CN115363614A - X-ray imaging system, X-ray receiving apparatus, and X-ray transmitting apparatus - Google Patents

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

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Publication number
CN115363614A
CN115363614A CN202211034620.8A CN202211034620A CN115363614A CN 115363614 A CN115363614 A CN 115363614A CN 202211034620 A CN202211034620 A CN 202211034620A CN 115363614 A CN115363614 A CN 115363614A
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China
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ray
sensor
laser
distance measuring
supporting piece
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张赞超
杨能飞
常先华
文琪
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Wuhan Mindray Medical Technology Research Institute Co Ltd
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Wuhan Mindray Medical Technology Research Institute Co Ltd
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Priority to CN202211034620.8A priority Critical patent/CN115363614A/en
Publication of CN115363614A publication Critical patent/CN115363614A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • A61B6/037—Emission tomography
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/42—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis
    • A61B6/4208—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector
    • A61B6/4258—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment with arrangements for detecting radiation specially adapted for radiation diagnosis characterised by using a particular type of detector for detecting non x-ray radiation, e.g. gamma radiation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4452—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being able to move relative to each other
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating apparatus or devices for radiation diagnosis
    • A61B6/587—Alignment of source unit to detector unit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating apparatus or devices for radiation diagnosis
    • A61B6/588—Setting distance between source unit and detector unit
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/58—Testing, adjusting or calibrating apparatus or devices for radiation diagnosis
    • A61B6/589—Setting distance between source unit and patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0233—Special features of optical sensors or probes classified in A61B5/00
    • A61B2562/0238—Optical sensor arrangements for performing transmission measurements on body tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0233—Special features of optical sensors or probes classified in A61B5/00
    • A61B2562/0242—Special features of optical sensors or probes classified in A61B5/00 for varying or adjusting the optical path length in the tissue

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Engineering & Computer Science (AREA)
  • Radiology & Medical Imaging (AREA)
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  • Apparatus For Radiation Diagnosis (AREA)

Abstract

An X-ray imaging system, an X-ray receiving apparatus and an X-ray emitting apparatus, the X-ray receiving apparatus includes an X-ray receiving apparatus, an X-ray emitting apparatus, a position detecting apparatus and a laser ranging sensor. Because install laser range finding sensor on X ray receiving arrangement, laser range finding sensor is used for detecting the absolute altitude position of X ray receiver, compares relative position sensor such as traditional encoder, and the laser range finding sensor is relative independent at every turn measuring result, and laser range finding sensor can not accumulative total the mistake and touch for realization that X ray receiver and X ray receiver can be accurate goes up and down each other and follows or pendulum lifting movement such as position guide, improves the efficiency of making a video recording.

