CN116548998B - Method, device, equipment and medium for determining load of scanning bed - Google Patents

Method, device, equipment and medium for determining load of scanning bed Download PDF

Info

Publication number
CN116548998B
CN116548998B CN202310846401.8A CN202310846401A CN116548998B CN 116548998 B CN116548998 B CN 116548998B CN 202310846401 A CN202310846401 A CN 202310846401A CN 116548998 B CN116548998 B CN 116548998B
Authority
CN
China
Prior art keywords
target
test
function
height data
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202310846401.8A
Other languages
Chinese (zh)
Other versions
CN116548998A (en
Inventor
王嘉毅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sinovision Technology Beijing Co ltd
Original Assignee
Sinovision Technology Beijing Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sinovision Technology Beijing Co ltd filed Critical Sinovision Technology Beijing Co ltd
Priority to CN202310846401.8A priority Critical patent/CN116548998B/en
Publication of CN116548998A publication Critical patent/CN116548998A/en
Application granted granted Critical
Publication of CN116548998B publication Critical patent/CN116548998B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/04Positioning of patients; Tiltable beds or the like
    • A61B6/0407Supports, e.g. tables or beds, for the body or parts of the body
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03Computed tomography [CT]
    • A61B6/032Transmission computed tomography [CT]
    • A61B6/035Mechanical aspects of CT
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54Control of apparatus or devices for radiation diagnosis
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54Control of apparatus or devices for radiation diagnosis
    • A61B6/545Control of apparatus or devices for radiation diagnosis involving automatic set-up of acquisition parameters
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30Computing systems specially adapted for manufacturing

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pulmonology (AREA)
  • Theoretical Computer Science (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

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

扫描床负载的确定方法、装置、设备和介质Scanning bed load determination methods, devices, equipment and media

技术领域Technical field

本公开的实施例涉及CT扫描系统技术领域以及相关技术领域,具体地,涉及适用于一种扫描床负载的确定方法、装置、设备和介质。Embodiments of the present disclosure relate to the technical field of CT scanning systems and related technical fields, and in particular, to methods, devices, equipment and media suitable for determining a scanning bed load.

背景技术Background technique

目前,CT扫描系统主要由扫描机架和扫描床两部分组成,如图1所示,其中,扫描机架用于发射和接受射线,扫描床用于通过Y向升降和Z向平移运动将患者送入扫描机架的扫描孔中,实现CT系统的扫描成像过程。At present, the CT scanning system mainly consists of two parts: the scanning gantry and the scanning bed, as shown in Figure 1. The scanning gantry is used to emit and receive rays, and the scanning bed is used to move the patient through Y-direction lifting and Z-direction translation movements. It is sent into the scanning hole of the scanning frame to realize the scanning and imaging process of the CT system.

现有技术中,扫描床的Z向水平运动控制参数为默认值,不会根据扫描床的负载大小发生变化,而Y向会因负载变化出现震动,如图2所示,此振动会导致CT图像质量下降,进而影响了诊断效率和结果。而现有技术中,采用理论公式通过传感器反馈的驱动力计算实际负载,但是,扫描床的每个部件都包含制造误差和安装误差,其部件示例性包括支撑机构、剪刀臂、水平床架等,上述误差累计后,驱动力和负载的关系会与理论数值产生较大差异,若此时仍然采用理论公式通过传感器反馈的驱动力计算实际负载会有较大误差,令后续控制器产生错误判断,对后续控制参数的分配有较大影响,使得Y向震动增大,进而导致CT图像质量下降。In the existing technology, the Z-direction horizontal motion control parameters of the scanning bed are default values and will not change according to the load size of the scanning bed. However, vibration will occur in the Y-direction due to load changes, as shown in Figure 2. This vibration will cause CT Image quality is degraded, which in turn affects diagnostic efficiency and results. In the existing technology, a theoretical formula is used to calculate the actual load through the driving force fed back by the sensor. However, each component of the scanning bed contains manufacturing errors and installation errors. Examples of its components include support mechanisms, scissor arms, horizontal bed frames, etc. , after the above errors are accumulated, the relationship between driving force and load will be greatly different from the theoretical value. If the theoretical formula is still used to calculate the actual load through the driving force fed back by the sensor, there will be a large error, which will cause the subsequent controller to make wrong judgments. , has a great impact on the subsequent distribution of control parameters, causing the Y-direction vibration to increase, which in turn leads to a decrease in CT image quality.

基于现有技术存在的问题,亟需一种扫描床负载的确定方法。Based on the problems existing in the existing technology, a method for determining the load of the scanning bed is urgently needed.

发明内容Contents of the invention

本文中描述的实施例提供了一种扫描床负载的确定方法、装置、设备和介质,解决现有技术存在的问题。The embodiments described herein provide a method, device, equipment and medium for determining the load of a scan bed, and solve the problems existing in the existing technology.

第一方面,根据本公开的内容,提供了一种扫描床负载的确定方法,包括:In a first aspect, according to the present disclosure, a method for determining a scan bed load is provided, including:

基于目标关联函数,确定高度数据与比例参数对应的关联关系表,其中,所述目标关联函数基于测试数据样本集确定;Based on the target correlation function, determine the correlation table corresponding to the height data and the scale parameter, wherein the target correlation function is determined based on the test data sample set;

响应于接收到升降驱动模块反馈的目标高度数据,从所述关联关系表中选取与所述目标高度数据对应的目标比例参数;In response to receiving the target height data fed back by the lifting drive module, select the target proportion parameter corresponding to the target height data from the association table;

在接收到传感器模块反馈的驱动力时,基于所述驱动力和所述目标比例参数,确定所述扫描床的负载。When receiving the driving force fed back by the sensor module, the load of the scanning bed is determined based on the driving force and the target proportion parameter.

在本公开的一些实施例中,所述基于目标关联函数,确定高度数据与比例参数对应的关联关系表之前,还包括:In some embodiments of the present disclosure, before determining the correlation table corresponding to the height data and the scale parameter based on the target correlation function, the method further includes:

构建高度数据与比例参数的关联函数,其中,所述关联函数包括不同函数阶数的关联函数;Construct a correlation function between height data and scale parameters, where the correlation function includes correlation functions of different function orders;

基于所述关联函数,确定在不同测试高度数据下的测试比例参数;Based on the correlation function, determine the test proportion parameters under different test height data;

基于在不同测试高度数据下的测试比例参数与预设测试比例参数的关系,确定目标关联函数。Based on the relationship between the test proportion parameters and the preset test proportion parameters under different test height data, the target correlation function is determined.

在本公开的一些实施例中,所述基于所述关联函数,确定在不同测试高度数据下的测试比例参数,包括:In some embodiments of the present disclosure, determining test proportion parameters under different test height data based on the correlation function includes:

依次选取函数阶数为N阶的所述关联函数,确定不同测试高度数据在函数阶数为N阶的所述关联函数下的测试比例参数,其中,N为大于等于1的整数。The correlation function with a function order of N order is selected in turn, and the test proportion parameters of different test height data under the correlation function with a function order of N order are determined, where N is an integer greater than or equal to 1.

