CN117631605A - Distributed beam modulation control system - Google Patents
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Abstract
The invention provides a distributed beam modulation control system in a medical carbon ion accelerator, which can be applied to the technical field of accelerator control. The system comprises: the terminal is used for setting target motion data of the beam modulating device so as to modulate the ion beam; the PLC control device is used for generating driving parameters according to the target motion data and driving the beam modulation device to move according to the driving parameters; the beam modulating device is used for adjusting the motion data of the beam modulating device under the drive of the PLC control device; the PLC control device is also used for acquiring actual motion data of the beam modulation device and adjusting the driving parameters according to the target motion data and the actual motion data.
Description
Technical Field
The invention relates to the field of accelerator control, in particular to a distributed beam modulation control system.
Background
When the carbon ion accelerator treats different tumor patients, a spine filter and an energy-reducing sheet holder are usually replaced in a manual mode, so that the proper spine filter and energy-reducing sheet are selected to meet the requirements of a target body of a target tumor.
However, when ridge filter and fall can the piece through manual mode switching, it is long to take time, and equipment positioning accuracy is low, and stability is poor, and degree of automatic integration is low, influences normal treatment progress, and the change personnel has the risk of being radiated by the beam moreover.
Disclosure of Invention
In view of the above, the present invention provides a distributed beam modulation control system.
According to a first aspect of the present invention, there is provided a distributed beam modulation control system comprising:
the terminal is used for setting target motion data of the beam modulating device so as to modulate the ion beam;
the PLC control device is used for generating driving parameters according to the target motion data and driving the beam modulation device to move according to the driving parameters;
the beam modulating device is used for adjusting the motion data of the beam modulating device under the drive of the PLC control device;
the PLC control device is also used for acquiring actual motion data of the beam modulation device and adjusting the driving parameters according to the target motion data and the actual motion data.
According to an embodiment of the present invention, the servo motor includes a multi-turn absolute value encoder, and the PLC control device includes:
the PLC module is used for sending a control instruction to the driver according to the target motion data;
the input/output module is used for sending the control instruction to the driver;
the driver is used for converting the driving instruction into a control signal which can be identified by the servo motor, and the control signal indicates the driving parameter;
the servo motor is used for responding to the control signal, driving the beam modulation device to move according to the driving parameter and collecting the operating parameter of the multi-turn absolute value encoder, wherein the operating parameter of the multi-turn absolute value encoder indicates the actual movement speed of the beam modulation device and the motor position parameter;
the photoelectric sensor is used for collecting the actual motion trail of the beam modulation device and sending out photoelectric sensing signals, and the photoelectric sensing signals indicate the actual motion trail of the beam modulation device.
The input/output module is also used for sending the photoelectric sensing signal to the PLC module;
the PLC module is also used for adjusting the driving parameters according to the photoelectric sensing signals and the operation parameters of the multi-turn absolute value encoder.
According to an embodiment of the present invention, the motion data includes at least one of a motion speed and a motion trajectory.
According to the embodiment of the invention, the terminal is further used for sending out an alarm prompt under the condition that the actual motion data exceeds a preset threshold value.
According to an embodiment of the invention, the system further comprises a server comprising:
the system server is used for monitoring the motion data of the beam modulation devices in different treatment rooms;
the database server is used for storing data generated in the running process of the distributed beam modulation control system in a time sequence database mode, wherein a primary key is a time stamp;
and the time synchronization server is used for providing a unified time reference for the distributed beam modulation control system.
According to the embodiment of the invention, a shielding cable is adopted as a communication cable between the PLC control device and the beam modulation device.
According to the embodiment of the invention, the terminal is also used for providing a human-computer interaction interface for a user;
the method comprises the steps of setting target motion data of the beam modulation device through the human-computer interaction interface, acquiring an actual motion trail of the beam modulation device and prompting fault alarm.
According to an embodiment of the invention, the driver and the PLC module are in data interaction through a Profinet protocol.
According to an embodiment of the present invention, the PLC module is further configured to generate an interlock signal and a first alarm signal when the operation parameter of the multi-turn absolute value encoder indicates an actual motion track of the beam modulation device or the motion data of the servo motor is not within a preset range, where the interlock signal is used to indicate that the driver and the servo motor stop working;
the PLC module is further used for generating a second alarm signal when the communication interruption time between the servo motor and the PLC module is longer than a preset time threshold.