Description

X-ray imaging system, X-ray receiving device, and X-ray emitting device
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 camera 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 irradiate 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 in linkage with the X-ray receiver; and
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, 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 second linkage part has a reflection part of an integrated structure, and the reflection part forms 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, the reflecting portion or the reflecting plate is provided with a reflecting coating, and the reflecting coating forms the reflecting 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 second driving motor and a fixed pulley, the second driving motor and the fixed pulley are arranged on the second supporting piece, the second 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 second 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 liftable 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 opening, the laser ranging sensor is located in the mounting box, and the laser ranging sensor transmits and receives laser through the opening or the opening.
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 movably arranged on the first supporting piece and used for emitting X-rays to irradiate 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, the X-ray receiver is movably arranged on the second support, and the X-ray receiver 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; and
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 an X-ray receiver, 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 penetrate 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 height position of the X-ray receiver in moving according to the transmitted wireless signal and the received wireless signal 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, 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 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; and
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.
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 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; and
the X-ray emitting device and the X-ray receiving device are respectively provided with the ranging sensors; the distance measuring sensor on the X-ray emitting device is used for detecting the absolute height position of the X-ray emitting device; the distance measuring 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 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 that is in linkage with 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 channel 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 channel 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 that the plane of reflection reflects, the laser range finding sensor is according to the laser of transmission and receipt the laser detection that the plane of reflection reflects X ray receiver's absolute altitude position.
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 part of an integrated structure, and the reflection part forms 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, the reflecting portion or the reflecting plate is provided with a reflecting coating, and the reflecting coating forms the reflecting 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 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, an X-ray receiving device is provided, which includes an X-ray receiver movably disposed on a second support, a second driving assembly, 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 that is in linkage with 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 with have the range finding passageway between the plane of reflection, the range finding sensor is used for launching radio signal and passes the radio signal of transmission range finding passageway shine to on the plane of reflection, the plane of reflection is used for reflecting radio signal, the range finding sensor still is used for receiving the radio signal of plane of reflection, the range finding sensor is according to the radio signal of transmission and receipt the radio signal detection that the plane of reflection reflects the absolute position that X ray receiver removed.
In one embodiment, the distance measuring sensor is fixed on the top of the second support member, and the reflecting surface is arranged at the end of the second linkage part.
In one embodiment, the second linkage part has a reflection part of an integrated structure, and the reflection part forms 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, the reflecting portion or the reflecting plate is provided with a reflecting coating, and the reflecting coating forms 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, an X-ray emitting device is provided, and includes an X-ray emitter, a first support, a first driving assembly and a laser ranging sensor, where the X-ray emitter is arranged on the first support in a liftable manner, the X-ray emitter is used to emit X-rays to a shooting object, the first driving assembly is arranged on the first support, the first driving assembly is connected with the X-ray emitter, and the first driving assembly is used to drive 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 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, a reflective coating is disposed on the reflective portion or the reflective plate, and the reflective coating forms the reflective surface.
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 and a distance measuring sensor, wherein the X-ray emitter is configured to emit X-rays to a subject, the first driving assembly is disposed on the first support, the first driving assembly is connected to the X-ray emitter, and the first driving assembly is configured to drive the X-ray emitter to move; the first drive assembly comprises a first linkage member in linkage with 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 range finding sensor with have the range finding passageway between the plane of reflection, the range finding sensor is used for launching radio signal and passes the radio signal of transmission range finding passageway shine to on the plane of reflection, the plane of reflection is used for reflecting radio signal, the range finding sensor still is used for receiving the radio signal of plane of reflection, the range finding sensor is according to the radio signal of transmission and receipt the radio signal detection that the plane of reflection reflects the absolute position that X ray emitter removed.
