CN116548998B - Method, device, equipment and medium for determining load of scanning bed - Google Patents
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Abstract
Embodiments of the present disclosure provide a method, apparatus, device, and medium for determining a detector scanning bed load, including: determining an association relation table corresponding to the height data and the proportion parameters based on a target association function, wherein the target association function is determined based on a test data sample set; in response to receiving the target height data fed back by the lifting driving module, selecting a target proportion parameter corresponding to the target height data from the association relation table; when the driving force fed back by the sensor module is received, the load of the scanning bed is determined based on the driving force and the target proportion parameter, so that the problem of insufficient accuracy of the determined load of the scanning bed caused by manufacturing and assembly errors can be avoided.
Description
Technical Field
Embodiments of the present disclosure relate to the technical field of CT scanning systems and related technical fields, and in particular, to a method, apparatus, device, and medium for determining a load of a scanning bed.
Background
At present, a CT scanning system mainly comprises a scanning frame and a scanning bed, as shown in fig. 1, wherein the scanning frame is used for transmitting and receiving rays, and the scanning bed is used for conveying a patient into a scanning hole of the scanning frame through Y-direction lifting and Z-direction translational movement, so as to realize a scanning imaging process of the CT system.
In the prior art, the Z-direction horizontal motion control parameter of the scanning bed is a default value, the Z-direction horizontal motion control parameter cannot change according to the load of the scanning bed, and vibration occurs in the Y-direction due to the load change, as shown in fig. 2, the vibration can cause the quality of CT images to be reduced, and the diagnosis efficiency and the result are further affected. In the prior art, a theoretical formula is adopted to calculate the actual load through the driving force fed back by the sensor, however, each part of the scanning bed comprises manufacturing errors and installation errors, the parts of the scanning bed illustratively comprise a supporting mechanism, a scissor arm, a horizontal bed frame and the like, after the errors are accumulated, the relation between the driving force and the load can be greatly different from a theoretical value, if the actual load is still calculated through the driving force fed back by the sensor through the theoretical formula at the moment, the actual load can be greatly error, the follow-up controller can generate error judgment, the distribution of follow-up control parameters can be greatly influenced, the Y-direction vibration is increased, and the CT image quality is further reduced.
Based on the problems of the prior art, a method for determining the load of a scanning bed is needed.
Disclosure of Invention
Embodiments described herein provide a method, apparatus, device, and medium for determining a load of a scanning bed, which solve the problems of the prior art.
In a first aspect, according to the present disclosure, there is provided a method of determining a scan bed load, comprising:
determining an association relation table corresponding to the height data and the proportion parameters based on a target association function, wherein the target association function is determined based on a test data sample set;
responding to the received target height data fed back by the lifting driving module, and selecting a target proportion parameter corresponding to the target height data from the association relation table;
upon receiving the driving force fed back by the sensor module, a load of the scanning bed is determined based on the driving force and the target ratio parameter.
In some embodiments of the present disclosure, before determining the association table corresponding to the height data and the scale parameter based on the target association function, the method further includes:
constructing a correlation function of the height data and the proportion parameters, wherein the correlation function comprises correlation functions of different function orders;
determining test proportion parameters under different test height data based on the correlation function;
and determining an objective association function based on the relation between the test proportion parameters and the preset test proportion parameters under different test height data.
In some embodiments of the disclosure, the determining the test scale parameter at different test heights based on the correlation function includes:
and sequentially selecting the correlation functions with the function orders of N, and determining test proportion parameters of different test height data under the correlation functions with the function orders of N, wherein N is an integer greater than or equal to 1.
In some embodiments of the present disclosure, the determining the target association function based on the relationship between the test scale parameter and the preset test scale parameter at different test height data includes:
sequentially comparing the relation between the difference value of each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference value;
selecting target test height data corresponding to test proportion parameters with absolute values of differences from preset test proportion parameters smaller than or equal to a first preset threshold under each target order;
and determining the corresponding association function as the target association function when the number of the target test height data is the largest.
In some embodiments of the disclosure, before determining the test scale parameters at different test heights based on the correlation function, the method further includes:
and determining the function coefficients corresponding to the association function in different function orders based on a random sampling consistency algorithm.
In some embodiments of the present disclosure, the determining, based on the target correlation function, a correlation table corresponding to the height data and the scale parameter includes:
determining proportional parameters corresponding to the data of the scanning bed at different heights based on the target correlation function;
and constructing an association relation table based on the height data and the proportion parameters.
