface through the distance measuring channel, the reflecting surface is used for reflecting the laser, the laser distance measuring sensor is also used for receiving the laser reflected by the reflecting surface, and the laser distance measuring sensor is used for detecting the absolute height position of the lifting of the X-ray receiver according to the emitted laser and the laser reflected by the receiving reflecting surface and generating a second detection signal; and

2. The X-ray imaging system according to claim 1, wherein the laser range sensor previously specifies an initial height position of the X-ray receiver by the reflecting surface, detects a relative height position of the X-ray receiver in which the X-ray receiver is raised and lowered, and obtains an absolute height position of the X-ray receiver in which the X-ray receiver is raised and lowered in conjunction with the initial height position.

3. The X-ray camera system of claim 1, wherein the laser range sensor is configured to directly measure an absolute height position of the X-ray receiver elevation.

4. The X-ray imaging system according to claim 1, wherein the laser ranging sensor is fixed to a top of the second support member, and the reflecting surface is provided at an end of the second linkage part.

5. The X-ray imaging system according to claim 4, wherein the second linkage part has a reflection portion of an integrated structure, the reflection portion forming the reflection surface; alternatively, a reflecting plate is attached to the second linkage member, and at least one surface of the reflecting plate forms the reflecting surface.

6. An X-ray imaging system according to claim 5, wherein a reflective coating layer is provided on the reflecting portion or the reflecting plate, the reflective coating layer forming the reflecting surface.

7. The X-ray imaging system of claim 4, wherein the second linkage member includes a belt and a weight, the reflective surface being located on the belt and/or the weight.

8. The X-ray imaging system according to claim 7, wherein the second driving assembly further includes a driving motor and a fixed pulley, the driving motor and the fixed pulley are disposed on the second support member, the driving motor is connected to the fixed pulley, the transmission belt is wound around the fixed pulley, both ends of the transmission belt are located on both sides of the fixed pulley, one end of the transmission belt is connected to the X-ray receiver, the other end of the transmission belt is connected to the weight block, and the driving motor drives the X-ray receiver to ascend and descend through the fixed pulley and the transmission belt.

9. The X-ray imaging system of claim 8, wherein the second drive assembly further comprises a carriage, the carriage being elevatably disposed on the second support, the belt being coupled to the carriage, the X-ray receiver being disposed on the carriage.

10. The X-ray imaging system according to any one of claims 1 to 9, wherein the second support member is a column, a vertical sliding groove is formed in a side surface of the column, the second driving assembly and the laser range sensor are located in the column, the X-ray receiver is located on an outer side of the column, and the X-ray receiver is connected with the second driving assembly through the sliding groove.

11. The X-ray camera system of claim 10, wherein a mounting box is provided within the column, the mounting box having an opening or aperture, the laser range sensor being located within the mounting box, the laser range sensor emitting and receiving laser light through the opening or aperture.

12. An X-ray imaging system according to claim 1, wherein the X-ray emitting device is provided with the position detecting device for measuring an absolute height position of the X-ray emitting device.

13. An X-ray imaging system, comprising:

14. The X-ray imaging system of claim 13, wherein the laser range sensor is fixed to a top of the second support member, and the reflecting surface is provided at an end of the second linkage part.

15. An X-ray imaging system according to claim 14, wherein a reflective coating layer is provided on the reflection section or the reflection plate, the reflective coating layer forming the reflection surface.

16. The X-ray imaging system of claim 14, wherein the second linkage member comprises a belt and a weight, the reflective surface being located on the belt and/or the weight.

17. The X-ray imaging system according to claim 13, wherein the second support member is a column, a vertical sliding groove is formed in a side surface of the column, the second driving assembly and the laser ranging sensor are located in the column, the X-ray receiver is located on an outer side of the column, and the X-ray receiver is connected to the second driving assembly through the sliding groove.

18. An X-ray imaging system, comprising:

the X-ray receiving device comprises an X-ray receiver, a second support and a second driving assembly, wherein the X-ray receiver is movably arranged on the second support and is used for receiving X-rays passing through the shooting object; the second driving assembly is arranged on the second support and is connected with the X-ray receiver, and the second driving assembly is used for driving the X-ray receiver to move; the second drive assembly includes a second linkage component in linkage with the X-ray receiver;

19. The X-ray imaging system of claim 18, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

20. An X-ray imaging system, comprising:

the X-ray emitting device comprises an X-ray emitter, a first supporting piece and a first driving assembly, wherein the X-ray emitter is arranged on the first supporting piece in a liftable mode, the X-ray emitter is used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece, the first driving assembly is connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move in a lifting mode; the first drive assembly comprises a first linkage component in linkage with the X-ray emitter;

the control device is in signal connection with the first driving assembly, the second driving assembly, the relative position sensor and the laser ranging sensor respectively, and the control device is used for acquiring the third detection signal and the fourth detection signal, controlling the X-ray emitter to move to the same height as the X-ray receiver and/or controlling the X-ray emitter to move to the same height as the X-ray receiver according to the third detection signal and the fourth detection signal.

21. The X-ray imaging system according to claim 20, wherein the laser ranging sensor previously specifies an initial height position of the X-ray emitter by the reflecting surface, detects a relative height position at which the X-ray emitter is raised and lowered, and obtains an absolute height position at which the X-ray emitter is raised and lowered in conjunction with the initial height position.

22. The X-ray camera system of claim 20, wherein the laser range sensor is configured to directly measure an absolute elevational position of the X-ray emitter as it is raised and lowered.

