CN115462814A

CN115462814A - X-ray imaging system, X-ray emitting device, and X-ray receiving device

Info

Publication number: CN115462814A
Application number: CN202211034612.3A
Authority: CN
Inventors: 张赞超; 黄波; 杨能飞
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: 2022-12-13

Abstract

The utility model provides a sliding position that X ray shooting system, X ray emitter and X ray receiving arrangement, X ray emitter includes X ray emitter, first support and ground rail, and laser rangefinder sensor sets up the at least one end at the ground rail, has the range finding passageway between laser rangefinder sensor and the plane of reflection, and the range finding passageway is located the spout, and laser rangefinder sensor generates corresponding detected signal according to the laser of transmission and the laser of receiving the plane of reflection, and the treater calculates the relative ground rail of X ray emitter according to detected signal. The laser ranging sensor can calculate the coordinate position of the X-ray emitter by measuring the distance between the reflecting surfaces, so that a transmission device for measurement is not required to be arranged on the ground rail, and the laser ranging sensor and the reflecting surfaces are arranged in a sliding groove of the ground rail, so that the ground rail can be miniaturized; in addition, the measurement of the laser ranging sensor belongs to direct measurement, conversion through a transmission device is not needed, and the measurement precision can be improved.

Description

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

Technical Field

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

Background

The X-ray camera system comprises a machine head (an X-ray emitter) and a box (an X-ray receiver), wherein the machine head is used as an emitting end and used for emitting X-rays, and the box is used for accommodating the X-ray receiver and collecting the X-rays emitted by the machine head.

The X-ray emitter is installed on the stand, and the stand is installed on the ground rail, and X-ray emitter and stand can slide along the ground rail level together. In order to automatically or manually control the horizontal sliding position of the X-ray emitter, position detection devices are currently installed between the vertical column and the ground rail. The current position detection device mainly comprises a belt, a potentiometer and other components, needs to occupy larger space in the ground rail, and is not beneficial to the miniaturization of the ground rail.

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 support and a ground rail, wherein a connecting part is arranged at the lower end of the first support, the first support is connected with the ground rail in a sliding mode through the connecting part, the X-ray emitter is arranged on the first support, the X-ray emitter slides along with the first support, and the X-ray emitter is used for emitting X-rays to a shooting object; a sliding groove is formed in the side face, connected with the connecting part in a sliding mode, of the ground rail, the connecting part is clamped in the sliding groove, and a reflecting surface is arranged on the connecting part in the sliding groove;

an X-ray receiving device which comprises an X-ray receiver and a second support, wherein the X-ray receiver is arranged on the second support and is used for receiving X-rays passing through the shooting object;

the laser ranging sensor is arranged at least one end of the ground rail, a ranging channel is arranged between the laser ranging sensor and the reflecting surface, the ranging channel is positioned in the sliding groove, the laser ranging sensor is used for emitting laser and penetrating through the ranging channel to irradiate the reflecting surface, the reflecting surface is used for reflecting the laser, the laser ranging sensor is also used for receiving the laser reflected by the reflecting surface, and the laser ranging sensor generates corresponding detection signals according to the emitted laser and the laser reflected by the reflecting surface; and

and the processor is in signal connection with the laser ranging sensor and calculates the sliding position of the X-ray emitter relative to the ground rail according to the detection signal.

In one embodiment, the processor marks the initial position of the X-ray emitter relative to the laser ranging sensor through the reflecting surface in advance, calculates the relative position of the X-ray emitter relative to the laser ranging sensor according to the detection signal, and calculates the sliding position of the X-ray emitter relative to the ground rail by combining the initial position.

In one embodiment, the reflecting surface is perpendicular to the length direction of the chute, and the laser ranging sensor emits laser along the length direction of the chute.

In one embodiment, the connecting portion is provided with a reflecting plate, and at least one surface of the reflecting plate forms the reflecting surface.

In one embodiment, the distance measuring channel is parallel or approximately parallel to the length direction of the sliding chute.

In one embodiment, the sliding chute is provided with a notch along the length direction, the connecting part is clamped into the sliding chute through the notch, an integrally-formed baffle wall is arranged at the notch, and the distance measuring channel is positioned on the inner side of the baffle wall; or, a baffle plate is installed at the notch, and the ranging channel is located on the inner side of the baffle wall.

In one embodiment, the two sides of the ground rail are provided with the symmetrical sliding grooves, and one side or two sides of the ground rail are provided with the laser ranging sensors.

In one embodiment, the ground rail is provided with a mounting seat, and the laser ranging sensor is arranged on the mounting seat; and the mounting seat is provided with an adjusting hole, and the adjusting hole is used for adjusting the position of the laser ranging sensor relative to the reflecting surface.

In one embodiment, the ground rail comprises a support frame and a cover plate, and the cover plate is fixed above the support frame so that the projected area of the cover plate covers the support frame in the vertical direction of the cover plate.

In one embodiment, an X-ray imaging system includes:

an X-ray receiving device comprising an X-ray receiver and a second support, wherein the X-ray receiver is arranged on the second support and is used for receiving X-rays which pass through the shooting object;

the laser ranging sensor is arranged on the connecting part of the second support, the ground rail is provided with a reflecting surface, a ranging channel is arranged between the laser ranging sensor and the reflecting surface, the laser ranging sensor is used for emitting laser and irradiating the laser to the reflecting surface through the ranging channel, the reflecting surface is used for reflecting the laser, the laser ranging sensor is also used for receiving the laser reflected by the reflecting surface, and the laser ranging sensor generates corresponding detection signals according to the emitted and received laser; and

and the processor is in signal connection with the laser ranging sensor, and calculates the sliding position of the X-ray emitter relative to the ground rail according to the detection signal.