In some embodiments of the present disclosure, the method further comprises:
a control parameter is determined based on the load.
In a second aspect, according to the present disclosure, there is provided a determination apparatus of a scanning bed load, comprising:
the incidence relation table determining module is used for determining an incidence relation table corresponding to the height data and the proportion parameters based on a target incidence function, wherein the target incidence function is determined based on a test data sample set;
the target proportion parameter determining module is used for responding to the target height data fed back by the lifting driving module and selecting target proportion parameters corresponding to the target height data from the association relation table;
and the load determining module is used for determining the load of the scanning bed based on the driving force and the target proportion parameter when receiving the driving force fed back by the sensor module.
In a third aspect, according to the present disclosure, there is provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method as in any one of the embodiments above when the computer program is executed.
In a fourth aspect, according to the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method as in any of the above embodiments.
The method, the device, the equipment and the medium for determining the load of the scanning bed provided by the embodiment of the disclosure firstly determine an association relation table corresponding to the height data and the proportion parameters based on a target association function, wherein the target association function is determined based on a test data sample set; then, in response to receiving the target height data fed back by the lifting driving module, selecting a target proportion parameter corresponding to the target height data from the association relation table; and finally, when the driving force fed back by the sensor module is received, the load of the scanning bed is determined based on the driving force and the target proportion parameter, namely, the load of the scanning bed is determined through the driving force and the target proportion parameter, and compared with the prior art that the actual load is calculated through the feedback of the sensor module by adopting a theoretical formula, the target proportion parameter in the method for determining the load of the scanning bed is determined based on a target correlation function, so that the problem of insufficient accuracy of the determined load of the scanning bed caused by manufacturing and assembly errors (each part of the scanning bed comprises a manufacturing error and an installation error and comprises a supporting mechanism, a scissor arm, a horizontal bed frame and the like) can be solved, the optimal control parameter can be configured according to the load, the stability of a motion system is improved, the impact and vibration are reduced, and the image scanning quality is improved.
The foregoing description is only an overview of the technical solutions of the embodiments of the present application, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present application can be more clearly understood, and the following specific embodiments of the present application are given for clarity and understanding.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following brief description of the drawings of the embodiments will be given, it being understood that the drawings described below relate only to some embodiments of the present disclosure, not to limitations of the present disclosure, in which:
FIG. 1 is a schematic diagram of a CT scanning system according to an embodiment of the present disclosure;
FIG. 2 is a schematic view illustrating a vibration state of a scanning bed in a CT scanning system according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a method for determining a load of a scanner bed according to an embodiment of the present disclosure;
fig. 4 is a schematic structural view of a scanning bed according to an embodiment of the present disclosure;
FIG. 5 is a flow chart of another method for determining a load of a scanning bed provided by an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a device for determining a load of a scanner bed according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
In the drawings, the last two digits are identical to the elements. It is noted that the elements in the drawings are schematic and are not drawn to scale.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by those skilled in the art based on the described embodiments of the present disclosure without the need for creative efforts, are also within the scope of the protection of the present disclosure.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the presently disclosed subject matter belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the specification and relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together either directly or joined through one or more intermediate parts.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of the phrase "an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: there are three cases, a, B, a and B simultaneously. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Furthermore, in all embodiments of the present disclosure, terms such as "first" and "second" are used merely to distinguish one component (or portion of a component) from another component (or another portion of a component).
In the description of the present application, unless otherwise indicated, the meaning of "plurality" means two or more (including two), and similarly, "plural sets" means two or more (including two).
In order to make the person skilled in the art better understand the solution of the present application, the technical solution of the embodiment of the present application will be clearly and completely described below with reference to the accompanying drawings.
Based on the problems existing in the prior art, fig. 3 is a schematic flow chart of a method for determining a load of a scanning bed according to an embodiment of the present disclosure, and as shown in fig. 3, a specific process of the method for determining a load of a scanning bed includes:
s110, determining an association relation table corresponding to the height data and the proportion parameters based on the target association function.
Wherein the target correlation function is determined based on the test data sample set.