在本公开的一些实施例中,所述基于在不同测试高度数据下的测试比例参数与预设测试比例参数的关系,确定目标关联函数,包括:In some embodiments of the present disclosure, determining the target correlation function based on the relationship between the test proportion parameters and the preset test proportion parameters under different test height data includes:

依次比较目标阶数的所述关联函数对应的各测试比例参数与预设测试比例参数的差值与预设差值的关系;Compare in turn the relationship between the difference between each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference;

在各所述目标阶数下选取与预设测试比例参数的差值的绝对值小于或等于第一预设阈值的测试比例参数所对应的目标测试高度数据;Select the target test height data corresponding to the test proportion parameter whose absolute value is less than or equal to the first preset threshold at each target order and the difference between the preset test proportion parameter and the preset test proportion parameter;

确定目标测试高度数据的个数最多时所对应的关联函数即为目标关联函数。The correlation function corresponding to the largest number of target test height data is determined to be the target correlation function.

在本公开的一些实施例中,所述基于所述关联函数,确定在不同测试高度数据下的测试比例参数之前,还包括:In some embodiments of the present disclosure, before determining the test proportion parameters under different test height data based on the correlation function, the method further includes:

基于随机抽样一致性算法确定所述关联函数在不同函数阶数时对应的函数系数。The corresponding function coefficients of the correlation function at different function orders are determined based on a random sampling consistency algorithm.

在本公开的一些实施例中,所述基于目标关联函数,确定高度数据与比例参数对应的关联关系表,包括:In some embodiments of the present disclosure, determining a correlation table corresponding to height data and scale parameters based on the target correlation function includes:

基于目标关联函数,确定扫描床在不同高度数据对应的比例参数;Based on the target correlation function, determine the proportion parameters corresponding to the data of the scanning bed at different heights;

基于高度数据和比例参数构建关联关系表。Build an association table based on height data and scale parameters.

在本公开的一些实施例中,所述方法还包括:In some embodiments of the present disclosure, the method further includes:

基于所述负载确定控制参数。Control parameters are determined based on the load.

第二方面,根据本公开的内容,提供了一种扫描床负载的确定装置,包括:In a second aspect, according to the present disclosure, a device for determining a scan bed load is provided, including:

关联关系表确定模块,用于基于目标关联函数,确定高度数据与比例参数对应的关联关系表,其中,所述目标关联函数基于测试数据样本集确定;The correlation table determination module is used to determine the correlation table corresponding to the height data and the proportion parameter based on the target correlation function, wherein the target correlation function is determined based on the test data sample set;

目标比例参数确定模块,用于响应于接收到升降驱动模块反馈的目标高度数据,从所述关联关系表中选取与所述目标高度数据对应的目标比例参数;A target proportion parameter determination module, configured to select the 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 drive module;

负载确定模块,用于在接收到传感器模块反馈的驱动力时,基于所述驱动力和所述目标比例参数,确定所述扫描床的负载。A load determination module, configured to determine 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.

第三方面,根据本公开的内容,提供了一种计算机设备,包括存储器和处理器,存储器中存储有计算机程序,处理器执行计算机程序时实现如以上任意一个实施例中方法的步骤。In a third aspect, according to the present disclosure, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, it implements the steps of the method in any of the above embodiments.

第四方面,根据本公开的内容,提供了一种计算机可读存储介质,计算机可读存储介质上存储有计算机程序,计算机程序被处理器执行时实现如以上任意一个实施例中方法的步骤。In a fourth aspect, according to the present disclosure, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the method in any of the above embodiments are implemented.

本公开实施例提供的扫描床负载的确定方法、装置、设备和介质,首先基于目标关联函数,确定高度数据与比例参数对应的关联关系表,其中,目标关联函数基于测试数据样本集确定;然后响应于接收到升降驱动模块反馈的目标高度数据,从关联关系表中选取与目标高度数据对应的目标比例参数;最后在接收到传感器模块反馈的驱动力时,基于驱动力和目标比例参数,确定扫描床的负载,即通过驱动力与目标比例参数,确定扫描床的负载,相比较现有技术中采用理论公式通过传感器模块的反馈计算实际负载,本申请提供的扫描床负载的确定方法中目标比例参数基于目标关联函数确定,可以排除由于制造和装配误差(扫描床的每个部件都包含制造误差和安装误差,包括支撑机构,剪刀臂,水平床架等)导致的确定的扫描床负载的精度不足的问题,进而可根据负载配置最优控制参数,提高运动系统稳定性,降低冲击和振动,提高图像扫描质量。The method, device, equipment and medium for determining the load of the scanning bed provided by the embodiments of the present disclosure first determine the correlation table corresponding to the height data and the proportion parameter based on the target correlation function, where the target correlation function is determined based on the test data sample set; and then In response to receiving the target height data fed back by the lifting drive module, select the target proportion parameter corresponding to the target height data from the association table; finally, when receiving the driving force fed back by the sensor module, based on the driving force and the target proportion parameter, determine The load of the scanning bed is determined through the proportional parameters of the driving force and the target. Compared with the existing technology that uses theoretical formulas to calculate the actual load through feedback from the sensor module, the method for determining the load of the scanning bed provided in this application has a target The scaling parameters are determined based on the target correlation function, which can exclude the determined scanning bed load due to manufacturing and assembly errors (every part of the scanning bed contains manufacturing errors and installation errors, including support mechanisms, scissor arms, horizontal bed frames, etc.) To solve the problem of insufficient accuracy, optimal control parameters can be configured according to the load, improving the stability of the motion system, reducing shock and vibration, and improving image scanning quality.

上述说明仅是本申请实施例技术方案的概述,为了能够更清楚了解本申请实施例的技术手段,而可依照说明书的内容予以实施,并且为了让本申请实施例的上述和其它目的、特征和优点能够更明显易懂,以下特举本申请的具体实施方式。The above description is only an overview of the technical solutions of the embodiments of the present application. In order to have a clearer understanding of the technical means of the embodiments of the present application, they can be implemented according to the content of the description, and in order to achieve the above and other purposes, features and The advantages can be more clearly understood, and the specific implementation methods of the present application are specifically listed below.

附图说明Description of the drawings

为了更清楚地说明本公开的实施例的技术方案,下面将对实施例的附图进行简要说明,应当知道,以下描述的附图仅仅涉及本公开的一些实施例,而非对本公开的限制,其中:In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be understood that the drawings described below only relate to some embodiments of the present disclosure and do not limit the present disclosure. in:

图1是本公开实施例提供的一种CT扫描系统的结构示意图;Figure 1 is a schematic structural diagram of a CT scanning system provided by an embodiment of the present disclosure;

图2是本本公开实施例提供一种CT扫描系统中扫描床体的振动状态示意图;Figure 2 is a schematic diagram of the vibration state of the scanning bed in a CT scanning system provided by an embodiment of the present disclosure;

图3是本公开实施例提供的一种扫描床负载的确定方法的流程示意图;Figure 3 is a schematic flowchart of a method for determining a scan bed load provided by an embodiment of the present disclosure;

图4是本公开实施例提供的一种扫描床体的结构示意图;Figure 4 is a schematic structural diagram of a scanning bed provided by an embodiment of the present disclosure;

图5是本公开实施例提供的另一种扫描床负载的确定方法的流程示意图;Figure 5 is a schematic flowchart of another method for determining the load of a scan bed provided by an embodiment of the present disclosure;

图6是本公开实施例提供的一种扫描床负载的确定装置的结构示意图;Figure 6 is a schematic structural diagram of a device for determining the load of a scanning bed provided by an embodiment of the present disclosure;

图7是本公开实施例提供的一种计算机设备的结构示意图。FIG. 7 is a schematic structural diagram of a computer device provided by an embodiment of the present disclosure.