In one embodiment, an X-ray emitting device includes:

a ground rail;

the lower end of the first support is provided with a connecting part, the first support is connected with the ground rail in a sliding mode through the connecting part, and a reflecting surface is arranged on the connecting part;

the X-ray emitter is arranged on the first support, slides along with the first support, and is used for emitting X-rays to a shooting object; and

laser rangefinder sensor, laser rangefinder sensor sets up the at least one end of ground rail, laser rangefinder sensor with the distance measuring passageway has between the plane of reflection, laser rangefinder sensor is used for launching laser and passes the distance measuring passageway shines extremely on the plane of reflection, the plane of reflection is used for the reflection laser, laser rangefinder sensor still is used for receiving the laser of plane of reflection, laser rangefinder sensor is according to the laser of transmission and receipt the laser detection of plane of reflection the X ray emitter is relative the sliding position of ground rail.

In one embodiment, a sliding groove is formed in the side face, connected with the connecting portion in a sliding mode, of the ground rail, the connecting portion is clamped into the sliding groove, and the reflecting plate is located in the sliding groove.

In one embodiment, the reflecting surface is perpendicular to the length direction of the sliding chute, and the laser ranging sensor emits laser along the length direction of the sliding chute.

In one embodiment, the sliding chute is provided with a notch along the length direction, the connecting part is clamped into the sliding chute through the notch, an integrally-formed barrier wall is arranged at the notch, and the distance measuring channel is positioned on the inner side of the barrier wall; or a baffle plate is installed at the notch, and the distance measuring channel is located on the inner side of the baffle wall.

In one embodiment, the two sides of the ground rail are provided with the symmetrical sliding grooves, and one side or two sides of the ground rail are provided with the laser ranging sensor and the reflecting surface.

In one embodiment, an X-ray emitting device includes:

a ground rail;

the lower end of the first bracket is provided with a connecting part, and the first bracket is connected with the ground rail in a sliding manner through the connecting part;

laser rangefinder sensor, laser rangefinder sensor sets up on the connecting portion of first support, the ground rail is equipped with the plane of reflection, laser rangefinder sensor with the distance measuring passageway has between the plane of reflection, laser rangefinder sensor is used for launching laser and passes the distance measuring passageway shines extremely on the plane of reflection, the plane of reflection is used for the reflection laser, laser rangefinder sensor still is used for receiving the laser of plane of reflection, laser rangefinder sensor detects according to the laser of transmission and receipt X ray emitter is relative the sliding position of ground rail.

In one embodiment, one end of the ground rail is provided with a reflecting plate, and at least one surface of the reflecting plate forms the reflecting surface.

In one embodiment, an X-ray receiving device includes:

a ground rail;

the lower end of the second bracket is provided with a connecting part, the second bracket is connected with the ground rail in a sliding manner through the connecting part, and a reflecting surface is arranged on the connecting part;

the X-ray receiver is arranged on the second support, slides along with the second support and is used for receiving X-rays passing through a shooting object; and

laser rangefinder sensor, laser rangefinder sensor sets up the at least one end of ground rail, laser rangefinder sensor with the range finding passageway has between the plane of reflection, laser rangefinder sensor is used for launching laser and passes the range finding passageway shines extremely on the plane of reflection, the plane of reflection is used for the reflection of light, laser rangefinder sensor still is used for receiving the laser of plane of reflection, laser rangefinder sensor is according to the laser of transmission and receipt the laser detection of plane of reflection the X ray receiver is relative the sliding position of ground rail.

In one embodiment, an X-ray receiving device includes:

a ground rail;

the lower end of the second bracket is provided with a connecting part, and the second bracket is connected with the ground rail in a sliding manner through the connecting part;

the X-ray receiver is arranged on the second support, slides along with the second support, and is used for receiving X-rays passing through a shooting object; and

laser rangefinder sensor, laser rangefinder sensor sets up on the connecting portion of second support, the ground rail is equipped with the plane of reflection, laser rangefinder sensor with the distance measuring passageway has between the plane of reflection, laser rangefinder sensor is used for launching laser and passes the distance measuring passageway shines extremely on the plane of reflection, the plane of reflection is used for the reflection of light, laser rangefinder sensor still is used for receiving the laser of plane of reflection, laser rangefinder sensor is according to the laser detection of transmission and receipt X ray emitter is relative the sliding position of ground rail.

According to the X-ray camera system, the X-ray transmitting device and the X-ray receiving device of the embodiment, the laser distance measuring sensor and the reflecting surface are arranged in the ground rail sliding groove of the X-ray transmitting device, the reflecting surface and the X-ray sensor move together, the laser distance measuring sensor can calculate the coordinate position of the X-ray transmitter by measuring the distance between the reflecting surfaces, so that a transmission device for measuring is not required to be arranged on the ground rail, and the laser distance measuring sensor and the reflecting surface are arranged in the sliding groove of the ground rail, so that the ground rail can be miniaturized; and the measurement of adopting laser rangefinder sensor belongs to direct measurement, need not through transmission's conversion, can improve the precision of measurement.

Drawings

FIG. 1 is a schematic diagram of an embodiment of an X-ray imaging system;

FIG. 2 is a schematic illustration of the construction of the ground track and carrier in one embodiment;

FIG. 3 is a schematic view of the structure of the ground rail and carrier in one embodiment;

FIG. 4 is a partial schematic end view of a ground rail according to one embodiment;

FIG. 5 is a cross-sectional view of a ground rail in one embodiment;

FIG. 6 is a cross-sectional view of a ground rail according to an embodiment;

FIG. 7 is a block diagram of a laser range sensor and processor in one embodiment;

FIG. 8 is a schematic diagram of coordinates measured by a laser range sensor in one embodiment;

FIG. 9 is a schematic view of the structure of an X-ray emitting device in one embodiment;

FIG. 10 is a schematic diagram of an embodiment of an X-ray receiving device;

wherein the reference numbers are as follows:

1-an X-ray emitting device, 11-an X-ray emitter, 12-a first bracket, 121-a first upright post, 122-a cantilever, 13-a ground rail, 131-a support frame, 132-a cover plate, 133-a sliding chute, 134-a mounting seat, 135-a cover body, 14-a pulley, 141-a connecting part and 142-a reflecting plate;

2-X-ray receiving device, 21-X-ray receiver, 22-second support, 221-base;

3-laser ranging sensor, 4-processor.