As shown in fig. 4, the scanning bed body comprises a bed board 101, a horizontal bed frame 102, a scissor lift 103, a lift driving module 104 and a bottom board 105; wherein, the bed board 101 is horizontally and slidably assembled on the top end surface of the horizontal bed frame 102; the two ends of the top of the scissors lifting frame 103 comprise a top switching end and a top sliding end, the top switching end is in switching fit with the bottom end surface of the horizontal bed frame 102, the top sliding end is in sliding fit with the bottom end surface of the horizontal bed frame 102, the two ends of the bottom of the scissors lifting frame 103 comprise a bottom switching end and a bottom sliding end, the bottom switching end is in switching fit with the top end surface of the bottom plate 105, and the bottom sliding end is in sliding fit with the top end surface of the bottom plate 105; the two working ends of the lifting driving module 104 are respectively in one-to-one correspondence and are connected with the top end surface of the bottom plate 105 and one side force arm of the scissor lifting frame 103 in a switching way; the device is used for effectively completing the lifting and translation functions of the established scanning bed body through the structure.
In addition, a sensor module is provided at the elevation driving module 104 or the bottom plate 105, and when the load of the scanner bed is changed, the sensor module may feed back a driving force corresponding to the load.
As a specific implementation manner, based on the target association function, the specific process of determining the association relation table corresponding to the height data and the proportion parameter is as follows:
specifically, before the horizontal bed frame 102 is installed, the data of the sensor module is zeroed, after the horizontal bed frame 102 is installed, the scanning bed is lowered to the lowest point, at this time, based on the target correlation function, it can be determined that when the scanning bed is at the lowest point, the proportion parameters are that the scanning bed is lifted at equal intervals, and the corresponding proportion parameters, namely, the association relation table of the height data and the proportion parameters, when the scanning bed is at different heights is sequentially determined, is shown in the following table one:
table one: association relation table
In this embodiment, in the process of determining the association table corresponding to the height data and the scale parameter, the mass corresponding to the scanning bed is m=m1+0, and M1 is the mass of the horizontal bed frame, that is, the association table corresponding to the height data and the scale parameter is determined in the state of zero load.
In the above embodiment, the method for determining the load of the scanning bed is applied to the control terminal, and the control terminal may be a personal computer, a notebook computer, or an iPad, etc., which is not specifically limited in the embodiments of the present disclosure.
S120, responding to the received target height data fed back by the lifting driving module, and selecting a target proportion parameter corresponding to the target height data from the association relation table.
After determining the association table corresponding to the height data and the proportion parameters, the scanning bed enters a normal working flow, in the working process of the scanning bed, the control terminal receives the target height data of the scanning bed, fed back by the lifting driving module, from the association table, after receiving the target height data fed back by the lifting driving module, the control terminal searches the target proportion parameters corresponding to the target height data, for example, when the control terminal receives the target height data reacted by the lifting driving module, the association table is combined with the table, and then the association table is selected with the target height dataThe corresponding target proportion parameter is->The control terminal receives the response of the lifting driving moduleIs +.>Selecting the target height data from the association table>The corresponding target proportion parameter is->。
And S130, when the driving force fed back by the sensor module is received, determining the load of the scanning bed based on the driving force and the target proportion parameter.
After the target proportion parameter corresponding to the target height data of the lifting driving module of the scanning bed is determined, the control terminal receives the driving force fed back by the sensor module, and after the driving force fed back by the sensor is received, the load of the scanning bed is determined based on the driving force and the target proportion parameter.
Specifically, the relationship among the driving force, the proportional parameter and the load satisfiesWherein->The height is the proportional parameter corresponding to h, m is the mass of the load, and F is the driving force.
Namely, in the process of scanning a load by the scanning bed, the scissor lifting frame 103 of the scanning bed drives the bed board 101 and the horizontal bed frame 102 to move in the Y direction, the lifting driving module feeds back the height information of the bed board 101 and the horizontal bed frame 102, namely target height data, and the sensor module feeds back the detected driving force, at the moment, the load of the scanning bed is determined based on the driving force and the target proportion parameter, so that a target object determines the control parameter based on the determined load, and the accuracy of scanning signals sent to the target object is realized.