在附图中,最后两位数字相同的标记对应于相同的元素。需要注意的是,附图中的元素是示意性的,没有按比例绘制。In the drawings, signs with the same last two digits correspond to the same elements. It should be noted that the elements in the figures are schematic and not drawn to scale.

具体实施方式Detailed ways

为了使本公开的实施例的目的、技术方案和优点更加清楚,下面将结合附图,对本公开的实施例的技术方案进行清楚、完整的描述。显然,所描述的实施例是本公开的一部分实施例,而不是全部的实施例。基于所描述的本公开的实施例,本领域技术人员在无需创造性劳动的前提下所获得的所有其它实施例,也都属于本公开保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts also fall within the scope of protection of the present disclosure.

除非另外定义,否则在此使用的所有术语(包括技术和科学术语)具有与本公开主题所属领域的技术人员所通常理解的相同含义。进一步将理解的是,诸如在通常使用的词典中定义的那些的术语应解释为具有与说明书上下文和相关技术中它们的含义一致的含义,并且将不以理想化或过于正式的形式来解释,除非在此另外明确定义。如在此所使用的,将两个或更多部分“连接”或“耦接”到一起的陈述应指这些部分直接结合到一起或通过一个或多个中间部件结合。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 this disclosed subject matter belongs. It will be further understood that terms such as those defined in commonly used dictionaries shall be construed to have meanings consistent with their meanings in the context of the specification and the relevant technology, and shall not be construed in an idealized or overly formal form, Unless otherwise expressly 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 directly or through one or more intervening components.

在本文中提及“实施例”意味着,结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语“实施例”并不一定均是指相同的实施例,也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是,本文所描述的实施例可以与其它实施例相结合。Reference herein to "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase "embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

本文中术语“和/或”,仅仅是一种描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:存在A,同时存在A和B,存在B这三种情况。另外,本文中字符“/”,一般表示前后关联对象是一种“或”的关系。The term "and/or" in this article is just an association relationship that describes related objects, indicating that there can be three relationships. For example, A and/or B can mean: A exists, A and B exist at the same time, and B exists. three conditions. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

此外,在本公开的所有实施例中,诸如“第一”和“第二”的术语仅用于将一个部件(或部件的一部分)与另一个部件(或部件的另一部分)区分开。Furthermore, in all embodiments of the present disclosure, terms such as “first” and “second” are only used to distinguish one component (or part of a component) from another component (or part of a component).

在本申请的描述中,除非另有说明,“多个”的含义是指两个以上(包括两个),同理,“多组”指的是两组以上(包括两组)。In the description of this application, unless otherwise stated, "multiple" means two or more (including two), and similarly, "multiple groups" means two or more groups (including two groups).

为了使本技术领域的人员更好地理解本申请方案,下面将结合附图,对本申请实施例中的技术方案进行清楚、完整地描述。In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

基于现有技术存在的问题,图3是本公开实施例提供的一种扫描床负载的确定方法的流程示意图,如图3所示,扫描床负载的确定方法的具体过程包括:Based on the problems existing in the prior art, Figure 3 is a schematic flowchart of a method for determining the load of the scan bed provided by an embodiment of the present disclosure. As shown in Figure 3, the specific process of the method for determining the load of the scan bed includes:

S110、基于目标关联函数,确定高度数据与比例参数对应的关联关系表。S110. Based on the target correlation function, determine the correlation table corresponding to the height data and the scale parameter.

其中,目标关联函数基于测试数据样本集确定。Among them, the target correlation function is determined based on the test data sample set.

如图4所示,扫描床体包括床板101、水平床架102、剪叉升降架103、升降驱动模块104和底板105;其中,床板101水平滑动装配于水平床架102的顶端面;剪叉升降架103的顶部两端包括顶转接端和顶滑动端,顶转接端转接装配于水平床架102的底端面,顶滑动端滑动装配于水平床架102的底端面,且剪叉升降架103的底部两端包括底转接端和底滑动端,底转接端转接装配于底板105的顶端面,底滑动端滑动装配于底板105的顶端面;升降驱动模块104的两个工作端分别一一对应与底板105的顶端面和剪叉升降架103的一侧力臂之间转接相连;用以通过上述结构有效完成既定的扫描床体升降及平移功能。As shown in Figure 4, the scanning bed body includes a bed board 101, a horizontal bed frame 102, a scissor lifting frame 103, a lifting drive module 104 and a base plate 105; among them, the bed board 101 is horizontally slidably assembled on the top surface of the horizontal bed frame 102; the scissors The top two ends of the lifting frame 103 include a top transfer end and a top sliding end. The top transfer end is transferred and assembled on the bottom end surface of the horizontal bed frame 102. The top sliding end is slidably assembled on the bottom end surface of the horizontal bed frame 102, and the scissors The bottom two ends of the lifting frame 103 include a bottom transfer end and a bottom sliding end. The bottom transfer end is transferred and assembled on the top surface of the base plate 105, and the bottom sliding end is slidably assembled on the top surface of the base plate 105; the two lifting drive modules 104 The working ends are respectively connected to the top surface of the bottom plate 105 and one side force arm of the scissor lifting frame 103 in a one-to-one correspondence, so as to effectively complete the predetermined lifting and translation functions of the scanning bed through the above structure.

此外,将传感器模块设置于升降驱动模块104或底板105处,当扫描床的负载发生变化时,传感器模块可反馈与负载对应的驱动力。In addition, the sensor module is arranged on the lifting drive module 104 or the bottom plate 105. When the load of the scanning bed changes, the sensor module can feed back the driving force corresponding to the load.

作为一种具体的实施方式,基于目标关联函数,确定高度数据与比例参数对应的关联关系表的具体过程为:As a specific implementation, based on the target correlation function, the specific process of determining the correlation table corresponding to the height data and the scale parameter is:

具体的,在安装水平床架102前,将传感器模块的数据归零,在安装水平床架102后,将扫描床降至最低点,此时,基于目标关联函数,可以确定在扫描床在最低点时,比例参数为,通过等间距升高扫描床,依次确定扫描床在不同高度时,对应的比例参数,即高度数据与比例参数对应的关联关系表如下表一所示:Specifically, before installing the horizontal bed frame 102, the data of the sensor module is reset to zero. After installing the horizontal bed frame 102, the scanning bed is lowered to the lowest point. At this time, based on the target correlation function, it can be determined that the scanning bed is at the lowest point. When the point is reached, the scale parameter is: By raising the scanning bed at equal intervals, the corresponding scaling parameters are determined when the scanning bed is at different heights, that is, the correlation table between the height data and the scaling parameter is shown in Table 1 below:

表一:关联关系表Table 1: Association table

在该实施例中,确定高度数据与比例参数对应的关联关系表的过程中,扫描床对应的质量为M=M1+0,M1为水平床架的质量,即在零负载的状态下确定高度数据与比例参数对应的关联关系表。In this embodiment, during the process of determining the correlation table corresponding to the height data and the proportion parameter, the corresponding mass of the scanning bed is M=M1+0, and M1 is the mass of the horizontal bed frame, that is, the height is determined under zero load. Correlation table corresponding to data and scale parameters.

上述实施例中,扫描床负载的确定方法应用于控制终端,控制终端可以为个人计算机,也可以为笔记本电脑,又或者iPad等,本公开实施例不对此进行具体限定。In the above embodiments, the method for determining the load of the scan bed is applied to the control terminal. The control terminal may be a personal computer, a laptop, or an iPad. This is not specifically limited in the embodiments of the present disclosure.