Detailed Description

In an X-ray camera system, an X-ray emitter has an automatic following function, and an X-ray emitting device can automatically follow and move in the horizontal direction and the vertical direction relative to an X-ray receiver, so that the X-ray emitter and the X-ray receiver can keep a correct imaging shooting position. In order to realize the automatic following of the X-ray emitter, the coordinate position of the X-ray emitter relative to the X-ray receiver needs to be monitored, especially, the position in the horizontal direction is monitored, the position in the horizontal direction of the X-ray emitter is monitored, the relative movement of the X-ray emitter relative to the X-ray receiver can be realized, the image pickup of a standing shooting object is realized, the relative movement of the X-ray emitter relative to a platform can also be realized, and the image pickup of a lying shooting object is realized.

At present, the horizontal direction position monitoring to X ray emitter mainly realizes through setting up transmission and monitoring devices on the ground rail, transmission includes belt and runner isotructure, transmission and X ray emitter keep with X ray emitter synchronous motion, this transmission is not used for driving X ray emitter, monitoring devices includes that the encoder is not too late, the encoder is installed on transmission, the indirect coordinate position who monitors X ray emitter of motion through monitoring transmission.

In the prior art, the coordinate position of the X-ray emitter is measured by adopting the indirect measurement mode, a transmission device is required to be arranged, the transmission device occupies a large amount of space of a ground rail, so that the volume of the ground rail is large, an X-ray camera system needs to take a picture to occupy a large space, the activity space of a doctor is reduced, and the X-ray camera system cannot be installed in a small space scene for use; moreover, the coordinate position of the X-ray emitter is indirectly measured, and the measurement precision is influenced by the installation error and the transmission error of the transmission device.

In view of the above problem, this application provides an X ray camera system, and this X ray camera system has saved transmission, adopts the mode direct measurement X ray emitter's of laser rangefinder coordinate position, not only can reduce measuring device's occupation space, can also improve measuring precision.

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 features, operations, or characteristics described in the specification 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 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 "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).

Referring to fig. 1 to 8, in an embodiment, an X-ray imaging system is provided, which mainly includes: the X-ray emitting device 1, the X-ray receiving device 2, the laser ranging sensor 3 and the processor (not shown in the figure), wherein the laser ranging sensor 3 and the processor can be integrally arranged or can be respectively independent components. The X-ray imaging system may include one or both of a portrait type and a landscape type. The vertical X-ray emitting device 1 and the vertical X-ray receiving device 2 are devices with relatively independent physical structures, the X-ray emitting device 1 and the X-ray receiving device 2 are arranged at intervals, a space for standing a shooting object is formed between the X-ray emitting device 1 and the X-ray receiving device 2, and the shooting object is attached to the front of the X-ray receiving device; a space for lying the photographic subject is provided between the X-ray emitting device 1 and the X-ray receiving device 2, and the photographic subject lies flat above the X-ray receiving device 2. The X-ray emitting apparatus 1 emits X-rays to irradiate a photographic subject, and the X-ray receiving apparatus 2 receives the X-rays passing through the photographic subject and images, such as Digital Radiography (DR) imaging.

The laser distance measuring sensor 3 is installed on the X-ray emitting device 1, and the laser distance measuring sensor 3 is used for measuring the coordinate position of the X-ray emitter on the X-ray emitting device 1. The processor can be arranged on the X-ray emitting device 1, wherein the processor and the laser ranging sensor 3 are arranged into an integrated structure, and can also be respectively arranged at different positions on the X-ray emitting device 1; or the processor can also be arranged on an upper host of the X-ray camera system; it is achieved that the processor measures the real-time coordinate position of the X-ray emitter by means of the laser range sensor 3 to assist the automatic following of the X-ray emitter.

The X-ray emitting device 1 mainly comprises an X-ray emitter 11, a first support 12 and a ground rail 13, wherein the ground rail 13 is used for being directly placed on the ground, the lower end of the first support 12 is installed on the ground rail 13, the first support 12 can horizontally move along the length direction of the ground rail 13, the X-ray emitter 11 is installed on the first support 12, and the X-ray emitter 11 horizontally moves along the ground rail 13 along with the first support 12. The first bracket 12 may include a first vertical column 121 and a cantilever 122, the first vertical column 121 is vertically installed on the ground rail 13, the cantilever 122 is horizontally installed on the first vertical column 121, one end of the cantilever 122 is connected to the first vertical column 121 in a liftable manner, the X-ray emitter 11 is installed at one end of the cantilever 122 far away from the first vertical column 121, and the X-ray emitter 11 can rotate relative to the cantilever 122, so that the X-ray emitter 11 can realize horizontal movement, vertical movement and rotation. Wherein, a lifting driving device is installed in the first support 12, and the lifting driving device is used for driving the lifting of the cantilever 122 and the X-ray emitter 11; a rotation driving device is installed in the cantilever 122, and the rotation driving device is used for driving the X-ray emitter 11 to rotate. In addition to the automatic movement and rotation of the X-ray emitter 11, the movement and rotation of the X-ray emitter 11 can also be controlled directly by manual means.

In this embodiment, the first support 12 may be an integrated structure, and the X-ray emitter 11 only has a horizontal movement with the first support 12.

The lower end of the first support 12 may further be provided with a pulley 14, the pulley 14 is slidably connected to the ground rail 13, the first support 12 is mounted on the pulley 14, and the pulley 14 and the first support 12 may be assembled or integrated (the pulley 14 and the first upright 121 are integrated).