In one embodiment 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.
According to the X-ray camera system, the X-ray receiving device and the X-ray transmitting device of the embodiment, because the laser ranging sensor is installed on the X-ray receiving device and used for detecting the absolute height position of the X-ray receiver, compared with a traditional encoder and other relative position sensors, the laser ranging sensor is relatively independent in measuring result at each time, the laser ranging sensor cannot be accumulated and mistakenly touched, so that the X-ray receiver and the X-ray receiver can accurately realize lifting and following or swinging and guiding and other lifting and moving, 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 exemplary embodiment of an X-ray receiving device;
FIG. 5 is a schematic view 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-a laser ranging 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 the analysis, the height position of the X-ray receiver relative to the ground is detected by the laser ranging sensor. The laser distance measuring sensor measures the distance between the transmitting end and the reflecting surface every time, and the height position of the X-ray receiver relative to the ground is calculated through the distance. The laser ranging 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 laser range sensor has less error than the relative position sensor.
In this application, laser rangefinder sensor also can adopt other types's such as infrared ray range sensor, radar range sensor and ultrasonic ranging sensor measuring transducer. This application adopts laser rangefinder sensor to measure not only can improve and detect the precision, still has cost advantage.
In some embodiments, the laser ranging sensor may also be an absolute position encoder bag, which also enables higher precision position measurement, but the cost of the absolute position encoder is higher and higher than that of the aforementioned laser ranging sensor.
In some schemes, a laser ranging sensor can be arranged on the X-ray emitting device, and the laser ranging sensor detects the height position of the X-ray emitter, so that the mutual following and other positioning lifting precision between the X-ray emitter and the X-ray receiver can be improved.
The present application will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous 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 describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The ordinal numbers used herein for the components, such as "first," "second," etc., are used merely to distinguish between the objects described, and do not have any sequential or technical meaning. The term "connected" or "coupled" as used herein, unless otherwise specified, includes both direct and indirect connections (couplings), where absolute height is defined as the height relative to the ground or to a designated reference.
In one embodiment, an X-ray receiving device 1 is provided, wherein the X-ray receiving device 1 can be a vertical structure, and the X-ray receiving device 1 is provided with a liftable X-ray receiver. Still be equipped with laser range finding sensor on the X ray receiving arrangement 1, laser range finding sensor is used for measuring the high position of X ray receiver, adopts laser range finding sensor to measure and can reduce measuring error, is favorable to realizing that the high accuracy of X ray receiver is followed, improves 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 laser ranging sensor is 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 laser ranging sensor is 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 second supporting member 12 is installed with a distance measuring sensor 3 therein.
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 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, and screw connection, 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 provision of the top cover 123 facilitates the mounting of the second drive assembly 13 and the range sensor 3 within the second support 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 integrated structure with the front case 121 and the rear case 122, and the second driving assembly 13 and the distance measuring sensor 3 may be installed 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 connecting terminal is disposed on the second support 12, one end of the connecting terminal extends into the accommodating cavity of the second support 12 and is connected to the fixed pulley 132, and the other end of the connecting terminal is located outside the second support 12 and is used for being connected to an external driving motor, so as to achieve the lifting driving of the X-ray receiver 11.
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 drive belt 133, the counterweight 134 and the trolley 135 can all serve as a second linkage component of the X-ray receiver 11.
In this embodiment, the laser distance measuring sensor 3 is installed in the accommodating cavity of the second support 12. The top or the upper end in the holding intracavity of second support piece 12 are installed to laser rangefinder sensor 3, mounting box 124 can be installed to the top or the upper end in the holding intracavity of second support piece 12, the lower extreme of mounting box 124 is equipped with opening or trompil, laser rangefinder sensor 3 is installed in mounting box 124, laser rangefinder sensor 3's transmitting terminal and receiving terminal all are located the lower extreme, and align from top to bottom with opening or trompil, make laser rangefinder sensor 3 can pass through opening or trompil transmission laser and receive laser. The mounting box 124 can provide the protection for the laser ranging sensor 3, avoid the laser ranging sensor 3 to collide with other parts, can also avoid the foreign matter to enter into the laser ranging sensor 3.