The method for determining the load of the scanning bed provided by the embodiment of the disclosure comprises the steps of firstly determining an association relation table corresponding to the height data and the proportion parameters based on a target association function, wherein the target association function is determined based on a test data sample set; then, in response to receiving the target height data fed back by the lifting driving module, selecting a target proportion parameter corresponding to the target height data from the association relation table; and finally, when the driving force fed back by the sensor module is received, the load of the scanning bed is determined based on the driving force and the target proportion parameter, namely, the load of the scanning bed is determined through the driving force and the target proportion parameter, and compared with the prior art that the actual load is calculated through the feedback of the sensor module by adopting a theoretical formula, the target proportion parameter in the method for determining the load of the scanning bed is determined based on a target correlation function, so that the problem of insufficient accuracy of the determined load of the scanning bed caused by manufacturing and assembly errors (each part of the scanning bed comprises a manufacturing error and an installation error and comprises a supporting mechanism, a scissor arm, a horizontal bed frame and the like) can be solved, the optimal control parameter can be configured according to the load, the stability of a motion system is improved, the impact and vibration are reduced, and the image scanning quality is improved.
On the basis of the above embodiment, fig. 5 is a schematic flow chart of another method for determining a load of a scanning bed according to an embodiment of the disclosure, as shown in fig. 5, before step S110, further includes:
s101, constructing a correlation function of the height data and the proportion parameters.
Wherein the correlation function comprises correlation functions of different function orders.
Specifically, the association function corresponding to the constructed height data and the proportion parameter satisfies the following conditions:h is height data, i represents the order of the correlation function, i is greater than or equal to 1 and less than or equal to n, ">The scale parameters corresponding to different height parameters h when the order of the association function is n-order are shown, namely the association function can be an association function of 1-order, and the association function is:the correlation function is a correlation function which can be 2 nd order, and the correlation function is: />。
S102, determining test proportion parameters under different test height data based on the correlation function.
In a specific embodiment, the specific process of determining the test proportion parameters at different test height data is: and sequentially selecting the correlation functions with the function orders of N, and determining the test proportion parameters of different test height data under the correlation functions with the function orders of N, wherein N is an integer greater than or equal to 1.
Specifically, a correlation function with a function order of 1 is selectedDetermining test proportion parameters corresponding to different test height data under the correlation function of the current order, e.g. test height data comprising +.>Respectively find out the test height data +.>Correlation function at level 1->The corresponding test proportion parameter is->The method comprises the steps of carrying out a first treatment on the surface of the Selecting a correlation function with the function order of 2Determining test proportion parameters corresponding to different test height data under the correlation function of the current order, e.g. test height data comprising +.>Respectively find the test height dataCorrelation function at 2 nd order->The corresponding test proportion parameters are thatThe method comprises the steps of carrying out a first treatment on the surface of the Selecting a correlation function with the function order of n>Determining test proportion parameters corresponding to different test height data under the correlation function of the current order, e.g. test height data comprising +.>Respectively find out the test height data +.>Correlation function at order nThe corresponding test proportion parameter is->。
S103, determining a target association function based on the relation between the test proportion parameters under different test height data and the preset test proportion parameters.
In a specific embodiment, determining the target correlation function based on the relationship between the test scale parameters and the preset test scale parameters under different test height data comprises:
sequentially comparing the relation between the difference value of each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference value; selecting target test height data corresponding to the test proportion parameters with absolute values of differences smaller than or equal to a first preset threshold value from the preset test proportion parameters under each target order; when the number of the target test height data is larger than or equal to a second preset threshold value, the correlation function of the target order corresponding to the target test height data is the target correlation function.
Wherein the preset test proportion parameters are the geometric dimensions of the horizontal bed frame based on the scanning bed, and the test proportion parameters corresponding to the horizontal bed frame under different test data obtained by utilizing the virtual work principle, namely the preset test proportion parameters comprise。
Specifically, first, the correlation function at 1 st order is obtainedCorresponding test proportion parameterAnd preset test proportion parameters->Difference of (i.e.)>And->Difference of->，/>And->Difference of->，...，/>And->Difference of->Then sequentially compare +.>And->Difference of->And a preset difference->，/>And->Difference of->And a preset difference->，...，/>And->Difference of->And a preset difference->And acquiring the test height data corresponding to the test ratio parameters, wherein the absolute value of the difference value between the test ratio parameters and the preset test ratio parameters is smaller than or equal to the first preset threshold value, as target test height data.