S120、响应于接收到升降驱动模块反馈的目标高度数据,从关联关系表中选取与目标高度数据对应的目标比例参数。S120. In response to receiving the target height data fed back by the lifting drive module, select the target proportion parameter corresponding to the target height data from the association table.

当确定高度数据与比例参数对应的关联关系表后,扫描床进入正常工作流程,在扫描床工作过程中,控制终端接收升降驱动模块反馈的扫描床上升的目标高度数据,控制终端在接收到升降驱动模块反馈的目标高度数据后,从关联关系表中查找与目标高度数据对应的目标比例参数,例如,结合表一,当控制终端接收到升降驱动模块反应的目标高度数据为,则从关联关系表中选取与目标高度数据对应的目标比例参数为/>,控制终端接收到升降驱动模块反应的目标高度数据为/>,则从关联关系表中选取与目标高度数据/>对应的目标比例参数为/>After determining the correlation table corresponding to the height data and the proportion parameter, the scanning bed enters the normal workflow. During the working process of the scanning bed, the control terminal receives the target height data of the scanning bed rising fed back by the lifting drive module. After the target height data is fed back by the drive module, the target proportion parameter corresponding to the target height data is searched from the association table. For example, based on Table 1, when the control terminal receives the target height data responded by the lifting drive module, then from the association table Select and target height data from table The corresponding target proportion parameter is/> , the target height data that the control terminal receives from the lift drive module is/> , then select the target height data/> from the association table The corresponding target proportion parameter is/> .

S130、在接收到传感器模块反馈的驱动力时,基于驱动力和目标比例参数,确定扫描床的负载。S130. When receiving the driving force fed back by the sensor module, determine the load of the scanning bed based on the driving force and the target proportion parameter.

在确定与扫描床的升降驱动模块的目标高度数据对应的目标比例参数后,控制终端接收传感器模块反馈的驱动力,在接收到传感器反馈的驱动力后,基于驱动力和目标比例参数,确定扫描床的负载。After determining the target proportion parameter corresponding to the target height data of the lifting drive module of the scanning bed, the control terminal receives the driving force fed back by the sensor module, and after receiving the driving force fed back by the sensor, determines the scan based on the driving force and the target proportion parameter. Loads of beds.

具体的,驱动力、比例参数和负载的关系满足,其中,/>表示高度为h对应的比例参数,m为负载的质量,F为驱动力。Specifically, the relationship between driving force, proportional parameters and load satisfies , where,/> Indicates the proportional parameter corresponding to height h, m is the mass of the load, and F is the driving force.

即在扫描床对负载进行扫描的过程中,扫描床的剪叉升降架103带动床板101和水平床架102在Y向运动,升降驱动模块反馈床板101和水平床架102的高度信息,也即目标高度数据,传感器模块反馈检测到的驱动力,此时,基于驱动力和目标比例参数,确定扫描床的负载,进而使得目标对象基于确定的负载确定控制参数,实现对目标对象发送的扫描信号的准确性。That is, when the scanning bed scans the load, 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, and the lifting drive module feeds back the height information of the bed board 101 and the horizontal bed frame 102, that is, The target height data and the sensor module feedback the detected driving force. At this time, based on the driving force and target proportion parameters, the load of the scanning bed is determined, and then the target object determines the control parameters based on the determined load, and realizes the scanning signal sent to the target object. accuracy.

本公开实施例提供的扫描床负载的确定方法,首先基于目标关联函数,确定高度数据与比例参数对应的关联关系表,其中,目标关联函数基于测试数据样本集确定;然后响应于接收到升降驱动模块反馈的目标高度数据,从关联关系表中选取与目标高度数据对应的目标比例参数;最后在接收到传感器模块反馈的驱动力时,基于驱动力和目标比例参数,确定扫描床的负载,即通过驱动力与目标比例参数,确定扫描床的负载,相比较现有技术中采用理论公式通过传感器模块的反馈计算实际负载,本申请提供的扫描床负载的确定方法中目标比例参数基于目标关联函数确定,可以排除由于制造和装配误差(扫描床的每个部件都包含制造误差和安装误差,包括支撑机构,剪刀臂,水平床架等)导致的确定的扫描床负载的精度不足的问题,进而可根据负载配置最优控制参数,提高运动系统稳定性,降低冲击和振动,提高图像扫描质量。The method for determining the load of the scan bed provided by the embodiment of the present disclosure first determines the correlation table corresponding to the height data and the proportion parameter based on the target correlation function, where the target correlation function is determined based on the test data sample set; and then in response to receiving the lift drive For the target height data fed back by the module, the target proportion parameter corresponding to the target height data is selected from the association table; 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, that is, The load of the scanning bed is determined through the driving force and the target proportional parameter. Compared with the existing technology that uses theoretical formulas to calculate the actual load through feedback from the sensor module, the target proportional parameter in the method for determining the load of the scanning bed provided by this application is based on the target correlation function. Determined, the problem of insufficient accuracy of the determined scanning bed load due to manufacturing and assembly errors (every part of the scanning bed contains manufacturing errors and installation errors, including support mechanisms, scissor arms, horizontal bed frames, etc.) can be eliminated, and then The optimal control parameters can be configured according to the load to improve the stability of the motion system, reduce impact and vibration, and improve image scanning quality.

在上述实施例的基础上,图5是本公开实施例提供的另一种扫描床负载的确定方法的流程示意图,如图5所示,步骤S110之前,还包括:Based on the above embodiments, Figure 5 is a schematic flowchart of another method for determining the load of a scan bed provided by an embodiment of the present disclosure. As shown in Figure 5 , before step S110, it also includes:

S101、构建高度数据与比例参数的关联函数。S101. Construct a correlation function between height data and scale parameters.

其中,关联函数包括不同函数阶数的关联函数。Among them, the correlation function includes correlation functions of different function orders.

具体的,构建的高度数据与比例参数对应的关联函数满足:,h为高度数据,i表示关联函数的阶数,i大于等于1小于等于n,/>表示在关联函数的阶数n阶时不同高度参数h对应的比例参数,即关联函数可以为1阶的关联函数,此时关联函数为:,关联函数为也可以为2阶的关联函数,此时关联函数为:/>Specifically, the correlation function corresponding to the constructed height data and the scale parameter satisfies: , h is the 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,/> Indicates the proportional parameters corresponding to different height parameters h when the order of the correlation function is n. That is, the correlation function can be a correlation function of order 1. In this case, the correlation function is: , the correlation function is a correlation function that can also be a second-order correlation function. In this case, the correlation function is:/> .

S102、基于关联函数,确定在不同测试高度数据下的测试比例参数。S102. Based on the correlation function, determine the test proportion parameters under different test height data.

在具体的实施方式中,确定在不同测试高度数据下的测试比例参数的具体过程为:依次选取函数阶数为N阶的关联函数,确定不同测试高度数据在函数阶数为N阶的关联函数下的测试比例参数,其中,N为大于等于1的整数。In a specific implementation, the specific process of determining the test proportion parameters under different test height data is: sequentially selecting a correlation function with an N-order function, and determining a correlation function with an N-order function for different test height data. The test proportion parameter below, where N is an integer greater than or equal to 1.