In other embodiments, the laser ranging sensor 3 may also be one or more of infrared ranging sensor, radar ranging sensor, ultrasonic ranging sensor, and other ranging sensors, and the multiple ranging sensors respectively and independently detect and compare and analyze multiple results to further eliminate measurement errors and improve measurement accuracy. The laser ranging sensor 3 transmits and receives infrared light, electromagnetic waves or ultrasonic waves, the reflecting surface is set to be capable of reflecting the infrared light, the electromagnetic waves or the ultrasonic waves, the laser ranging sensor 3 can also achieve measurement of the distance between the laser ranging sensor 3 and the reflecting surface 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 laser distance measuring sensor 3 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 laser distance measuring sensor 3 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 surface and the laser ranging sensor 3 are arranged face to face in the vertical direction one by one.
Referring to fig. 4, in other embodiments, a plurality of laser distance measuring sensors 3 may also be disposed, for example, one laser distance measuring sensor 3 is disposed at each of the upper and lower ends of the accommodating cavity of the second supporting member 12, and the two laser distance measuring sensors 3 measure on the reflecting surfaces corresponding to the upper and lower surfaces of the reflecting portion or the reflecting plate disposed on the second linking member, 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 arranged at the upper end of the balancing weight 134, and the upper surface of the balancing weight 134 can be coated with a reflecting coating formed by spraying or printing. Or, a reflecting plate is installed at the upper end of the counterweight 134, and a reflecting coating is provided on the reflecting plate, so that a reflecting surface can be formed.
Laser rangefinder sensor 3 and plane of reflection are along the vertical alignment of upper and lower direction, and the plane of reflection level sets up, forms the ranging channel between laser rangefinder sensor 3 and the plane of reflection, and no other part shelters from the propagation of laser in this ranging channel. The laser ranging sensor 3 is used for emitting laser to irradiate the reflecting surface along the vertical direction, the reflecting surface is used for reflecting the laser, the laser ranging sensor 3 is also used for receiving the laser reflected by the reflecting surface, the laser ranging sensor 3 calculates the distance between the laser ranging sensor 3 and the reflecting surface according to the time difference of emitting and receiving the laser 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 laser distance measuring sensor 3 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, the laser distance measuring sensor 3 is used for measuring the distance between the laser distance measuring sensor 3 and the reflecting surface, and the distance, in combination with the inclination angle of the emitted laser, can also calculate the absolute height position of the X-ray receiver 11 when it is lifted.
In this embodiment, the laser distance measuring sensor 3 is fixedly installed, and the reflecting surface serves as a moving part, so that stability of emitting and receiving laser by the laser distance measuring sensor 3 can be provided. In other embodiments, the positions of the laser ranging sensor 3 and the reflecting surface may be interchanged, the laser ranging sensor 3 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 achieve the height position measurement of the X-ray receiver 11.
In this embodiment, the X-ray receiving device 1 further includes a control device 4, and the control device 4 is respectively in signal connection with the driving motor 131 and the laser ranging sensor 3. The control device 4 comprises a processing unit and a control unit, wherein the processing unit is used for calculating an absolute height position according to the first detection signal, 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 absolute 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, the driving motor 131 and the laser ranging sensor 3 of the X-ray receiving device 1 are respectively connected to the control device 4 in a wired or wireless communication manner, and the height position measurement and the elevation control of the X-ray receiver 11 can also be realized.
In this embodiment, the principle that the laser ranging sensor 3 measures 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 laser distance measuring sensor 3 with respect to the ground in advance. The height H of the X-ray receiver 11 relative to the ground and the height 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 laser ranging sensor 3 measures and generates a second detection signal, the control device 4 obtains a time difference between the laser ranging sensor 3 and the emitting laser according to the second detection signal, then calculates a relative height position H3 (a height difference between the laser ranging sensor 3 and the reflecting surface) between the laser ranging sensor 3 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 laser ranging sensor 3 relative to the ground and a height difference H3 between the laser ranging sensor 3 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 laser ranging sensor 3 does not vertically emit laser light, the inclination angle of the laser light relative to the vertical direction needs to be substituted for calculation, and the height difference between the laser ranging sensor 3 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, there is a fixed height difference H4 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 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 laser ranging sensor is 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 laser ranging sensor 3 can be an optical, acoustic or electromagnetic ranging sensor, the laser ranging sensor 3 and the reflecting surface are aligned on a horizontal line, and a horizontal ranging channel is formed between the laser ranging sensor 3 and the reflecting surface. The laser ranging sensor 3 is configured to transmit and receive a wireless signal such as laser light, ultrasonic waves, or electromagnetic waves, and generate a first detection signal. The first 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.