23. An X-ray imaging system, comprising:

24. An X-ray imaging system according to claim 23, wherein the range sensor comprises at least one of a laser range sensor, an infrared range sensor, a radar range sensor, and an ultrasonic range sensor.

25. An X-ray receiving device is characterized by comprising an X-ray receiver, a second supporting piece, a second driving assembly, a relative position sensor and a laser ranging sensor, wherein the X-ray receiver is arranged on the second supporting piece in a lifting mode and is used for receiving X-rays passing through a shooting object; the second driving assembly is arranged on the second supporting piece, is connected with the X-ray receiver and is used for driving the X-ray receiver to move up and down; the second drive assembly includes a second linkage component in linkage with the X-ray receiver;

the relative position sensor is arranged on the second driving assembly and used for detecting the relative height position of the lifting of the X-ray receiver; the laser ranging sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the laser ranging sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the laser range finding sensor with the distance measuring passageway has between the plane of reflection, the laser range finding sensor is used for launching laser and passes the laser of transmission the distance measuring passageway shines extremely on the plane of reflection, the plane of reflection is used for reflecting laser, the laser range finding sensor still is used for receiving the laser of plane of reflection, the laser range finding sensor is according to the laser of transmission and receipt the laser detection of plane of reflection the absolute height position that X ray receiver goes up and down.

26. The X-ray reception apparatus of claim 25, wherein the laser range sensor is affixed to a top portion of the second support member, the reflective surface being disposed at an end of the second linkage member.

27. The X-ray reception apparatus of claim 26, wherein the second linkage component has a reflection portion of unitary construction, the reflection portion forming the reflective surface; alternatively, a reflecting plate is attached to the second linkage member, and at least one surface of the reflecting plate forms the reflecting surface.

28. The X-ray receiving device of claim 27, wherein the reflecting portion or the reflecting plate is provided with a reflective coating, the reflective coating forming the reflecting surface.

29. An X-ray receiving device according to claim 26 wherein the second linkage member comprises a belt and a counterweight, the reflective surface being located on the belt and/or the counterweight.

30. The X-ray receiver according to claim 25, wherein the second support member is a vertical column, a vertical sliding groove is formed in a side surface of the vertical column, the second driving assembly and the laser ranging sensor are located in the vertical column, the X-ray receiver is located on an outer side of the vertical column, and the X-ray receiver is connected with the second driving assembly through the sliding groove.

31. An X-ray receiving device is characterized by comprising an X-ray receiver, a second supporting piece, a second driving assembly, a relative position sensor and a distance measuring sensor, wherein the X-ray receiver is movably arranged on the second supporting piece and is used for receiving X-rays passing through a shooting object; the second driving assembly is arranged on the second support and is connected with the X-ray receiver, and the second driving assembly is used for driving the X-ray receiver to move; the second drive assembly includes a second linkage component that is in linkage with the X-ray receiver;

the relative position sensor is arranged on the second driving assembly and used for detecting the relative position of the movement of the X-ray receiver; the distance measuring sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the distance measuring sensor is arranged on the second linkage part, and a reflecting surface is arranged on the second supporting piece; the distance measuring device comprises a distance measuring sensor and a reflecting surface, wherein a distance measuring channel is arranged between the distance measuring sensor and the reflecting surface, the distance measuring sensor is used for transmitting a wireless signal and enabling the transmitted wireless signal to pass through the distance measuring channel to irradiate the reflecting surface, the reflecting surface is used for reflecting the wireless signal, the distance measuring sensor is also used for receiving the wireless signal reflected by the reflecting surface, and the distance measuring sensor detects the absolute position of the movement of the X-ray receiver according to the transmitted wireless signal and the received wireless signal reflected by the reflecting surface.

32. The X-ray receiving device of claim 31, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.

33. An X-ray emitting device is characterized by comprising an X-ray emitter, a first supporting piece, a first driving assembly, a relative position sensor and a laser ranging sensor, wherein the X-ray emitter is arranged on the first supporting piece in a lifting mode and used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece and connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move up and down; the first drive assembly comprises a first linkage component in linkage with the X-ray emitter;

34. The X-ray emitting device of claim 33, wherein the laser ranging sensor is fixed to a top portion of the first support member, and the reflective surface is disposed on the first linkage member.

35. The X-ray emitting device of claim 34, wherein the first linkage member has a reflection portion of an integral structure, the reflection portion forming the reflection surface; alternatively, a reflecting plate is attached to the first interlocking member, and the reflecting surface is formed on at least one surface of the reflecting plate.

36. The X-ray emitting device of claim 34, wherein the reflective portion or the reflective plate is provided with a reflective coating, the reflective coating forming the reflective surface.

37. An X-ray emitting device is characterized by comprising an X-ray emitter, a first supporting piece, a first driving assembly, a relative position sensor and a distance measuring sensor, wherein the X-ray emitter is movably arranged on the first supporting piece and used for emitting X-rays to a shooting object, the first driving assembly is arranged on the first supporting piece and connected with the X-ray emitter, and the first driving assembly is used for driving the X-ray emitter to move up and down; the first drive assembly comprises a first linkage member in linkage with the X-ray emitter;

38. The X-ray emitting device of claim 37, wherein the ranging sensor comprises at least one of a laser ranging sensor, an infrared ranging sensor, a radar ranging sensor, and an ultrasonic ranging sensor.