具体的,选取函数阶数为1阶的关联函数,确定在当前阶数的关联函数下不同测试高度数据对应的测试比例参数,例如测试高度数据包括/>,分别求取测试高度数据/>在1阶的关联函数/>下对应的测试比例参数,即/>;选取函数阶数为2阶的关联函数,确定在当前阶数的关联函数下不同测试高度数据对应的测试比例参数,例如测试高度数据包括/>,分别求取测试高度数据在2阶的关联函数/>下对应的测试比例参数,即;选取函数阶数为n阶的关联函数/>,确定在当前阶数的关联函数下不同测试高度数据对应的测试比例参数,例如测试高度数据包括/>,分别求取测试高度数据/>在n阶的关联函数下对应的测试比例参数,即/>Specifically, select the correlation function whose function order is 1st order , determine the test proportion parameters corresponding to different test height data under the current order correlation function, for example, the test height data includes/> , respectively obtain the test height data/> Correlation function of order 1/> The corresponding test proportion parameters are as follows, namely/> ;Select a correlation function whose function order is 2nd order , determine the test proportion parameters corresponding to different test height data under the current order correlation function, for example, the test height data includes/> , respectively obtain the test height data Correlation function at 2nd order/> The corresponding test proportion parameters are as follows, namely ;Select a correlation function whose function order is nth order/> , determine the test proportion parameters corresponding to different test height data under the current order correlation function, for example, the test height data includes/> , respectively obtain the test height data/> Correlation function of order n The corresponding test proportion parameters are as follows, namely/> .

S103、基于在不同测试高度数据下的测试比例参数与预设测试比例参数的关系,确定目标关联函数。S103. Determine the target correlation function based on the relationship between the test proportion parameters and the preset test proportion parameters under different test height data.

在具体的实施方式中,基于在不同测试高度数据下的测试比例参数与预设测试比例参数的关系,确定目标关联函数,包括:In a specific implementation, based on the relationship between the test proportion parameters and the preset test proportion parameters under different test height data, the target correlation function is determined, including:

依次比较目标阶数的关联函数对应的各测试比例参数与预设测试比例参数的差值与预设差值的关系;在各目标阶数下选取与预设测试比例参数的差值的绝对值小于或等于第一预设阈值的测试比例参数所对应的目标测试高度数据;在目标测试高度数据的个数大于或等于第二预设阈值时,与目标测试高度数据对应的目标阶数的关联函数即为目标关联函数。Compare in turn the relationship between the difference between each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference; select the absolute value of the difference from the preset test proportion parameter at each target order The target test height data corresponding to the test proportion parameter that is less than or equal to the first preset threshold; when the number of target test height data is greater than or equal to the second preset threshold, the association with the target order corresponding to the target test height data The function is the target correlation function.

其中,预设测试比例参数为基于扫描床的水平床架的几何尺寸,利用虚功原理求出的水平床架在不同测试高度数据下对应的测试比例参数,即预设测试比例参数包括Among them, the preset test proportion parameters are based on the geometric dimensions of the horizontal bed frame of the scanning bed. The corresponding test proportion parameters of the horizontal bed frame under different test height data are calculated using the principle of virtual work. That is, the preset test proportion parameters include .

具体的,首先求取在1阶关联函数时对应的测试比例参数与预设测试比例参数/>的差值,即/>与/>的差值/>,/>与/>的差值/>,...,/>与/>的差值/>,然后依次比较/>与/>的差值/>与预设差值/>,/>与/>的差值/>与预设差值/>,...,/>与/>的差值/>与预设差值/>的关系,并获取测试比例参数与预设测试比例参数的差值与预设差值的绝对值小于或等于第一预设阈值的测试比例参数对应的测试高度数据为目标测试高度数据。Specifically, first find the first-order correlation function The corresponding test proportion parameter when and preset test ratio parameters/> The difference of /> with/> The difference/> ,/> with/> The difference/> ,...,/> with/> The difference/> , and then compare/> with/> The difference/> Difference from default/> ,/> with/> The difference/> Difference from default/> ,...,/> with/> The difference/> Difference from default/> The relationship between the test proportion parameter and the preset test proportion parameter is obtained, and the test height data corresponding to the test proportion parameter whose absolute value is less than or equal to the first preset threshold is the target test height data.

然后求取在2阶关联函数时对应的测试比例参数与预设测试比例参数/>的差值,即/>与/>的差值/>,/>与/>的差值/>,...,/>与/>的差值,然后依次比较/>与/>的差值/>与预设差值/>,/>与/>的差值与预设差值/>,...,/>与/>的差值/>与预设差值/>的关系,并获取测试比例参数与预设测试比例参数的差值与预设差值的绝对值小于或等于第一预设阈值的测试比例参数对应的测试高度数据为目标测试高度数据。Then find the second-order correlation function The corresponding test proportion parameter when and preset test ratio parameters/> The difference of /> with/> The difference/> ,/> with/> The difference/> ,...,/> with/> The difference , and then compare/> with/> The difference/> Difference from default/> ,/> with/> The difference Difference from default/> ,...,/> with/> The difference/> Difference from default/> The relationship between the test proportion parameter and the preset test proportion parameter is obtained, and the test height data corresponding to the test proportion parameter whose absolute value is less than or equal to the first preset threshold is the target test height data.

然后求取在n阶关联函数时对应的测试比例参数与预设测试比例参数/>的差值,即/>与/>的差值/>,/>与/>的差值/>,...,/>与/>的差值/>,然后依次比较/>与/>的差值/>与预设差值/>,/>与/>的差值/>与预设差值/>,...,/>与/>的差值/>与预设差值/>的关系,并获取测试比例参数与预设测试比例参数的差值与预设差值的绝对值小于或等于第一预设阈值的测试比例参数对应的测试高度数据为目标测试高度数据。Then find the correlation function of order n The corresponding test proportion parameter when and preset test ratio parameters/> The difference of /> with/> The difference/> ,/> with/> The difference/> ,...,/> with/> The difference/> , and then compare/> with/> The difference/> Difference from default/> ,/> with/> The difference/> Difference from default/> ,...,/> with/> The difference/> Difference from default/> The relationship between the test proportion parameter and the preset test proportion parameter is obtained, and the test height data corresponding to the test proportion parameter whose absolute value is less than or equal to the first preset threshold is the target test height data.

最后根据在不同阶数关联函数下确定的目标测试高度数据的个数,确定目标关联函数。Finally, the target correlation function is determined based on the number of target test height data determined under different order correlation functions.

作为一种可实施方式,选取目标测试高度数据的个数最多时所对应的关联函数即为目标关联函数。As an implementation manner, the correlation function corresponding to the largest number of target test height data is selected as the target correlation function.

上述实施例中,基于关联函数,确定在不同测试高度数据下的测试比例参数之前,还包括:In the above embodiment, before determining the test proportion parameters under different test height data based on the correlation function, it also includes:

确定关联函数在不同函数阶数时对应的函数系数。Determine the corresponding function coefficients of the correlation function at different function orders.

确定关联函数在不同函数阶数时对应的函数系数的具体过程包括:基于随机抽样一致性算法(RANSAC),通过随机抽样和增加迭代次数,确定关联函数在不同函数阶数时对应的函数系数。The specific process of determining the function coefficients corresponding to the correlation function at different function orders includes: based on the random sampling consensus algorithm (RANSAC), through random sampling and increasing the number of iterations, determine the function coefficients corresponding to the correlation function at different function orders.