Then find the correlation function at 2 nd orderCorresponding test proportion parameterAnd preset test proportion parameters->Difference of (i.e.)>And->Difference of->，/>And->Difference of->，...，/>And->Is the difference of (2)Then sequentially compare +.>And->Difference of->And a preset difference->，/>And->Is the difference of (2)And a preset difference->，...，/>And->Difference of->And a preset difference->And acquiring the test height data corresponding to the test ratio parameters, wherein the absolute value of the difference value between the test ratio parameters and the preset test ratio parameters is smaller than or equal to the first preset threshold value, as target test height data.
Then find the correlation function at the order nCorresponding test proportion parameterAnd preset test proportion parameters->Difference of (i.e.)>And->Difference of->，/>And->Difference of->，...，/>And->Difference of->Then sequentially compare +.>And->Difference of->And a preset difference->，/>And->Difference of->And a preset difference->，...，/>And->Difference of->And a preset difference->And acquiring the test height data corresponding to the test ratio parameters, wherein the absolute value of the difference value between the test ratio parameters and the preset test ratio parameters is smaller than or equal to the first preset threshold value, as target test height data.
And finally, determining the target correlation function according to the number of the target test height data determined under the correlation functions of different orders.
As an implementation manner, the correlation function corresponding to the maximum number of the target test height data is selected as the target correlation function.
In the above embodiment, before determining the test proportion parameters under different test height data based on the correlation function, the method further includes:
and determining the corresponding function coefficients of the associated function at different function orders.
The specific process for determining the corresponding function coefficients of the associated function in different function orders comprises the following steps: based on a random sampling consistency algorithm (RANSAC), the function coefficients corresponding to the correlation function at different function orders are determined through random sampling and increasing the iteration times.
In addition, in order to ensure the accuracy of the function coefficients corresponding to the determined association function in different function orders, the iteration times are increased to ensure that the obtained function coefficients are accurately determined to be higher, and the iteration times are increased, which means that the test sample data are increased, the calculated amount is increased.
In addition, after the load is determined, the control parameters are determined based on the load, so that the scanning bed is stable to operate under the determined control parameters, the impact vibration of the scanning bed body is reduced, and further the image scanning quality is improved.
On the basis of the above embodiment, fig. 6 is a schematic structural diagram of a device for determining a load of a scanning bed according to an embodiment of the present disclosure, where, as shown in fig. 6, the device for determining a load of a scanning bed includes:
the association table determining module 610 is configured to determine an association table corresponding to the height data and the scale parameter based on a target association function, where the target association function is determined based on the test data sample set;
the target proportion parameter determining module 620 is configured to select a target proportion parameter corresponding to the target height data from the association table in response to receiving the target height data fed back by the lifting driving module;
the load determining module 630 is configured to determine a load of the scanning bed based on the driving force and the target proportion parameter when the driving force fed back by the sensor module is received.
The device for determining the load of the scanning bed provided by the embodiment of the application firstly determines an association relation table corresponding to the height data and the proportion parameters based on a target association function, wherein the target association function is determined based on a test data sample set; then, in response to receiving the target height data fed back by the lifting driving module, selecting a target proportion parameter corresponding to the target height data from the association relation table; and finally, when the driving force fed back by the sensor module is received, the load of the scanning bed is determined based on the driving force and the target proportion parameter, namely, the load of the scanning bed is determined through the driving force and the target proportion parameter, and compared with the prior art that the actual load is calculated through the feedback of the sensor module by adopting a theoretical formula, the target proportion parameter in the method for determining the load of the scanning bed is determined based on a target correlation function, so that the problem of insufficient accuracy of the determined load of the scanning bed caused by manufacturing and assembly errors (each part of the scanning bed comprises a manufacturing error and an installation error and comprises a supporting mechanism, a scissor arm, a horizontal bed frame and the like) can be solved, the optimal control parameter can be configured according to the load, the stability of a motion system is improved, the impact and vibration are reduced, and the image scanning quality is improved.
In a specific embodiment, the device for determining the load of the scanning bed further comprises a correlation function construction module, a test proportion parameter determination module and a target correlation function determination module;
the correlation function construction module is used for constructing correlation functions of the height data and the proportion parameters, wherein the correlation functions comprise correlation functions with different function orders;
the test proportion parameter determining module is used for determining test proportion parameters under different test height data based on the association function;
and the target association function determining module is used for determining the target association function based on the relation between the test proportion parameters and the preset test proportion parameters under different test height data.