The X-ray receiving device 2 is of a vertical structure and comprises an X-ray receiver 21 and a second support 22, a base 221 is arranged at the lower end of the second support 22, the second support 22 is placed on the ground through the base 221, the X-ray receiver 21 can be installed on the second support 22 in a lifting mode, a lifting driving device is installed in the second support 22, and the lifting driving device is used for driving the X-ray receiver 21 to move in a lifting mode. X ray receiver 21 includes spool box and flat panel detector, and the spool box is installed on second support 22, and the vertical setting of spool box, spool box have the detection face of level orientation, and the shooting object is stood when shooing and is leaned on the detection face of spool box. The flat panel detector is inserted in the film box and used for collecting X rays penetrating through a shooting object, and the flat panel detector can be taken out of the film box to realize replacement.

The ground rail 13 comprises a support frame 131 and a cover plate 132, the cover plate 132 is installed at the upper end of the support frame 131, and the projection of the cover plate 132 in the vertical direction covers the support frame 131, so that the upper surface of the ground rail 13 forms a complete plane, which is beneficial to improving the beauty of the ground rail 13.

Horizontal sliding grooves 133 are formed in two sides of the ground rail 13, the sliding grooves 133 are formed in two sides of the supporting frame 131, the length direction of the sliding grooves 133 is parallel to the length direction of the ground rail 13, the sliding grooves 133 are provided with notches, the notches are located on the left side or the right side of the sliding grooves 133, the length of the notches is consistent with that of the sliding grooves 133, or the length of the notches is shorter than that of the sliding grooves 133, and the length of the notches is larger than or equal to the horizontal sliding stroke of the X-ray emitter 11. The tackle 14 is a C-shaped structure lying down, and two sides of the tackle 14 are provided with connecting portions 141, the connecting portions 141 pass through the notches and are inserted into the sliding grooves 133, and the connecting portions 141 may be directly disposed on the first upright 121. The connecting portions 141 on the two sides of the pulley 14 are in one-to-one corresponding sliding connection with the two sliding grooves 133, so that not only is the sliding connection formed, but also the up-and-down limiting is formed, and the pulley 14 and the first support 12 on the pulley 14 can only slide along the length direction of the ground rail 13. A roller may be further disposed on the connection portion 141, and the connection portion 141 slides in the sliding groove 133 through the roller, so as to improve smoothness of sliding.

The ground rail 13 is provided with a laser ranging sensor 3, one laser ranging sensor 3 is positioned at the end part of one of the two sliding grooves 133, the laser ranging sensor 3 can be arranged at the outer side of the end part of the sliding groove 133, and the laser ranging sensor 3 can also be arranged at the end part of the sliding groove 133. Of course, in practical applications, a plurality of laser ranging sensors 3 may be mounted on the ground rail 13, for example, two laser ranging sensors may be mounted at the end position of the ground rail, and the laser ranging errors may be mutually corrected, so as to improve the accuracy of laser ranging.

The mounting base 134 is installed to ground rail 13 one end, and laser rangefinder sensor 3 installs on mounting base 134, and the tip of spout 133 is equipped with the opening, and this open-ended orientation is parallel with the length direction of spout 133, and laser rangefinder sensor 3 is just to the opening of spout 133. The laser distance measuring sensor 3 is used for emitting laser to irradiate into the chute 133.

Cover body 135 is installed respectively at ground rail 13 length direction's both ends, and cover body 135 is used for the opening at sealed spout 133 both ends to cover body 135 forms the holding chamber at the both ends of ground rail 13, and this holding chamber can be used to install fixed mounting 134 and laser range sensor 3, and the holding intracavity can also be used to install other parts, if can also be used to install treater 4.

In other embodiments, the cover 135 may be disposed at one end of the ground rail 13 where the laser distance measuring sensor 3 is installed, the other end of the ground rail 13 may directly use the flat plate sealing sliding groove 133, and the other end of the ground rail 13 may also be disposed as a sealing end of an integrated structure.

In this embodiment, a reflective surface is disposed on the connecting portion 141 in the sliding groove 133 on the side where the laser distance measuring sensor 3 is installed, the reflective surface faces the laser distance measuring sensor 3, a distance measuring channel is disposed between the reflective surface and the laser distance measuring sensor 3, the distance measuring channel is a light path channel, and no other component is disposed between the reflective surface and the laser distance measuring sensor 3 to enable light path propagation in the distance measuring channel. The laser ranging sensor 3 is used for emitting laser to irradiate to the reflecting surface, 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, and the laser ranging sensor 3 calculates the distance between the laser ranging sensor 3 and the reflecting surface according to the reflected laser and the emitted laser. For example, the detection signal is generated by the emitted and received laser light, and the retrieval signal mainly represents the time difference between the emitted and received laser light, and the time difference can be used to calculate the distance between the laser ranging sensor 3 and the reflection surface.

The internal reflection surface of the sliding groove 133 may be perpendicular to the length direction of the sliding groove 133, and both the laser emitted by the laser ranging sensor 3 and the laser received by the laser ranging sensor are parallel to the length direction of the sliding groove 133; the reflecting surface can also be approximately parallel to the length direction of the sliding groove 133, and the laser emitted by the laser ranging sensor 3 and the laser received by the laser ranging sensor are both approximately parallel to the length direction of the sliding groove 133; the distance between the laser ranging sensor 3 and the reflecting surface can be measured when the laser is parallel or approximately parallel to the length direction of the sliding groove 133, and when the laser is approximately parallel to the length direction of the sliding groove 133, the inclination angle between the laser and the length direction of the sliding groove 133 is substituted into the calculation, so that the distance between the laser ranging sensor 3 and the reflecting surface can be calculated accurately.

In this embodiment, the connecting portion 141 is provided with the reflection plate 142, the reflection surface is a side surface of the reflection plate 142, and in order to improve the emissivity, a reflection coating may be provided on the side surface of the reflection plate 142, and the reflection coating forms a smooth reflection surface.

In other embodiments, the reflective surface may be directly disposed on the connection portion 141, such as the connection portion 141 and the reflective plate 142 are an integrated structure, and the reflective plate 142 is a part of the connection portion 141.