In one embodiment, an X-ray emitting device 2 is provided, the X-ray emitting device 2 is a vertical structure, and the X-ray emitting device 2 is provided with a liftable X-ray receiver. Still be equipped with laser range finding sensor on the X ray emitter 2, laser range finding sensor is used for measuring X ray receiver's high position, adopts laser range finding sensor can reduce the error, is favorable to realizing X ray receiver's high accuracy and follows, improves 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 laser ranging sensor is 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 first supporting member 22 is installed with a distance measuring sensor 3 therein.
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 column 221 and a cantilever 222, the column 221 and the first support 22 have the same or similar structure, the first driving assembly 23 and the second driving assembly 13 have the same or similar structure, and the position of the distance measuring sensor 3 installed in the 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 groove 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 distance measuring sensor 3 is installed in the accommodating cavity of the first supporting member 22. Laser ranging sensor 3 also can be one or more in range finding sensors such as infrared ranging sensor, radar ranging sensor and ultrasonic ranging sensor, and multiple range finding sensors independently detect respectively, carry out contrastive analysis to a plurality of results again to further eliminate measuring error, improve measurement accuracy. The laser ranging sensor 3 is installed at the top or upper end in the holding cavity of the upright column 221, and the reflecting surface is arranged on the first linkage part, for example, the reflecting surface is arranged at the upper end of the balancing weight.
In other embodiments, the laser distance measuring sensor 3 may also be installed on the first linkage part, for example, the laser distance measuring sensor 3 is installed at the upper end of the counterweight block; the reflecting surface is arranged at the top or upper end of the accommodating cavity of the upright 221.
In this embodiment, the laser distance measuring sensor 3 and the reflecting surface are aligned on a vertical straight line, and a distance measuring channel is formed between the laser distance measuring sensor and the reflecting surface and is arranged along the vertical direction. Of course, the laser ranging sensor 3 and the reflecting surface are aligned on an inclined straight line, and the ranging channel is arranged in an inclined direction. The distance measuring channel is vertically or obliquely arranged, so that the transmission of wireless signals such as laser, infrared rays, electromagnetic waves or ultrasonic waves can be realized. For example, the laser distance measuring sensor 3 is used for emitting laser to the reflection surface and receiving the laser reflected by the reflection surface, and generating a second detection signal, which can be used for calculating the absolute 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 respectively in signal connection with the driving motor of the first driving assembly 23 and the laser ranging sensor 3. The control device 4 comprises a processing unit and a control unit, wherein the processing unit is used for respectively calculating absolute height positions according to the second detection signals, 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 movement according to the absolute height positions 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 and the laser ranging sensor 3 are respectively in wired or wireless communication connection with the control device 4, 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 laser ranging sensor 3 on the X-ray emitting device 2 is the same as or similar to that of the laser ranging sensor 3 on the X-ray receiving device 1, and is not described herein again.
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 device 1 in any one of the above embodiments and the X-ray emitting device 2 in any one of the above embodiments, and the X-ray imaging system further includes a laser ranging sensor 3 and a control device 4. Wherein, all install range finding sensors such as laser range finding sensor 3 on X ray receiving arrangement 1 and the X ray emitter 2, laser range finding sensor 3 on the X ray receiving arrangement 1 is used for detecting the absolute height position and the relative altitude position of X ray receiver 11, and laser range finding sensor 3 on the X ray emitter 2 is used for detecting the absolute height position and the relative altitude position of X ray emitter 21. The laser ranging sensors 3 on the X-ray receiving device 1 and the X-ray emitting device 2 can work and detect at the same time, or one of the laser ranging sensors can work and detect selectively, and both the X-ray receiver 11 and the X-ray emitter 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 a laser ranging sensor 3, which also enables the X-ray receiver 11 and the X-ray emitting device 21 to move to a specified height position or to 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 distance measuring sensor 3 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 and the laser distance measuring sensor 3, the control device 4 calculates the absolute height position and the relative height position of the X-ray receiver 11 according to the first detection signals respectively generated by the laser distance measuring sensor 3, and then performs a comparison analysis on the two height positions, so as to eliminate an error and select the one with more accurate position precision as the absolute height position, or take the average value of the two height positions as the absolute 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 distance measuring sensor 3 detects the absolute height position of the X-ray receiver 11 after moving; 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 the laser distance measuring sensor to perform height measurement, and uses the distance measuring sensors such as the laser distance measuring sensor 3 to measure the height position of the X-ray emitter 21 relative to the ground, so that the error can be reduced and eliminated, the detection precision is finally improved, and the imaging efficiency is improved.
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 (32)