此外,为保证确定的关联函数在不同函数阶数时对应的函数系数的准确度,通过增加迭代次数,保证求得的函数系数的准确定更高,而迭代次数的增加,意味着测试样本数据的增加,计算量会加大,本申请在确定关联函数在不同函数阶数时对应的函数系数时,可以采用CUDA进行加速,进而提高确定关联函数对应的函数系数时的效率。In addition, in order to ensure the accuracy of the function coefficients corresponding to the determined correlation function at different function orders, by increasing the number of iterations, the accuracy of the obtained function coefficients is guaranteed to be higher, and the increase in the number of iterations means that the test sample data The amount of calculation will increase as the amount of calculation increases. This application can use CUDA to accelerate when determining the function coefficients corresponding to the correlation function at different function orders, thereby improving the efficiency of determining the function coefficients corresponding to the correlation function.

此外,当确定负载之后,基于负载确定控制参数,使的扫描床在确定的控制参数下运行稳定性,减少扫描床体冲击振动,进而有助于提升图像扫描质量。In addition, after the load is determined, the control parameters are determined based on the load, so that the scanning bed can operate stably under the determined control parameters and reduce the impact vibration of the scanning bed body, which in turn helps to improve the image scanning quality.

在上述实施例的基础上,图6是本公开实施例提供一种扫描床负载的确定装置的结构示意图,如图6所示,扫描床负载的确定装置包括:Based on the above embodiments, Figure 6 is a schematic structural diagram of a device for determining the load of a scan bed provided by an embodiment of the present disclosure. As shown in Figure 6, the device for determining the load of a scan bed includes:

关联关系表确定模块610,用于基于目标关联函数,确定高度数据与比例参数对应的关联关系表,其中,目标关联函数基于测试数据样本集确定;The correlation table determination module 610 is used to determine the correlation table corresponding to the height data and the scale parameter based on the target correlation function, where the target correlation function is determined based on the test data sample set;

目标比例参数确定模块620,用于响应于接收到升降驱动模块反馈的目标高度数据,从关联关系表中选取与目标高度数据对应的目标比例参数;The target proportion parameter determination module 620 is configured to select the 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 drive module;

负载确定模块630,用于在接收到传感器模块反馈的驱动力时,基于驱动力和目标比例参数,确定扫描床的负载。The load determination module 630 is configured to determine 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.

本申请实施例提供的扫描床负载的确定装置,首先基于目标关联函数,确定高度数据与比例参数对应的关联关系表,其中,目标关联函数基于测试数据样本集确定;然后响应于接收到升降驱动模块反馈的目标高度数据,从关联关系表中选取与目标高度数据对应的目标比例参数;最后在接收到传感器模块反馈的驱动力时,基于驱动力和目标比例参数,确定扫描床的负载,即通过驱动力与目标比例参数,确定扫描床的负载,相比较现有技术中采用理论公式通过传感器模块的反馈计算实际负载,本申请提供的扫描床负载的确定方法中目标比例参数基于目标关联函数确定,可以排除由于制造和装配误差(扫描床的每个部件都包含制造误差和安装误差,包括支撑机构,剪刀臂,水平床架等)导致的确定的扫描床负载的精度不足的问题,进而可根据负载配置最优控制参数,提高运动系统稳定性,降低冲击和振动,提高图像扫描质量。The device for determining the load of the scanning bed provided by the embodiment of the present application first determines the correlation table corresponding to the height data and the proportion parameter based on the target correlation function, where the target correlation function is determined based on the test data sample set; and then in response to receiving the lift drive For the target height data fed back by the module, the target proportion parameter corresponding to the target height data is selected from the association table; 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, that is, The load of the scanning bed is determined through the driving force and the target proportional parameter. Compared with the existing technology that uses theoretical formulas to calculate the actual load through feedback from the sensor module, the target proportional parameter in the method for determining the load of the scanning bed provided by this application is based on the target correlation function. Determined, the problem of insufficient accuracy of the determined scanning bed load due to manufacturing and assembly errors (every part of the scanning bed contains manufacturing errors and installation errors, including support mechanisms, scissor arms, horizontal bed frames, etc.) can be eliminated, and then The optimal control parameters can be configured according to the load to improve the stability of the motion system, reduce impact and vibration, and improve image scanning quality.

在具体的实施方式中,扫描床负载的确定装置还包括关联函数构建模块、测试比例参数确定模块和目标关联函数确定模块;In a specific implementation, the device for determining the load of the scan bed also includes a correlation function building module, a test proportion parameter determination module and a target correlation function determination module;

关联函数构建模块,用于构建高度数据与比例参数的关联函数,其中,所述关联函数包括不同函数阶数的关联函数;A correlation function building module, used to construct a correlation function between height data and proportion parameters, where the correlation function includes correlation functions of different function orders;

测试比例参数确定模块,用于基于关联函数,确定在不同测试高度数据下的测试比例参数;The test proportion parameter determination module is used to determine the test proportion parameters under different test height data based on the correlation function;

目标关联函数确定模块,用于基于在不同测试高度数据下的测试比例参数与预设测试比例参数的关系,确定目标关联函数。The target correlation function determination module is used to determine the target correlation function based on the relationship between the test proportion parameters and the preset test proportion parameters under different test height data.

在具体的实施方式中,测试比例参数确定模块的具体实施过程包括:In a specific implementation, the specific implementation process of the test proportion parameter determination module includes:

依次选取函数阶数为N阶的关联函数,确定不同测试高度数据在函数阶数为N阶的关联函数下的测试比例参数,其中,N为大于等于1的整数。Select the correlation function with an N-order function in turn to determine the test proportion parameters of different test height data under the N-order correlation function, where N is an integer greater than or equal to 1.

在具体的实施方式中,目标关联函数确定模块包括比较单元、目标测试高度数据选取单元和目标关联函数确定单元;In a specific implementation, the target correlation function determination module includes a comparison unit, a target test height data selection unit and a target correlation function determination unit;

比较单元,用于依次比较目标阶数的关联函数对应的各测试比例参数与预设测试比例参数的差值与预设差值的关系;The comparison unit is used to sequentially compare the relationship between the difference between each test proportion parameter corresponding to the correlation function of the target order and the preset test proportion parameter and the preset difference;

目标测试高度数据选取单元,用于在各目标阶数下选取与预设测试比例参数的差值的绝对值小于或等于第一预设阈值的测试比例参数所对应的目标测试高度数据;The target test height data selection unit is used to select the target test height data corresponding to the test proportion parameter whose absolute value of the difference from the preset test proportion parameter is less than or equal to the first preset threshold at each target order;

目标关联函数确定单元,用于确定目标测试高度数据的个数最多时所对应的关联函数即为目标关联函数。The target correlation function determination unit is used to determine the correlation function corresponding to the maximum number of target test height data, which is the target correlation function.

在具体的实施方式中,扫描床负载的确定装置还包括:函数系数确定模块;In a specific implementation, the device for determining the load of the scan bed also includes: a function coefficient determination module;

函数系数确定模块,用于确定关联函数在不同函数阶数时对应的函数系数。The function coefficient determination module is used to determine the function coefficients corresponding to the correlation function at different function orders.

在具体的实施方式中,关联关系表确定模块包括比例参数确定单元和关联关系表构建单元;In a specific implementation, the association table determination module includes a proportion parameter determination unit and an association table construction unit;

基于目标关联函数,确定扫描床在不同高度数据对应的比例参数;Based on the target correlation function, determine the proportion parameters corresponding to the data of the scanning bed at different heights;

基于高度数据和比例参数构建关联关系表。Build an association table based on height data and scale parameters.

函数在不同函数阶数时对应的函数系数。The function coefficients corresponding to the function at different function orders.