In this embodiment, mount pad 134 includes a plurality of mounting structure, is equipped with the regulation hole on a plurality of mounting structure, and when laser ranging sensor 3 was installed at mount pad 134, can realize laser ranging sensor 3's position control to make laser ranging sensor 3 can aim at the plane of reflection, in order to reduce processing and installation error, improve measurement accuracy. Wherein, mount 134 mainly is used for adjusting the plane position of laser rangefinder sensor 3 on the cross section of perpendicular spout 133 length direction to and be used for adjusting the levelness that laser rangefinder sensor 3 sent the laser, so that laser rangefinder sensor 3 can be with accurate the shining of laser on the plane of reflection, and can receive the laser that the plane of reflection reflects.

In other embodiments, the reflection plate 142 is adjustably mounted on the connection portion 141, and the reflection plate 142 is used for adjusting the orientation of the reflection surface to improve the alignment accuracy of the laser ranging sensor 3 and the reflection surface, and also can improve the measurement accuracy.

In this embodiment, the distance measuring channel in the sliding groove 133 may not be disposed in the middle of the sliding groove 133, the distance measuring channel may be disposed on the upper side of the sliding groove 133, and the laser distance measuring sensor 3 is mounted on the upper side of one end of the ground rail 13. On this basis, the upper end of the notch of the sliding groove 133 is provided with a baffle wall of an integrated structure, the baffle wall reduces the opening width of the notch in the vertical direction, the ranging channel is located on the inner side of the baffle wall, the baffle wall forms baffle protection for the ranging channel, and the baffle wall is used for baffle external light to enter the ranging channel so as to reduce the interference of the external light to laser ranging and be beneficial to improving the measuring precision.

In other embodiments, a baffle plate can be installed at the upper end of the slot of the chute 133, and the ranging channel is located inside the baffle plate, so that the interference of external light to the laser ranging can be reduced.

In other embodiments, the distance measuring channel may also be located below the sliding groove 133, a partition wall or a partition plate is disposed at the lower end of the sliding groove 133, and the distance measuring channel is located inside the partition wall or the partition plate, so as to reduce the interference of the external light to the laser distance measurement.

In other embodiments, a plurality of laser ranging sensors 3 may also be disposed on the ground rail 13, for example, a pair of reflective plates 142 and laser ranging sensors 3 are disposed in the sliding grooves 133 on both sides, and two laser ranging sensors 3 measure the sliding position of the carriage 14 at the same time, so as to avoid measurement errors or measurement errors caused by sudden failure or abnormality of one laser ranging sensor 3. Or, if two laser ranging sensors 3 are disposed at two ends of one sliding chute 133, two side surfaces of the reflecting plate 142 are both set as reflecting surfaces, and the two laser ranging sensors 3 measure the sliding position of one reflecting plate 142 at the same time, so that a measurement error or a measurement error caused by sudden failure or abnormality of one laser ranging sensor 3 can be avoided.

In other embodiments, the laser distance measuring sensor 3 and the reflecting surface may be disposed at other positions on the ground rail 13. If the distance measuring channel can also be arranged inside the ground rail 13, the distance measuring channel which is parallel or approximately parallel to the sliding groove 133 is arranged inside the ground rail 13, the distance measuring channel is provided with a side surface or a top part which is provided with a connecting notch, the pulley 14 is provided with an installation part which passes through the connecting notch and extends into the distance measuring channel, the reflecting surface is arranged on the side surface of the installation part, and the laser distance measuring sensor 3 is correspondingly arranged at one end of the distance measuring channel. The distance between the reflecting surface and the laser distance measuring sensor 3 can be measured by arranging the distance measuring channel in the ground rail 13, and the coordinate position of the X-ray emitter 11 can be measured. Or, if the distance measuring channel is arranged on the top surface of the ground rail 13, a distance measuring channel parallel or approximately parallel to the sliding groove 133 is arranged on the top surface of the ground rail 13, the reflecting surface and the laser distance measuring sensor 3 are arranged in the distance measuring channel on the top surface of the ground rail 13, the pulley 14 is provided with an installation part extending to the distance measuring channel, and the reflecting surface is arranged on the installation part, so that the position measurement of the X-ray emitter 11 can be realized.

In this embodiment, the laser ranging sensor 3 is fixedly installed on the ground rail 13, the laser ranging sensor 3 is not moved, the reflecting surface is arranged on the moving connecting part 141, and the laser ranging sensor 3 is fixedly installed to ensure the position accuracy of the laser ranging sensor 3 and the measuring accuracy.

In other embodiments, the positions of the laser distance measuring sensor 3 and the reflecting surface can be interchanged, the laser distance measuring sensor 3 is mounted on the movable connecting part 141 or directly mounted on the sliding chute 14, and the reflecting surface is fixed on the ground rail 13, so that the position measurement of the X-ray emitter 11 can be realized.

In this embodiment, the laser distance measuring sensor 3 generates a corresponding detection signal according to the emitted laser and the laser emitted by the receiving reflection surface, and the processor calculates the sliding position of the X-ray emitter 11 relative to the ground rail 13 according to the detection signal, and the calculation principle of the processor is as follows (since the X-ray emitter 11 and the reflection surface move horizontally along the ground rail 13 together, the distance between the reflection surface and the laser distance measuring sensor 3 is measured, the distance between the X-ray emitter 11 and the laser distance measuring sensor 3 in the horizontal direction can be directly converted, and the X-ray emitter 11 and the reflection surface can be located at the same coordinate position or at different coordinate positions in the length direction of the ground rail 13):

the laser distance measuring sensor 3 is set to a position A of the ground rail 13, which is a distance from the zero point position on the coordinate system (coordinate along the length direction of the ground rail 13)

Of course, the position a of the laser distance measuring sensor 3 may be set to the zero point position of the coordinates.