1. 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 lifting mode, the X-ray emitter is used for emitting X-rays to irradiate 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 that is in linkage with the X-ray receiver; and
the laser distance measuring sensor is arranged on the second supporting piece, and a reflecting surface is arranged on the second linkage part, or the laser distance measuring 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.
2. 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.
3. The X-ray imaging system according to claim 2, 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.
4. An X-ray imaging system according to claim 3, wherein a reflective coating is provided on the reflecting portion or the reflecting plate, the reflective coating forming the reflecting surface.
5. The X-ray imaging system of claim 2, wherein the second linkage member includes a belt and a weight, the reflective surface being located on the belt and/or the weight.
6. The system according to claim 5, wherein the second driving assembly further comprises a second driving motor and a fixed pulley, the second driving motor and the fixed pulley are disposed on the second supporting member, the second driving motor is connected to the fixed pulley, the belt is wound around the fixed pulley, two ends of the belt are located on two sides of the fixed pulley, one end of the belt is connected to the X-ray receptor, the other end of the belt is connected to the weight block, and the second driving motor drives the X-ray receptor to move up and down through the fixed pulley and the belt.
7. The X-ray imaging system of claim 6, 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.
8. The X-ray imaging system according to any one of claims 1 to 7, 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 with the second driving assembly through the sliding groove.
9. An X-ray camera system according to claim 8, 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.
10. 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 movably arranged on the first supporting piece and used for emitting X-rays to irradiate 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; the second drive assembly includes a second linkage component that is in linkage with the X-ray receiver; and
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 an X-ray receiver, 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 penetrate 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 height position of the X-ray receiver in moving according to the transmitted wireless signal and the received wireless signal reflected by the reflecting surface.
11. The X-ray imaging system of claim 10, 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.
12. 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 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; and
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.
13. The X-ray imaging system of claim 12, 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.
14. 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 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 transmitting device and the X-ray receiving device are respectively provided with the distance measuring sensors; the distance measuring sensor on the X-ray emitting device is used for detecting the absolute height position of the X-ray emitting device; the distance measuring sensor on the X-ray receiving device is used for detecting the absolute height position of the X-ray receiver.
15. The X-ray imaging system of claim 14, 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.
16. An X-ray receiving device is characterized by comprising an X-ray receiver, a second supporting piece, a second driving assembly 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 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 rangefinder sensor with the distance measuring passageway has between the plane of reflection, the laser rangefinder 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 the reflection laser, the laser rangefinder sensor still is used for receiving the laser of plane of reflection, the laser rangefinder sensor is according to the laser of transmission and receipt the laser detection of plane of reflection the absolute altitude position of X ray receiver.
17. The X-ray receiving device of claim 16, wherein the laser ranging sensor is fixed to a top portion of the second support member, and the reflective surface is provided at an end portion of the second linkage part.
18. The X-ray receiving device of claim 17, 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.
19. The X-ray receiving device of claim 18, wherein the reflecting portion or the reflecting plate is provided with a reflective coating, the reflective coating forming the reflecting surface.
20. An X-ray receiving device according to claim 17, wherein the second linkage member comprises a belt and a weight, the reflective surface being located on the belt and/or the weight.
21. The X-ray receiver according to any of claims 16 to 20, wherein the second support is a column, a side of the column is provided with a vertical sliding slot, the second driving assembly and the laser ranging sensor are located in the column, the X-ray receiver is located outside the column, and the X-ray receiver is connected with the second driving assembly through the sliding slot.
22. An X-ray receiving device is characterized by comprising an X-ray receiver, a second support, a second driving assembly and a distance measuring sensor, wherein the X-ray receiver is movably arranged on the second support 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 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.
23. The X-ray reception apparatus of claim 22, wherein the ranging sensor is fixed to a top of the second support member, and the reflective surface is provided at an end of the second linkage part.
24. The X-ray receiving device of claim 22, wherein 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.
25. The X-ray receiving device of claim 24, wherein the reflecting portion or the reflecting plate is provided with a reflective coating, the reflective coating forming the reflecting surface.
26. The X-ray receiving device of any one of claims 23 to 25, 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.
27. An X-ray emitting device is characterized by comprising an X-ray emitter, a first supporting piece, a first driving assembly 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 member in linkage with 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.
28. The X-ray emitting device of claim 27, wherein the laser ranging sensor is fixed to a top portion of the first support member, and the reflective surface is provided on the first linkage member.
29. The X-ray emitting device of claim 28, 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 at least one surface of the reflecting plate forms the reflecting surface.
30. The X-ray emitting device of claim 28, wherein said reflective portion or said reflective plate has a reflective coating thereon, said reflective coating forming said reflective surface.
31. An X-ray emitting device is characterized by comprising an X-ray emitter, a first supporting piece, a first driving assembly 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; the first drive assembly comprises a first linkage member in linkage with 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 range finding sensor with have the range finding passageway between the plane of reflection, the range finding sensor is used for launching radio signal and passes the radio signal of transmission range finding passageway shine to on the plane of reflection, the plane of reflection is used for reflecting radio signal, the range finding sensor still is used for receiving the radio signal of plane of reflection, the range finding sensor is according to the radio signal of transmission and receipt the radio signal detection that the plane of reflection reflects the absolute position that X ray emitter removed.
32. The X-ray emitting 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.
CN202211034620.8A 2022-08-26 2022-08-26 X-ray imaging system, X-ray receiving apparatus, and X-ray transmitting apparatus Pending CN115363614A (en)

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CN202211034620.8A CN115363614A (en) 2022-08-26 2022-08-26 X-ray imaging system, X-ray receiving apparatus, and X-ray transmitting apparatus

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Application Number Priority Date Filing Date Title
CN202211034620.8A CN115363614A (en) 2022-08-26 2022-08-26 X-ray imaging system, X-ray receiving apparatus, and X-ray transmitting apparatus

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CN115363614A true CN115363614A (en) 2022-11-22

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