In a specific embodiment, the specific implementation process of the test proportion parameter determining module includes:
and sequentially selecting the correlation functions with the function orders of N, and determining the test proportion parameters of different test height data under the correlation functions with the function orders of N, wherein N is an integer greater than or equal to 1.
In a specific embodiment, the target correlation function determining module comprises a comparing unit, a target test height data selecting unit and a target correlation function determining unit;
the comparison unit is used for sequentially comparing the relation between the difference value of each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference value;
the target test height data selecting unit is used for selecting target test height data corresponding to the test proportion parameters with the absolute value of the difference value smaller than or equal to the first preset threshold value under each target order;
and the target correlation function determining unit is used for determining that the correlation function corresponding to the maximum number of the target test height data is the target correlation function.
In a specific embodiment, the apparatus for determining a load of a scanning bed further comprises: a function coefficient determining module;
and the function coefficient determining module is used for determining the function coefficients corresponding to the associated functions in different function orders.
In a specific embodiment, the association table determining module comprises a proportion parameter determining unit and an association table constructing unit;
determining proportional parameters corresponding to the data of the scanning bed at different heights based on the target correlation function;
and constructing an association relation table based on the height data and the proportion parameters.
The function coefficients corresponding to the functions at different function orders.
In a specific embodiment, the association table determining module comprises a proportion parameter determining unit and an association table constructing unit;
the embodiment of the application also provides computer equipment. Referring specifically to fig. 7, fig. 7 is a basic structural block diagram of a computer device according to the present embodiment.
The computer device includes a memory 410 and a processor 420 communicatively coupled to each other via a system bus. It should be noted that only computer devices having components 410-420 are shown in the figures, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-ProgrammableGate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.
The computer device may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The computer device can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 410 includes at least one type of readable storage medium including non-volatile memory (non-volatile memory) or volatile memory, such as flash memory (flash memory), hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random access memory (random access memory, RAM), read-only memory (ROM), erasable programmable read-only memory (erasable programmable read-only memory, EPROM), electrically erasable programmable read-only memory (electricallyerasable programmable read-only memory, EEPROM), programmable read-only memory (programmable read-only memory, PROM), magnetic memory, RAM, optical disk, etc., which may include static or dynamic. In some embodiments, the memory 410 may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. In other embodiments, the memory 410 may also be an external storage device of a computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like, which are provided on the computer device. Of course, memory 410 may also include both internal storage units of a computer device and external storage devices. In this embodiment, the memory 410 is typically used to store an operating system installed on a computer device and various types of application software, such as program codes of the above-described methods. In addition, the memory 410 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 420 is typically used to perform the overall operations of the computer device. In this embodiment, the memory 410 is used for storing program codes or instructions, the program codes include computer operation instructions, and the processor 420 is used for executing the program codes or instructions stored in the memory 410 or processing data, such as the program codes for executing the above-mentioned method.
Herein, the bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, a peripheral component interconnect (Peripheral Component Interconnect, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The bus system may be classified as an address bus, a data bus, a control bus, etc. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
Still another embodiment of the present application provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads computer readable program code stored in a computer readable medium, such that the processor is capable of performing the functional actions specified in each step or combination of steps in the above-described method; a means for generating a functional action specified in each block of the block diagram or a combination of blocks.
The computer readable medium includes, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor system, apparatus or device, or any suitable combination of the foregoing, the memory storing program code or instructions, the program code including computer operating instructions, and the processor executing the program code or instructions of the above-described methods stored by the memory.
The definition of memory and processor may refer to the description of the embodiments of the computer device described above, and will not be repeated here.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The functional units or modules in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RandomAccess Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
As used herein and in the appended claims, the singular forms of words include the plural and vice versa, unless the context clearly dictates otherwise. Thus, when referring to the singular, the plural of the corresponding term is generally included. Similarly, the terms "comprising" and "including" are to be construed as being inclusive rather than exclusive. Likewise, the terms "comprising" and "or" should be interpreted as inclusive, unless such an interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it follows a set of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or broad.