The initial position of the X-ray emitter 11 relative to the laser ranging sensor 3 is prestored in the processor, and can be manually set in advance, the initial position is manually set firstly, and then the X-ray emitter 11 is moved to a specified position B, wherein the position B is the initial position; or the initial position can be calibrated through a reflecting surface, the X-ray emitter 11 is randomly moved to any position B, and then the distance between the laser ranging sensor 3 and the reflecting surface is measured through the laser emitted and received by the laser ranging sensor 3

Namely, calculating the initial position of the X-ray emitter 11 relative to the laser ranging sensor 3;

after the initial position is manually set or calibrated, the X-ray emitter 11 horizontally moves to the position C along the length direction of the ground rail 13, and the distance between the laser ranging sensor 3 and the reflecting surface is measured by emitting and receiving laser by the laser ranging sensor 3

Distance between two adjacent plates

Is the relative position of the X-ray emitter 11 with respect to the laser range sensor 3.

Last processor pass relative position

And an initial position

Calculate the distance of the X-ray emitter 11

In combination with the coordinates of the laser range sensor 3

And calculating the distance between the position C and the zero point position of the coordinate, namely calculating the sliding position of the X-ray emitter 11 relative to the ground rail 13. After the sliding position of the X-ray emitter 11 relative to the ground rail 13 is calculated, the distance between the X-ray emitter 11 and the X-ray receiver 21 can be calculated according to the position of the X-ray emitter 11 in the coordinate system (after the X-ray emitter 11 is installed and fixed on the ground, the X-ray emitter 11 does not move in the length direction of the ground rail 13, so the position of the X-ray emitter 11 in the coordinate system can be a preset or measurable fixed value).

In this embodiment, the laser distance measuring sensor 3 and the reflecting surface are arranged in the chute 133 of the X-ray emitting device 1, the reflecting surface and the X-ray sensor 11 move together, the laser distance measuring sensor 3 can calculate the coordinate position of the X-ray emitting device 11 by measuring the distance between the reflecting surfaces, so that the ground rail 13 does not need to be provided with a transmission device for measurement, and the laser distance measuring sensor 3 and the reflecting surface are arranged in the chute 133 of the ground rail 13, so that the ground rail can be miniaturized; in addition, the measurement of the laser ranging sensor 3 belongs to direct measurement, conversion through a transmission device is not needed, and the measurement precision can be improved.

In one embodiment, an X-ray emitting device is provided, and the X-ray emitting device of this embodiment is different from the X-ray emitting device 1 in the X-ray imaging system in the above embodiment in that: the X-ray emitting device of the present embodiment further includes a laser ranging sensor 3.

The X-ray emitting device of the present embodiment includes an X-ray emitter 11, a first bracket 12, a ground rail 13, and a laser ranging sensor 3.

The X-ray emitting device of the present embodiment has the same structure and laser ranging manner as the combination of the X-ray emitting device 1 and the laser sensor 3 of the above-described embodiments. The processor connected with the laser ranging sensor 3 can be arranged on the X-ray emitting device, and the processor can also be arranged on other equipment outside the X-ray emitting device. The reflecting surface and the laser ranging sensor 3 are arranged in the groove of the ground rail 13, and the reflecting surface and the laser ranging sensor 3 can also be arranged at other positions of the ground rail 13 so as to realize the measurement of the coordinate position of the X-ray emitter 11.

Referring to fig. 2 to 9, in the present embodiment, the ground rail 13 is used to be directly placed on the ground, the lower end of the first support 12 is installed on the ground rail 13, the first support 12 can horizontally move along the length direction of the ground rail 13, the X-ray emitter 11 is installed on the first support 12, and the X-ray emitter 11 horizontally moves along the ground rail 13 along with the first support 12. The first support 12 may include a first vertical column 121 and a cantilever 122, the first vertical column 121 is vertically installed on the ground rail 13, the cantilever 122 is horizontally installed on the first vertical column 121, one end of the cantilever 122 is connected with the first vertical column 121 in a liftable manner, the X-ray emitter 11 is installed at one end of the cantilever 122 far away from the first vertical column 121, and the X-ray emitter 11 can rotate relative to the cantilever 122, so that the X-ray emitter 11 can realize horizontal movement, vertical movement and rotation. Wherein, a lifting driving device is installed in the first support 12, and the lifting driving device is used for driving the lifting of the cantilever 122 and the X-ray emitter 11; a rotation driving device is installed in the cantilever 122, and the rotation driving device is used for driving the X-ray emitter 11 to rotate. In addition to the automatic movement and rotation of the X-ray emitter 11, the movement and rotation of the X-ray emitter 11 can also be controlled directly by manual means.

In this embodiment, the first support 12 may be an integrated structure, and the X-ray emitter 11 only has horizontal movement with the first support 12.

The X-ray receiving device 2 is of a vertical structure and comprises an X-ray receiver 21 and a second support 22, a base 221 is arranged at the lower end of the second support 22, the second support 22 is placed on the ground through the base 221, the X-ray receiver 21 can be installed on the second support 22 in a lifting mode, a lifting driving device is installed in the second support 22, and the lifting driving device is used for driving the X-ray receiver 21 to move in a lifting mode. The X-ray receiver 21 comprises a cassette and a flat panel detector, the cassette is mounted on the second support 22 and is vertically arranged, the cassette has a detection surface facing horizontally, and a photographic subject stands and leans against the detection surface of the cassette when shooting. The flat panel detector is inserted in the film box and used for collecting X-rays passing through a shooting object, and the flat panel detector can be taken out of the film box to realize replacement.