According to the embodiment of the invention, a limit switch is arranged on the motion track of the servo motor;
the limit switch is used for sending a response signal to the PLC module under the condition that the servo motor moves to the position where the limit switch is located, and the response signal indicates the PLC module to generate an interlocking signal.
The distributed beam modulation control system provided by the invention has at least the following technical effects:
(1) Solves the complex flow of switching the ridge filter and the energy-reducing piece by manual operation in the past of the medical carbon ion accelerator, and simultaneously, has obvious improvement in the aspects of preventing replacement personnel from being radiated by beam current, equipment positioning precision, treatment efficiency and economic benefit.
(2) Integrating clock synchronization and time acquisition functions, calibrating a unified time reference for the beam modulation control system and the treatment device, and writing the unified time reference into a time sequence database, so that correlation analysis and fault location analysis between data can be performed;
(3) Integrated servo remote process control, interlocking protection, OPC UA standard data release, time sequence data storage, man-machine interaction interface and the like.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following description of embodiments of the invention with reference to the accompanying drawings, in which:
fig. 1 schematically shows a block diagram of a distributed beam modulation control system according to an embodiment of the present invention;
fig. 2 schematically illustrates an architecture diagram of a distributed beam modulation control system according to an embodiment of the present invention;
FIG. 3 schematically illustrates a software logic architecture diagram of a distributed beam modulation control system according to an embodiment of the present invention;
FIG. 4 schematically illustrates a control logic diagram of a lower computer according to an embodiment of the present invention;
fig. 5 schematically shows a block diagram of a PLC module adapted to implement distributed beam modulation control according to an embodiment of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
The particle accelerator is used for generating carbon ion beam flow to treat tumors, and the beam energy is deposited in a range end (Bragg peak) area, so that the damage to healthy tissues along the way is small; the beam spot divergence is small, the positioning accuracy is high, the Bragg peak accurately falls on a tumor target area through adjustment, DNA double strand breaks, tumor cells insensitive to conventional rays can be effectively killed, and the method is used as an advanced radiotherapy technology and widely applied to the field of cancer radiotherapy for many years.
The carbon ion beam is accelerated to a certain energy by the accelerator device, the beam spot needs to be expanded to the size of a tumor target area, and meanwhile, different energy distributions are needed, so that the Bragg peak width is equivalent to the depth of the target tumor target area, and the size, the shape and the depth of the tumor are better adapted, and more accurate treatment is realized.
The ridge filter and the energy-reducing piece equipment are beam current modulation equipment commonly used in the treatment of cancers by carbon ions. In the carbon ion treatment system, the ridge filter is mainly used for adjusting the dosage distribution form of the carbon ion beam, namely, the Bragg peak can be widened, so that the beam energy distribution generated by the carbon ion accelerator is changed, and a dosage enhancement area is generated in the horizontal and vertical directions, so that the carbon ion treatment system can effectively adapt to tumors with irregular shapes and cover all parts of the tumors. The ridge filter is generally a rugged mechanism, when a single ion beam generated by the accelerator passes through the rugged mechanism, the ion beam has different energies and has a certain angle after emergent, and finally overlaps at the position of a tumor target area to form a spread Bragg peak in the depth direction of the tumor target area. Thus, in the treatment of cancer using a carbon ion accelerator, different ridge filters are selected according to different tumor patients. The energy reducing tablet is another key equipment component in the carbon ion treatment system and is mainly used for inhibiting high-energy components of the carbon ion beam, so that the dosage of the carbon ion beam is more uniform when the carbon ion beam passes through tissues of a patient, and the carbon ion beam is gradually attenuated in the patient, so that a more uniform dosage distribution mode is presented. The energy-reducing tablet can also be adjusted according to factors such as the depth and the position of the tumor, so as to realize more accurate and personalized treatment.
Fig. 1 schematically shows a block diagram of a distributed beam modulation control system according to an embodiment of the present invention. The distributed beam modulation control system can be used for modulating motion data of a beam modulation device, and the beam modulation device comprises a ridge filter and an energy reduction piece. The motion data of the beam modulation device comprises at least one of a motion speed and a motion trajectory.