在具体的实施方式中,关联关系表确定模块包括比例参数确定单元和关联关系表构建单元;In a specific implementation, the association table determination module includes a proportion parameter determination unit and an association table construction unit;

本申请实施例还提供了一种计算机设备。具体请参阅图7,图7为本实施例计算机设备基本结构框图。An embodiment of the present application also provides a computer device. Please refer to Figure 7 for details. Figure 7 is a basic structural block diagram of the computer equipment in this embodiment.

计算机设备包括通过系统总线相互通信连接存储器410和处理器420。需要指出的是,图中仅示出了具有组件410-420的计算机设备,但是应理解的是,并不要求实施所有示出的组件,可以替代的实施更多或者更少的组件。其中,本技术领域技术人员可以理解,这里的计算机设备是一种能够按照事先设定或存储的指令,自动进行数值计算和/或信息处理的设备,其硬件包括但不限于微处理器、专用集成电路(Application SpecificIntegrated Circuit,ASIC)、可编程门阵列(Field-ProgrammableGate Array,FPGA)、数字处理器(Digital Signal Processor,DSP)、嵌入式设备等。The computer device includes a memory 410 and a processor 420 that are communicatively connected to each other via a system bus. It should be noted that the figure only shows a computer device having components 410-420, but it should be understood that implementation of all illustrated components is not required, and more or fewer components may be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and/or information processing according to preset or stored instructions. Its hardware includes but is not limited to microprocessors, special-purpose Integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate array (Field-ProgrammableGate Array, FPGA), digital processor (Digital Signal Processor, DSP), embedded devices, etc.

计算机设备可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。计算机设备可以与用户通过键盘、鼠标、遥控器、触摸板或声控设备等方式进行人机交互。Computer equipment can be computing equipment such as desktop computers, notebooks, PDAs, and cloud servers. Computer equipment can interact with users through keyboards, mice, remote controls, touch pads, or voice-activated devices.

存储器410至少包括一种类型的可读存储介质,可读存储介质包括非易失性存储器(non-volatile memory)或易失性存储器,例如,闪存(flash memory)、硬盘、多媒体卡、卡型存储器(例如,SD或DX存储器等)、随机访问存储器(random access memory,RAM)、只读存储器(read-only memory,ROM)、可擦写可编程只读存储器(erasable programmableread-only memory,EPROM)、电可擦写可编程只读存储器(electricallyerasableprogrammable read-only memory,EEPROM)、可编程只读存储器(programmable read-onlymemory,PROM)、磁性存储器、磁盘、光盘等,RAM可以包括静态RAM或动态RAM。在一些实施例中,存储器410可以是计算机设备的内部存储单元,例如,该计算机设备的硬盘或内存。在另一些实施例中,存储器410也可以是计算机设备的外部存储设备,例如该计算机设备上配备的插接式硬盘、智能存储卡(Smart Media Card,SMC)、安全数字(Secure Digital,SD)卡或闪存卡(Flash Card)等。当然,存储器410还可以既包括计算机设备的内部存储单元也包括其外部存储设备。本实施例中,存储器410通常用于存储安装于计算机设备的操作系统和各类应用软件,例如上述方法的程序代码等。此外,存储器410还可以用于暂时地存储已经输出或者将要输出的各类数据。The memory 410 includes at least one type of readable storage medium. The readable storage medium includes non-volatile memory (non-volatile memory) or volatile memory, such as flash memory (flash memory), hard disk, multimedia card, card type Memory (for example, SD or DX memory, etc.), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) ), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disks, optical disks, etc. RAM can include static RAM or dynamic RAM RAM. In some embodiments, memory 410 may be an internal storage unit of the computer device, such as a hard drive or memory of the computer device. In other embodiments, the memory 410 may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), or a secure digital (SD) device equipped on the computer device. card or flash card (Flash Card), etc. Of course, the memory 410 may also include both the internal storage unit of the computer device and its external storage device. In this embodiment, the memory 410 is usually used to store the operating system and various application software installed on the computer device, such as the program code of the above method. In addition, the memory 410 can also be used to temporarily store various types of data that have been output or will be output.

处理器420通常用于执行计算机设备的总体操作。本实施例中,存储器410用于存储程序代码或指令,程序代码包括计算机操作指令,处理器420用于执行存储器410存储的程序代码或指令或者处理数据,例如运行上述方法的程序代码。Processor 420 is generally used to perform the overall operations of the computer device. In this embodiment, the memory 410 is used to store program codes or instructions, and the program codes include computer operation instructions. The processor 420 is used to execute the program codes or instructions stored in the memory 410 or process data, such as the program codes for running the above methods.

本文中,总线可以是工业标准体系结构(Industry Standard Architecture,ISA)总线、外设部件互连标准(Peripheral Component Interconnect,PCI)总线或扩展工业标准结构(Extended Industry Standard Architecture,EISA)总线等。该总线系统可以分为地址总线、数据总线、控制总线等。为便于表示,图中仅用一条粗线表示,但并不表示仅有一根总线或一种类型的总线。In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus system can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

本申请的另一实施例还提供一种计算机可读介质,计算机可读介质可以是计算机可读信号介质或者计算机可读介质。计算机中的处理器读取存储在计算机可读介质中的计算机可读程序代码,使得处理器能够执行在上述方法中每个步骤、或各步骤的组合中规定的功能动作;生成实施在框图的每一块、或各块的组合中规定的功能动作的装置。Another embodiment of the present application also provides a computer-readable medium. The computer-readable medium may be a computer-readable signal medium or a computer-readable medium. The processor in the computer reads the computer-readable program code stored in the computer-readable medium, so that the processor can perform the functional actions specified in each step or a combination of steps in the above method; generate a program implemented in the block diagram A device that performs specified functional actions in each block or combination of blocks.

计算机可读介质包含但不限于电子、磁性、光学、电磁、红外的存储器或半导体系统、设备或者装置,或者前述的任意适当组合,存储器用于存储程序代码或指令,程序代码包括计算机操作指令,处理器用于执行存储器存储的上述方法的程序代码或指令。Computer-readable media include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, equipment or devices, or any appropriate combination of the foregoing. The memory is used to store program code or instructions. The program code includes computer operating instructions, The processor is used to execute the program codes or instructions of the above methods stored in the memory.

存储器和处理器的定义,可以参考前述计算机设备实施例的描述,在此不再赘述。For the definitions of the memory and the processor, reference may be made to the foregoing description of the computer device embodiments, which will not be described again here.

在本申请所提供的几个实施例中,应该理解到,所揭露的系统、装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,模块或单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个系统,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

在本申请各个实施例中的各功能单元或模块可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。Each functional unit or module in various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)或处理器(processor)执行本申请各个实施例方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(Read-OnlyMemory,ROM)、随机存取存储器(RandomAccess Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。Integrated units may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code.

除非上下文中另外明确地指出,否则在本文和所附权利要求中所使用的词语的单数形式包括复数,反之亦然。因而,当提及单数时,通常包括相应术语的复数。相似地,措辞“包含”和“包括”将解释为包含在内而不是独占性地。同样地,术语“包括”和“或”应当解释为包括在内的,除非本文中明确禁止这样的解释。在本文中使用术语“示例”之处,特别是当其位于一组术语之后时,所述“示例”仅仅是示例性的和阐述性的,且不应当被认为是独占性的或广泛性的。As used herein and in the appended claims, the singular form of a word includes the plural form and vice versa, unless the context clearly dictates otherwise. Thus, references to the singular will usually include the plural of the corresponding term. Similarly, the words "comprising" and "includes" will be interpreted to mean inclusively and not exclusively. Likewise, the terms "including" and "or" should be construed as inclusive unless such construction is expressly prohibited by the context. Where the term "example" is used herein, particularly when it follows a group of terms, it is illustrative and illustrative only and should not be considered exclusive or comprehensive. .