Horizontal sliding grooves 133 are formed in two sides of the ground rail 13, the sliding grooves 133 are formed in two sides of the supporting frame 131, the length direction of the sliding grooves 133 is parallel to the length direction of the ground rail 13, the sliding grooves 133 are provided with notches, the notches are located on the left side or the right side of the sliding grooves 133, the length of the notches is consistent with that of the sliding grooves 133, or the length of the notches is shorter than that of the sliding grooves 133, and the length of the notches is larger than or equal to the horizontal sliding stroke of the X-ray emitter 11. The pulley 14 is a C-shaped structure lying flat, and the two sides of the pulley 14 are provided with connecting portions 141, the connecting portions 141 pass through the notches and are locked into the sliding grooves 133, and the connecting portions 141 may be directly disposed on the first upright 121. The connecting parts 141 on both sides of the pulley 14 are in one-to-one corresponding sliding connection with the two sliding grooves 133, so that not only is the sliding connection formed, but also the limit in the vertical direction is formed, and the pulley 14 and the first bracket 12 on the pulley 14 can only slide along the length direction of the ground rail 13. A roller may be further disposed on the connecting portion 141, and the connecting portion 141 slides in the sliding slot 133 through the roller, so as to improve smoothness of sliding.

The ground rail 13 is provided with a laser ranging sensor 3, the laser ranging sensor 3 is positioned at the end part of one of the two sliding grooves 133, the laser ranging sensor 3 can be arranged at the outer side of the end part of the sliding groove 133, and the laser ranging sensor 3 can also be arranged at the end part of the sliding groove 133. Of course, in practical applications, a plurality of laser ranging sensors 3 may also be installed on the ground rail 13, for example, two laser ranging sensors may be installed at the end position of the ground rail, and the errors of laser ranging may be mutually corrected, so as to improve the accuracy of laser ranging.

Cover body 135 is installed respectively at ground rail 13 length direction's both ends, and cover body 135 is used for the opening at sealed spout 133 both ends to cover body 135 forms the holding chamber at the both ends of ground rail 13, and this holding chamber can be used for installing mount pad 134 and laser range sensor 3, and the holding intracavity can also be used for installing other parts, if can also be used for installing treater 4.

In other embodiments, the cover 135 may be disposed at one end of the ground rail 13 where the laser distance measuring sensor 3 is installed, the other end of the ground rail 13 may be directly sealed by the flat plate sliding groove 133, and the other end of the ground rail 13 may also be a sealed end of an integrated structure.

The internal reflection surface of the chute 133 can be perpendicular to the length direction of the chute 133, and both the laser emitted by the laser ranging sensor 3 and the received laser are parallel to the length direction of the chute 133; the reflecting surface can also be approximately parallel to the length direction of the sliding groove 133, and the laser emitted by the laser ranging sensor 3 and the laser received by the laser ranging sensor are both approximately parallel to the length direction of the sliding groove 133; the distance between the laser ranging sensor 3 and the reflecting surface can be measured when the laser is parallel or approximately parallel to the length direction of the sliding groove 133, and when the laser is approximately parallel to the length direction of the sliding groove 133, the inclination angle between the laser and the length direction of the sliding groove 133 is substituted into the calculation, so that the distance between the laser ranging sensor 3 and the reflecting surface can be calculated accurately.

In this embodiment, the connecting portion 141 is mounted with the reflection plate 142, the reflection surface is a side surface of the reflection plate 142, and in order to improve the emissivity, a reflection coating may be disposed on the side surface of the reflection plate 142, and the reflection coating forms a smooth reflection surface.

In this embodiment, the distance measuring channel in the sliding slot 133 may not be disposed at the middle position of the sliding slot 133, the distance measuring channel may be disposed at the upper position of the sliding slot 133, and the optical distance measuring sensor 3 is installed at the upper position of one end of the ground rail 13. On this basis, the upper end of the notch of the sliding groove 133 is provided with a baffle wall of an integrated structure, the baffle wall reduces the opening width of the notch in the vertical direction, the ranging channel is located on the inner side of the baffle wall, the baffle wall forms baffle protection for the ranging channel, and the baffle wall is used for baffle external light to enter the ranging channel so as to reduce the interference of the external light to laser ranging and be beneficial to improving the measuring precision.

In other embodiments, the laser distance measuring sensor 3 and the reflecting surface may be disposed at other positions of the ground rail 13. If the distance measuring channel can also be arranged inside the ground rail 13, the distance measuring channel which is parallel or approximately parallel to the sliding groove 133 is arranged inside the ground rail 13, the distance measuring channel is provided with a side surface or a top part which is provided with a connecting notch, the pulley 14 is provided with an installation part which passes through the connecting notch and extends into the distance measuring channel, the reflecting surface is arranged on the side surface of the installation part, and the laser distance measuring sensor 3 is correspondingly arranged at one end of the distance measuring channel. The distance between the reflecting surface and the laser distance measuring sensor 3 can be measured by arranging the distance measuring channel in the ground rail 13, and the coordinate position of the X-ray emitter 11 can be measured. Or, if the distance measuring channel is arranged on the top surface of the ground rail 13, a distance measuring channel parallel or approximately parallel to the sliding groove 133 is arranged on the top surface of the ground rail 13, the reflecting surface and the laser distance measuring sensor 3 are arranged in the distance measuring channel on the top surface of the ground rail 13, the pulley 14 is provided with an installation part extending to the distance measuring channel, and the reflecting surface is arranged on the installation part, so that the position measurement of the X-ray emitter 11 can be realized.

In one embodiment, an X-ray receiving device is provided, and the X-ray receiving device of this embodiment includes an X-ray receiver 21, a second bracket 22, a ground rail 13, and a laser ranging sensor 3.

Referring to fig. 10, the X-ray receiving device of the present embodiment is different from the X-ray emitting device 1 of the previous embodiment in an X-ray receiver 21 and a second bracket 22. In this embodiment, the second support 22 is a one-piece structure, the lower end of the second support 22 is mounted with the carrier 14, the carrier 14 is slidably mounted on the ground rail 13, and the second support 22 can horizontally slide along the ground rail 13 through the carrier 14. The X-ray receiver 21 is arranged on the second bracket 22 in a lifting way, and the X-ray receiver 21 only has the freedom of lifting and horizontal moving.