Further aspects and scope of applicability will become apparent from the description provided herein. It is to be understood that various aspects of the application may be implemented alone or in combination with one or more other aspects. It should also be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
While several embodiments of the present disclosure have been described in detail, it will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present disclosure without departing from the spirit and scope of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (6)
1. A method of determining a load of a scanning bed, comprising:
constructing a correlation function of the height data and the proportion parameters, wherein the correlation function comprises correlation functions of different function orders, and the correlation functions satisfy the following conditions:h is height data, n represents the order of the correlation function, i is greater than or equal to 1 and less than or equal to n, ">The method comprises the steps that proportional parameters corresponding to different height parameters h when the order of the correlation function is n, wherein the proportional parameters are proportional parameters of load and driving force;
determining corresponding function coefficients of the association function in different function orders based on a random sampling consistency algorithm;
determining test proportion parameters under different test height data based on the correlation function;
determining a target association function based on the relation between the test proportion parameters under different test height data and the preset test proportion parameters;
determining an association relation table corresponding to the height data and the proportion parameters under a zero load state based on a target association function, wherein the target association function is determined based on a test data sample set, and the target association function is an association function of the height data and the proportion parameters;
responding to the received target height data fed back by the lifting driving module, and selecting a target proportion parameter corresponding to the target height data from the association relation table;
upon receiving the driving force fed back by the sensor module, determining the scanning bed based on the driving force and the target proportion parameterA load, wherein the relationship of the driving force, the target proportion parameter and the load of the scanning bed satisfies，/>The height is h, m is the mass of the scanning bed and the load, and F is the driving force;
wherein, based on the association function, determining the test proportion parameters under different test height data comprises:
sequentially selecting the correlation functions with the function orders of N, and determining test proportion parameters of different test height data under the correlation functions with the function orders of N, wherein N is an integer greater than or equal to 1;
the determining the target association function based on the relation between the test proportion parameters under different test height data and the preset test proportion parameters comprises the following steps:
sequentially comparing the relation between the difference value of each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference value;
selecting target test height data corresponding to test proportion parameters with absolute values of differences from preset test proportion parameters smaller than or equal to a first preset threshold under each target order;
and determining the corresponding association function as the target association function when the number of the target test height data is the largest.
2. The method according to claim 1, wherein determining the association table of the height data and the scale parameter based on the target association function includes:
determining proportional parameters corresponding to the data of the scanning bed at different heights based on the target correlation function;
and constructing an association relation table based on the height data and the proportion parameters.
3. The method according to claim 1, wherein the method further comprises:
a control parameter is determined based on the load.
4. A scanning bed load determination apparatus, comprising:
the correlation function construction module is used for constructing correlation functions of the height data and the proportion parameters, wherein the correlation functions comprise correlation functions with different function orders, and the correlation functions satisfy the following conditions:h is height data, n represents the order of the correlation function, i is greater than or equal to 1 and less than or equal to n, ">The method comprises the steps that proportional parameters corresponding to different height parameters h when the order of the correlation function is n, wherein the proportional parameters are proportional parameters of load and driving force;
the function coefficient determining module is used for determining the function coefficients corresponding to the correlation functions in different function orders based on a random sampling consistency algorithm;
the test proportion parameter determining module is used for determining test proportion parameters under different test height data based on the association function;
the target association function determining module is used for determining a target association function based on the relation between the test proportion parameters under different test height data and the preset test proportion parameters;
the association relation table determining module is used for determining an association relation table corresponding to the height data and the proportion parameters under the zero load state based on a target association function, wherein the target association function is determined based on a test data sample set, and the target association function is an association function of the height data and the proportion parameters;
the target proportion parameter determining module is used for responding to the target height data fed back by the lifting driving module and selecting target proportion parameters corresponding to the target height data from the association relation table;
a load determining module for determining the load of the scanning bed based on the driving force and the target proportion parameter when the driving force fed back by the sensor module is received, wherein the relation among the driving force, the target proportion parameter and the load of the scanning bed satisfies，/>The height is h, m is the mass of the scanning bed and the load, and F is the driving force;
the test proportion parameter determining module is further used for sequentially selecting the correlation functions with the function orders of N, and determining test proportion parameters of different test height data under the correlation functions with the function orders of N, wherein N is an integer greater than or equal to 1;
the target correlation function determining module comprises a comparing unit, a target test height data selecting unit and a target correlation function determining unit;
the comparison unit is used for sequentially comparing the relation between the difference value of each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference value;
the target test height data selecting unit is used for selecting target test height data corresponding to the test proportion parameters with the absolute value of the difference value smaller than or equal to the first preset threshold value under each target order;
the target correlation function determining unit is used for determining that the correlation function corresponding to the maximum number of the target test height data is the target correlation function.
5. A computer device, comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-3.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-3.
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