As shown in fig. 1, the distributed beam modulation control system of this embodiment includes: terminal, PLC controlling means and beam current modulating means. The terminal is used for setting target motion data of the beam modulation device so as to carry out ion beam modulation. And the PLC control device is used for generating driving parameters according to the target motion data and driving the beam modulation device to move according to the driving parameters. The beam modulating device is used for adjusting the motion data of the beam modulating device under the drive of the PLC control device. The PLC control device is also used for acquiring actual motion data of the beam modulation device, and adjusting the driving parameters according to the target motion data and the actual motion data. The distributed beam modulation control system provided by the embodiment of the invention can realize remote control of the ridge filter and the energy reduction piece.
Fig. 2 schematically shows an architecture diagram of a distributed beam modulation control system according to an embodiment of the present invention.
As shown in fig. 2, the distributed beam modulation control system includes a server in addition to a terminal, a PLC control device, and a beam modulation device. The server comprises: system server, database server and time synchronization server. The system server is used for monitoring the motion data of the beam modulation devices in different treatment rooms and is used as an engineer station to realize maintenance and debugging of the system. The database server is used for storing data generated in the running process of the distributed beam modulation control system in a time sequence database mode, wherein a main key is a time stamp, and a reliable data source is provided for analyzing the stability of the whole motion system. The time synchronization server is used for providing a unified time reference for the distributed beam modulation control system, namely, the time-stamped data can be generated under the unified time reference, and reliable data support is provided for association analysis, fault detection and problem positioning among motion data.
In some embodiments, the terminal is located in a central control room of the treatment device, and the plurality of terminals perform data interaction with the system server based on OPC UA or other protocols, so as to provide a man-machine interaction interface for a user, and realize remote monitoring functions such as target motion data setting of the beam modulation device, acquisition of actual motion track data of the beam modulation device, and fault alarm of the distributed beam modulation control system.
In some embodiments, the terminal is further configured to send an alarm prompt if the actual motion data of the beam modulation device exceeds a preset threshold. It can be appreciated that an alarm may be given in the event of a movement speed and/or movement trajectory exceeding a set preset threshold or a control device failure (as determined by a driving device status parameter).
In some embodiments, the PLC control apparatus includes: remote PLC module, input/output module, driver, servo motor, photoelectric sensor. Because the carbon ion treatment chambers are distributed at different area positions, the equipment positions are more dispersed, and a remote PLC module can be respectively deployed according to the requirements of the carbon ion treatment heads in practical application.
The PLC module realizes the distributed beam modulation control in the following way:
and the PLC module sends a control instruction to the driver according to the target motion data. And the input/output module sends the control instruction to the driver. The driver converts the driving instruction into a control signal which can be identified by the servo motor, and the control signal indicates the driving parameter. The servo motor responds to the control signal, drives the beam modulation device to move according to the driving parameters, and collects the operating parameters of the multi-turn absolute value encoder, wherein the operating parameters of the multi-turn absolute value encoder indicate the actual movement speed of the servo motor and the position parameters of the motor. The photoelectric sensor collects the actual motion trail of the beam modulation device and sends out photoelectric sensing signals, and the photoelectric sensing signals indicate the actual motion trail of the beam modulation device. And the input/output module sends the photoelectric sensing signal to the PLC module. And the PLC module adjusts the driving parameters according to the photoelectric sensing signals and the operation parameters of the multi-turn absolute value encoder.
Specifically, the PLC module at least comprises a power supply module and a CPU module, wherein the power supply module is used for supplying power to the PLC module. The CPU module is used for logically judging the input servo motor multi-turn absolute value encoder data, photoelectric sensing signals and the operation data of the servo motor and generating corresponding results, and receiving a control command of a client or an interlocking signal to output a control signal required by the servo motor. For example, the CPU module may employ Siemens S71500 series CPU (model: CPU 1511-1 PN).
In some embodiments, the CPU module may perform at least the following functions: when the acquired running parameters of the multi-turn absolute value encoder, the photoelectric sensing signals or the running data of the servo equipment are not in a preset range, an interlocking signal and a first alarm signal are generated, meanwhile, the judgment of the communication state can be realized, and if the communication interruption time between the on-site servo motor and the PLC module is larger than a preset duration threshold value, a second alarm signal is generated.