The ground rail in this embodiment has the same structure as the ground rail 13 in the above embodiment, the lower end of the second bracket 22 has the same carrier 14 and the connecting part 141 as the lower end of the first bracket 21, and the laser distance measuring sensor 3 and the reflecting surface are also arranged in the sliding groove of the ground rail 13 and have the same laser distance measuring mode. The processor connected to the laser distance measuring sensor 3 may be provided on the X-ray receiving device, or the processor may be provided on another device outside the X-ray receiving device. The groove of the ground rail is internally provided with a reflecting surface and a laser ranging sensor 3, and the reflecting surface and the laser ranging sensor 3 can also be arranged at other positions of the ground rail so as to realize the measurement of the coordinate position of the X-ray emitter 11.

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. Numerous simple deductions, modifications or substitutions may also be made by those skilled in the art to which the present application pertains, according to the idea of the present application.

Claims

1. An radiography system, comprising:

2. The radiography system of claim 1 wherein said processor pre-locates an initial position of said X-ray emitter relative to said laser range sensor via said reflective surface, said processor calculates a relative position of said X-ray emitter relative to said laser range sensor based on said detection signal, and calculates a sliding position of said X-ray emitter relative to said ground rail based on said initial position.

3. The radiography system of claim 1 wherein said reflective surface is perpendicular to the length of said chute and said laser range sensor emits laser light along the length of said chute.

4. The radiography system of claim 1 wherein said connecting portion is provided with a reflective plate, at least one surface of said reflective plate forming said reflective surface.

5. The radiography system of claim 1 wherein the ranging channel is parallel or approximately parallel to a length of the chute.

6. The radiography system of claim 1 wherein said chute has a lengthwise slot through which said connector is snapped into said chute, said slot having an integrally formed barrier wall, said ranging channel being located inside said barrier wall; or a baffle plate is installed at the notch, and the distance measuring channel is located on the inner side of the baffle wall.

7. The radiography system of claim 1 wherein said ground rail is provided with said symmetrical runners on each side of said ground rail, and said laser range finding sensor is provided on one or both sides of said ground rail.

8. The radiography system of claim 1 wherein said ground rail has a mounting base, said laser range sensor being mounted to said mounting base; and the mounting seat is provided with an adjusting hole, and the adjusting hole is used for adjusting the position of the laser ranging sensor relative to the reflecting surface.

9. The radiography system of any one of claims 1 to 8 wherein the ground rail comprises a support frame and a cover plate, the cover plate being secured over the support frame such that a projected area of the cover plate in a vertical direction of the cover plate covers the support frame.

10. An radiography system, comprising:

the laser ranging sensor is arranged on the connecting part of the second support, the ground rail is provided with a reflecting surface, a ranging channel is arranged between the laser ranging sensor and the reflecting surface, the laser ranging sensor is used for emitting laser and penetrating through the ranging channel to irradiate the reflecting surface, the reflecting surface is used for reflecting the laser, the laser ranging sensor is also used for receiving the laser reflected by the reflecting surface, and the laser ranging sensor generates corresponding detection signals according to the emitted and received laser; and

11. The radiography system of claim 10 wherein said reflective surface is perpendicular to the length of said chute and said laser range sensor emits laser light along the length of said chute.

12. The radiography system of claim 10 wherein said connecting portion is provided with a reflective plate, at least one surface of said reflective plate forming said reflective surface.

13. The radiography system of claim 10 wherein said range finding channel is parallel or approximately parallel to the length of said chute.

14. An X-ray emitting device, comprising:

a ground rail;

15. The X-ray emitting device of claim 14, wherein the ground rail comprises a support frame and a cover plate, the cover plate being fixed above the support frame such that a projected area of the cover plate in a vertical direction of the cover plate covers the support frame.

16. The X-ray emitting device of claim 14, wherein the connecting portion is provided with a reflecting plate, at least one surface of which forms the reflecting surface.

17. The X-ray emitting device of claim 16, wherein a sliding groove is formed on a side surface of the ground rail, which is slidably connected with the connecting portion, the connecting portion is clamped in the sliding groove, and the reflective plate is located in the sliding groove.

18. The X-ray emitting device of claim 17, wherein the reflective surface is perpendicular to a length of the chute, the laser range sensor emitting laser light along the length of the chute.

19. The X-ray emitting device of claim 17, wherein the sliding slot has a slot along a length direction, the connecting portion is clipped into the sliding slot through the slot, an integrally formed barrier wall is provided at the slot, and the distance measuring channel is located inside the barrier wall; or a baffle plate is installed at the notch, and the distance measuring channel is located on the inner side of the baffle wall.

20. The X-ray emitting device of claim 17, wherein said ground rail is provided with said symmetrical sliding grooves on both sides thereof, and said laser ranging sensor and said reflecting surface are provided on one or both sides thereof.

21. The X-ray emitting device of any one of claims 17 to 20, wherein the ranging channel is parallel or approximately parallel to a length direction of the chute.

22. An X-ray emitting device, comprising:

a ground rail;

23. The X-ray emitting device of claim 22, wherein one end of the ground rail is provided with a reflective plate, at least one side of the reflective plate forming the reflective surface.

24. An X-ray receiving apparatus, comprising:

a ground rail;

laser rangefinder sensor, laser rangefinder sensor sets up the at least one end of ground rail, laser rangefinder sensor with the distance measuring passageway has between the plane of reflection, laser rangefinder sensor is used for launching laser and passes the distance measuring passageway shines extremely on the plane of reflection, the plane of reflection is used for the reflection of light, laser rangefinder sensor still is used for receiving the laser of plane of reflection, laser rangefinder sensor is according to the laser of transmission and receipt the laser detection of plane of reflection the X ray receiver is relative the sliding position of ground rail.

25. An X-ray receiving apparatus, characterized by comprising:

a ground rail;

26. An X-ray receiving device according to claim 24 or claim 25 wherein one end of the ground rail is provided with a reflective plate, at least one side of which forms the reflective surface.

27. The X-ray receiving device of claim 26, wherein a sliding groove is formed in a side surface of the ground rail, which is slidably connected with the connecting portion, the connecting portion is clamped in the sliding groove, and the reflecting plate is located in the sliding groove.