适应性的进一步的方面和范围从本文中提供的描述变得明显。应当理解,本申请的各个方面可以单独或者与一个或多个其它方面组合实施。还应当理解,本文中的描述和特定实施例旨在仅说明的目的并不旨在限制本申请的范围。Further aspects and scope of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present 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 herein are intended for purposes of illustration only and are not intended to limit the scope of the application.

以上对本公开的若干实施例进行了详细描述,但显然,本领域技术人员可以在不脱离本公开的精神和范围的情况下对本公开的实施例进行各种修改和变型。本公开的保护范围由所附的权利要求限定。Several embodiments of the present disclosure have been described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present 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.
CN202310846401.8A 2023-07-11 2023-07-11 Method, device, equipment and medium for determining load of scanning bed Active CN116548998B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310846401.8A CN116548998B (en) 2023-07-11 2023-07-11 Method, device, equipment and medium for determining load of scanning bed

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310846401.8A CN116548998B (en) 2023-07-11 2023-07-11 Method, device, equipment and medium for determining load of scanning bed

Publications (2)

Publication Number Publication Date
CN116548998A CN116548998A (en) 2023-08-08
CN116548998B true CN116548998B (en) 2023-11-10

Family

ID=87488365

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310846401.8A Active CN116548998B (en) 2023-07-11 2023-07-11 Method, device, equipment and medium for determining load of scanning bed

Country Status (1)

Country Link
CN (1) CN116548998B (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103148899A (en) * 2013-02-01 2013-06-12 中山大学附属第一医院 Liquid micro-flow detection method
CN106924886A (en) * 2016-01-06 2017-07-07 上海联影医疗科技有限公司 Correct the method and device of sick bed deflection
CN108065943A (en) * 2016-11-15 2018-05-25 北京东软医疗设备有限公司 A kind of method and device for choosing scanning interferometer curve
CN110270017A (en) * 2019-06-21 2019-09-24 上海联影医疗科技有限公司 Method for ensuring quality, radiotherapy system and the storage medium of hospital bed
CN113425322A (en) * 2021-06-25 2021-09-24 上海联影医疗科技股份有限公司 Bed board movement control method and system, CT scanning system and storage medium
CN114611310A (en) * 2022-03-18 2022-06-10 北京航空航天大学 A Parametric Uncertainty Modeling Method Based on Fuzzy Theory under Small Sample Condition
CN116098645A (en) * 2023-04-14 2023-05-12 赛诺威盛科技(北京)股份有限公司 Method and system for adaptively reducing impact vibration based on CT scanning bed load change
CN116203570A (en) * 2021-12-01 2023-06-02 现代摩比斯株式会社 Apparatus and method for reducing noise of an external measuring sensor of a moving object

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7702709B2 (en) * 2002-06-21 2010-04-20 Broadcom Corporation System and method for optimizing approximation functions
WO2018218424A1 (en) * 2017-05-27 2018-12-06 Shanghai United Imaging Healthcare Co., Ltd. System and method for couch sag compensation in image guided radio therapy

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103148899A (en) * 2013-02-01 2013-06-12 中山大学附属第一医院 Liquid micro-flow detection method
CN106924886A (en) * 2016-01-06 2017-07-07 上海联影医疗科技有限公司 Correct the method and device of sick bed deflection
CN108065943A (en) * 2016-11-15 2018-05-25 北京东软医疗设备有限公司 A kind of method and device for choosing scanning interferometer curve
CN110270017A (en) * 2019-06-21 2019-09-24 上海联影医疗科技有限公司 Method for ensuring quality, radiotherapy system and the storage medium of hospital bed
CN113425322A (en) * 2021-06-25 2021-09-24 上海联影医疗科技股份有限公司 Bed board movement control method and system, CT scanning system and storage medium
CN116203570A (en) * 2021-12-01 2023-06-02 现代摩比斯株式会社 Apparatus and method for reducing noise of an external measuring sensor of a moving object
CN114611310A (en) * 2022-03-18 2022-06-10 北京航空航天大学 A Parametric Uncertainty Modeling Method Based on Fuzzy Theory under Small Sample Condition
CN116098645A (en) * 2023-04-14 2023-05-12 赛诺威盛科技(北京)股份有限公司 Method and system for adaptively reducing impact vibration based on CT scanning bed load change

Also Published As

Publication number Publication date
CN116548998A (en) 2023-08-08

Similar Documents

Publication Publication Date Title
EP3832480A2 (en) Data processing method, apparatus, device and storage medium
US8595572B2 (en) Data storage device with metadata command
US9798499B2 (en) Hybrid-device storage based on environmental state
US8239724B2 (en) Error correction for a data storage device
US11079873B2 (en) Touch panel device
CN108469979A (en) A kind of method for page jump, device, server and storage medium
CN117705176A (en) Rotation angle pulse correction method, rotation angle pulse correction device, rotation angle pulse correction equipment and storage medium
CN117045273A (en) CT scanning radiation dose determination method, device, equipment and storage medium
CN116548998B (en) Method, device, equipment and medium for determining load of scanning bed
EP2383651A2 (en) System and method for customizing a SCSI error response received from a SCSI target in a storage network environment
CN114201729A (en) Method, device and equipment for selecting matrix operation mode and storage medium
JP2022167776A (en) Adaptive soft-bit compression in flash memory
US20130304413A1 (en) Computing device and method for testing electromagnetic compatiblity of printed circuit board
CN114166312A (en) Vehicle oil quantity measuring method and device, computer equipment and storage medium
CN117310789A (en) Detector channel response linear correction method, device, equipment and storage medium
CN109165372A (en) A kind of webpage loading method, device, equipment and storage medium
US8667202B2 (en) Method of powering on HDD modules via connectors in server
CN107728942A (en) Hanging method, Android device and the storage medium of disk array
US20100049920A1 (en) Dynamically adjusting write cache size
CN116649999A (en) Temperature control method and system for detector
US20230288971A1 (en) Heat management circuit, method for operating the same, and electronic device and data processing apparatus including the same
CN115437438A (en) Apparatus and method for stabilizing power supply in semiconductor device
US20190369896A1 (en) Leveraging server resources for storage array performance enhancements
CN118415659A (en) Method, device, equipment and medium for controlling movement of scanning bed of CT scanning system
CN117372287A (en) Compensation correction of detector spectral response, apparatus, device and medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CB03 Change of inventor or designer information
CB03 Change of inventor or designer information

Inventor after: Wang Jiayi

Inventor after: Zhang Xin

Inventor before: Wang Jiayi

PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: Method, device, equipment, and medium for determining the load of a scanning bed

Granted publication date: 20231110

Pledgee: Zhongguancun Branch of Bank of Beijing Co.,Ltd.

Pledgor: Sinovision Technology (Beijing) Co.,Ltd.

Registration number: Y2024110000136

PC01 Cancellation of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Granted publication date: 20231110

Pledgee: Zhongguancun Branch of Bank of Beijing Co.,Ltd.

Pledgor: Sinovision Technology (Beijing) Co.,Ltd.

Registration number: Y2024110000136