The interlocking signal is used for indicating the PLC control device to stop working, the first alarm signal indicates that the PLC control device has faults, and the second alarm signal indicates that communication between the servo motor and the PLC module is interrupted.
The input/output module comprises an I/O interface module and is used for receiving or collecting photoelectric sensing signals of controlled equipment, realizing the interlocking control of the on-site ridge filter and the energy-reducing sheet, collecting state signals such as working in place and limiting response, and realizing the safe motion control of the on-site ridge filter and the energy-reducing sheet of the accelerator treatment room. In one embodiment, the I/O interface module may be mounted on the siemens S7-1500 series CPU, specifically, the siemens S7-1200 series CPU mounts 16 DC 24V digital input DI modules, 16 DC 24V digital output DQ modules, the memory card 12mb, the CPU has a processing time of 60ns for bit operation, 72ns for word operation, and 384ns for floating point operation.
In some embodiments, the driver and the PLC module interact data via a Profinet protocol. The input/output module collects photoelectric sensor signals on the ridge filter and the energy-reducing piece equipment and is used for working position monitoring and hard limit setting in a program. The PLC module adopts a position control mode, a positioning command is sent to the driver through a user program, so that the motion control of the beam current modulation equipment is completed, and meanwhile, the servo motor is provided with a multi-circle absolute value encoder and has a position memory function, namely, the position of the equipment before power failure can be still obtained after power failure recovery. The driver can upload real-time operation data of the motor to the remote PLC workstation to form closed-loop control.
In some embodiments, a limit switch is arranged on the motion trail of the servo motor. The limit switch is used for sending a response signal to the PLC module under the condition that the servo motor moves to the position where the limit switch is located, and the response signal indicates the PLC module to generate an interlocking signal. The PLC control device uses a mode of combining soft interlocking and hard interlocking to carry out double redundancy protection, and if a hard limit switch responds, the drive device is immediately decelerated by using an emergency stop slope in the drive. If the motor operating position exceeds the soft interlock threshold in the program, the servo motor also stops operating.
In some embodiments, the communication cables among the PLC module, the ridge filter and the energy-reducing piece device all adopt shielding cables, the internal wiring of the cabinet is in a strong-weak separation principle, the cabinet external cables are strictly laid on a bridge frame special for weak current, the distributed beam current modulation control system is powered by an uninterruptible power supply (UPS, uninterruptible Power Supply), and the on-site strong current is strictly separated from the weak current grounding circuit, so that the safety and reliability of the whole system are effectively improved.
Fig. 3 schematically illustrates a software logic architecture diagram of a distributed beam modulation control system according to an embodiment of the present invention.
As shown in fig. 3, the client of the distributed beam modulation control system in the example of the present disclosure has the functions of a visual operation interface, an alarm processing button, data storage, report query and the like, and the server is connected below the client, where the server may include a system server, a database server, and a time synchronization server.
The configuration management program in the system server can realize communication address allocation management, user authority management and the like of a plurality of treatment rooms in different areas. The time synchronization server may provide a uniform time reference to the entire distributed beam modulation control system. The OPC UA management program carries out protocol conversion on input and output data, is connected with a communication driving interface in the PLC module through a driving interface, realizes data interaction between a system server and a remote PLC module, is connected with servo control equipment (a driver and a servo motor) below the remote PLC module, can acquire motion data of the servo motor in real time, carries out real-time processing on the operation data according to the PLC control program in the servo motor, and generates an interlocking signal, a first alarm signal or a second alarm signal.
The distributed beam modulation control system provided by the embodiment of the disclosure mainly comprises two parts in software configuration, wherein one part is upper computer software (software loaded in a server and a terminal), and the other part is a lower computer (PLC module) control program.
The upper computer software is developed and completed under the NET platform under the environment of Microsoft Visual studio 16.11.10 (2019). The core is a distributed time sequence database, and comprises an OPC UA client, a device driving interface and a large number of software window tools. The whole software is in a C/S mode structure, the servers are respectively deployed on the distributed beam modulation control system servers, and the clients run on the servers and other remote clients. The communication between the server and the client adopts standard OPC UA protocol, so as to ensure seamless connection of different clients to data access of the beam modulation control system, the real-time data of the distributed beam modulation control system is stored in a time sequence database, different users can obtain the operation parameters of the distributed beam modulation control system from the time sequence database, and the client also comprises the functions of a man-machine operation interface, graphic display, historical data record, report form, fault alarm and the like. The function of the upper computer software also comprises the step of carrying out polling judgment on the communication state of each remote PLC workstation, wherein the polling period is 100ms, and if the remote PLC workstation fails, an alarm mechanism is triggered to prompt a field professional operator to carry out corresponding processing in time.
The lower computer (PLC module) control program can be developed by adopting Siemens TIA Portal V16, and the lower computer program comprises servo process control, interlocking logic protection, a communication drive interface and the like. Its specific implementation function is shown in fig. 4. The lower computer control program can collect motion tracks, operation parameters, equipment communication states, photoelectric sensor signals and the like of the servo motor, and can monitor servo process control instructions issued by the terminal. Meanwhile, the internal program has the functions of data processing and logic judgment, and when the motion track of the servo motor deviates or the photoelectric sensor responds in a limiting way, an equipment interlocking protection mechanism is started, and an emergency stop signal is sent to the driver, so that the interlocking protection function of the ridge filter and the energy-reducing piece is realized. In addition, if the communication interruption time of the PLC module exceeds a preset threshold value, an alarm mechanism is started, and an alarm signal is transmitted to the central monitoring server of the accelerator through the high-speed Ethernet.
According to embodiments of the invention, a PLC module may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or as hardware or firmware in any other reasonable manner of integrating or packaging the circuit, or as any one of or a suitable combination of three of software, hardware, and firmware. Alternatively, the PLC module may be at least partially implemented as a computer program module that, when executed, performs the corresponding functions.
Fig. 5 schematically shows a block diagram of a PLC module adapted to implement distributed beam modulation control according to an embodiment of the present invention.
As shown in fig. 5, the PLC module 600 according to an embodiment of the present invention includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage portion 608 into a Random Access Memory (RAM) 603. The processor 601 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or an associated chipset and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), or the like. Processor 601 may also include on-board memory for caching purposes. Processor 601 may include a single processing unit or multiple processing units for performing the different actions of the method flows according to embodiments of the invention.
In the RAM 603, various programs and data necessary for the operation of the electronic apparatus 600 are stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. The processor 601 performs various operations of the method flow according to an embodiment of the present invention by executing programs in the ROM 602 and/or the RAM 603. Note that the program may be stored in one or more memories other than the ROM 602 and the RAM 603. The processor 601 may also perform various operations of the method flow according to embodiments of the present invention by executing programs stored in the one or more memories.
According to an embodiment of the invention, the PLC module 600 may also include an input/output (I/O) interface 605, the input/output (I/O) interface 605 also being connected to the bus 604. The electronic device 600 may also include one or more of the following components connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 610 as needed, so that a computer program read out therefrom is installed into the storage section 608 as needed.
The present invention also provides a computer-readable storage medium that may be embodied in the apparatus/device/system described in the above embodiments; or may exist alone without being assembled into the apparatus/device/system. The computer-readable storage medium carries one or more programs which, when executed, implement methods in accordance with embodiments of the present invention.
According to embodiments of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example, but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. For example, according to embodiments of the invention, the computer-readable storage medium may include ROM 602 and/or RAM 603 and/or one or more memories other than ROM 602 and RAM 603 described above.
Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the method shown in the flowcharts. The program code means for causing a computer system to carry out the methods provided by embodiments of the present invention when the computer program product is run on the computer system.
The above-described functions defined in the system/apparatus of the embodiment of the present invention are performed when the computer program is executed by the processor 601. The systems, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the invention.
In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed in the form of signals over a network medium, and downloaded and installed via the communication section 609, and/or installed from the removable medium 611. The computer program may include program code that may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. The above-described functions defined in the system of the embodiment of the present invention are performed when the computer program is executed by the processor 601. The systems, devices, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the invention.
According to embodiments of the present invention, program code for carrying out computer programs provided by embodiments of the present invention may be written in any combination of one or more programming languages, and in particular, such computer programs may be implemented in high-level procedural and/or object-oriented programming languages, and/or in assembly/machine languages. Programming languages include, but are not limited to, such as Java, c++, python, "C" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that the features recited in the various embodiments of the invention and/or in the claims may be combined in various combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the invention. In particular, the features recited in the various embodiments of the invention and/or in the claims can be combined in various combinations and/or combinations without departing from the spirit and teachings of the invention. All such combinations and/or combinations fall within the scope of the invention.
The embodiments of the present invention are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the invention, and such alternatives and modifications are intended to fall within the scope of the invention.
Claims (10)
1. A distributed beam modulation control system, comprising:
the terminal is used for setting target motion data of the beam modulating device so as to modulate the ion beam;
the PLC control device is used for generating driving parameters according to the target motion data and driving the beam modulation device to move according to the driving parameters;
the beam modulating device is used for adjusting the motion data of the beam modulating device under the drive of the PLC control device;
the PLC control device is also used for acquiring actual motion data of the beam modulation device and adjusting the driving parameters according to the target motion data and the actual motion data.
2. The distributed beam modulation control system of claim 1 wherein the servo motor comprises a multi-turn absolute value encoder, the PLC control device comprising:
the PLC module is used for sending a control instruction to the driver according to the target motion data;
the input/output module is used for sending the control instruction to the driver;
the driver is used for converting the driving instruction into a control signal which can be identified by the servo motor, and the control signal indicates the driving parameter;
the servo motor is used for responding to the control signal, driving the beam modulation device to move according to the driving parameter and collecting the operating parameter of the multi-turn absolute value encoder, wherein the operating parameter of the multi-turn absolute value encoder indicates the actual movement speed of the beam modulation device and the motor position parameter;
the photoelectric sensor is used for collecting the actual motion trail of the beam modulation device and sending out photoelectric sensing signals, and the photoelectric sensing signals indicate the actual motion trail of the beam modulation device.
The input/output module is also used for sending the photoelectric sensing signal to the PLC module;
the PLC module is also used for adjusting the driving parameters according to the photoelectric sensing signals and the operation parameters of the multi-turn absolute value encoder.
3. The distributed beam modulation control system of claim 1 wherein the motion data comprises at least one of a motion velocity and a motion profile.
4. The distributed beam modulation control system of claim 1, wherein the terminal is further configured to issue an alarm prompt if the actual motion data exceeds a preset threshold.
5. The distributed beam modulation control system of claim 1, further comprising a server comprising:
the system server is used for monitoring the motion data of the beam modulation devices in different treatment rooms;
the database server is used for storing data generated in the running process of the distributed beam modulation control system in a time sequence database mode, wherein a primary key is a time stamp;
and the time synchronization server is used for providing a unified time reference for the distributed beam modulation control system.
6. The distributed beam modulation control system of claim 1 wherein a communication cable between the PLC control device and the beam modulation device employs a shielded cable.
7. The distributed beam modulation control system of claim 1, wherein the terminal is further configured to provide a human-machine interface for a user;
the method comprises the steps of setting target motion data of the beam modulation device through the human-computer interaction interface, acquiring an actual motion trail of the beam modulation device and prompting fault alarm.
8. The distributed beam modulation control system of claim 1, wherein the driver and the PLC module interact with each other via a Profinet protocol.
9. The distributed beam modulation control system according to claim 2, wherein the PLC module is further configured to generate an interlock signal and a first alarm signal when the operation parameter of the multi-turn absolute encoder, the photoelectric sensing signal indicates an actual motion trajectory of the beam modulation device, or the motion data of the servo motor is not within a preset range, and the interlock signal is used to indicate that the driver and the servo motor stop working;
the PLC module is further used for generating a second alarm signal when the communication interruption time between the servo motor and the PLC module is longer than a preset time threshold.
10. The distributed beam modulation control system according to claim 1, wherein a limit switch is arranged on a motion track of the servo motor;
the limit switch is used for sending a response signal to the PLC module under the condition that the servo motor moves to the position where the limit switch is located, and the response signal indicates the PLC module to generate an interlocking signal.
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| CN202311619006.2A CN117631605A (en) | 2023-11-29 | 2023-11-29 | Distributed beam modulation control system |
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| CN202311619006.2A CN117631605A (en) | 2023-11-29 | 2023-11-29 | Distributed beam modulation control system |
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