CN205545216U - Wireless control transmitter, receiver, wireless control system and medical equipment - Google Patents
Wireless control transmitter, receiver, wireless control system and medical equipment Download PDFInfo
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- CN205545216U CN205545216U CN201620279735.7U CN201620279735U CN205545216U CN 205545216 U CN205545216 U CN 205545216U CN 201620279735 U CN201620279735 U CN 201620279735U CN 205545216 U CN205545216 U CN 205545216U
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Abstract
The utility model discloses a wireless control transmitter, receiver, wireless control system and medical equipment. Wherein, the wireless control transmitter includes: a human -machine interface module and respectively with two at least wireless signal transmitter module that human -machine interface module connects, wherein, human -machine interface module is used for receiving a control signal to offer this control signal simultaneously two at least wireless signal transmitter module, and, wherein two at least wireless signal transmitter module be used for with control signal launches. The utility model discloses a technical scheme can make things convenient for the rational arrangement of of controller to can ensure systematic reliability and security.
Description
Technical field
This utility model relates to controlled in wireless field, particularly a kind of controlled in wireless emitter, receptor, wireless control system
And include the armarium of described wireless control system.
Background technology
At present some reliability and the higher Industry Control of security requirement or the equipment of motor control, such as medical apparatus and instruments, core
In the safety criterion of electricity equipment etc., it is proposed that single failure criteria (single failure criteria), i.e. require system or set
Standby combination occurs at its any position to remain to perform the design criteria of its normal function during believable single-random failure.For
The control realization of this kind equipment, it is considered that be not suitable for using radio communication or wireless controller, be therefore used mostly wired
Controller or controller based on wired field bus communication.
But, this it being limited to length and the topological structure of wireline cable based on wired connection, cable controller can only
Arrange at each ad-hoc location.As a example by the X-ray imaging devices such as X-ray machine, typically require in difference for different demands for control
Position be controlled.When needs control X-ray is exposed imaging, for avoiding operator to be radiated by unnecessary X-ray,
Operator typically require the operating room outside imaging chamber and are exposed controlling；When needs control X source or sick bed carry out complexity
During motion, the most suitable in order to preferably observe movement position, operator typically require and carry out motion control on imaging device side
System, if but only need to control X source or time sick bed carries out simple motion, operator also can carry out motor control in operating room.
Typically require to realize different control functions a plurality of cable controller, each cable controller are set at diverse location
It is required for a set of control logic and connection line.
In order to be more beneficial for the reasonable disposition of resource, those skilled in the art are also being devoted to find other solution party
Case.
Utility model content
In view of this, on the one hand this utility model proposes a kind of controlled in wireless emitter and receptor, on the other hand proposes
A kind of wireless control system and armarium, in order on the premise of the reliability guaranteeing system and safety, conveniently control
The reasonable Arrangement of device.
A kind of controlled in wireless emitter disclosed in this utility model, including: a human-machine interface module；And at least two
Wireless signal transmitting module, described at least two wireless signal transmitting module is connected with described human-machine interface module respectively；Its
In, described human-machine interface module is for receiving a control signal, and described in described control signal being simultaneously supplied at least two
Individual wireless signal transmitting module；Further, wherein, described at least two wireless signal transmitting module is for controlling letter by described
Number launch.
In one embodiment, described controlled in wireless emitter farther includes an action sensor, and described action senses
Device is connected with described at least two wireless signal transmitting module, and promotes described controlled in wireless emitter to produce for sensing one
The actuating signal of raw shift action；Wherein, when described at least two wireless signal transmitting module is in sleep pattern, if
Described action sensor senses that described actuating signal, described at least two wireless signal transmitting module are called out from sleep pattern
Wake up.
In one embodiment, described controlled in wireless emitter farther includes a pulse generator, described pulse generation
Device is connected with described human-machine interface module and is provided with trigger element on described human-machine interface module；Wherein, touch when described
When bill unit is activated, described pulse generator is enabled the system that produces and enables control signal, and described human-machine interface module enters one
Step is used for receiving described system and enables control signal, and described in described system enable control signal is continuously available at least two
Individual wireless signal transmitting module；Described at least two wireless signal transmitting module is further used for enabling described system controlling
Signal is launched；Further, when the activation of described trigger element is stopped, described human-machine interface module receives a disconnection
The Safety Redundancy signal of described pulse generator, and stop described system enable control signal is supplied to described at least two
Wireless signal transmitting module.
In one embodiment, described trigger element includes button, switch or contactor control device.
In one embodiment, described controlled in wireless emitter includes hand-hold wireless control transmitter or foot-operated controlled in wireless
Emitter.
In one embodiment, the wireless communication protocol that described at least two wireless signal transmitting module is used is different
's.
A kind of wireless control receiver proposed in this utility model embodiment, including: at least two reception of wireless signals mould
Block, wherein said at least two reception of wireless signals module is respectively used to receive same control signal, and exports the control of correspondence
Signal processed；One signal checking module, described signal checking module is connected also with described at least two reception of wireless signals module
And, if it is, output the most identical for verifying the control signal of described at least two reception of wireless signals module output
Corresponding control signal；The most do not export the control signal of correspondence；With a master controller, described master controller and institute
State signal checking module connect and when the control signal corresponding in the output of described signal checking module, control correspondence
Actuator performs the operation that described control signal is corresponding.
In one embodiment, described signal checking module is to comprise the hardware circuit module of at least one-level logic verify；
The control signal of described reception of wireless signals module output is level controling signal.
In one embodiment, described signal checking module includes: with Gate Array module, and described with gate array mould
Block includes first and gate array；Wherein, described first is constituted with door by a plurality of first with gate array；Each first with
Door includes at least two input and an outfan, and described each first is used for receiving institute with at least two input of door
State at least two reception of wireless signals module level controling signal for the same control signal output received；Different first
Described at least two reception of wireless signals module corresponding from door is for the Automatic level control letter of the different control signals output received
Number；The level controling signal exported is supplied to described first and door by described at least two reception of wireless signals module respectively
First and door corresponding in array；Described master controller exports high level control the first of described correspondence with the outfan of door
During signal processed, control corresponding actuator and perform the operation that described control signal is corresponding.
In one embodiment, described signal checking module farther includes: XOR array module, and described and door
Array module farther includes second and gate array；Wherein, described XOR array module includes: by a plurality of XOR gate structures
The XOR gate array become, one or door and a pulsewidth trigger circuit；Wherein, each XOR gate include at least two input and
One outfan, at least two input of described each XOR gate is used for receiving described at least two reception of wireless signals mould
Block is for the level controling signal of the same control signal output received；The corresponding described at least two wireless communication of different XOR gates
Number receiver module is for the level controling signal of the different control signals output received；Described or door includes and described XOR gate
The consistent input of quantity and an outfan, each input of described or door respectively with the outfan of an XOR gate
It is connected；Described pulsewidth triggers circuit and has an input, a reversed-phase output and an in-phase output end；Described arteries and veins
The wide input triggering circuit is connected with described or door outfan, and it is described that described pulsewidth triggers the reversed-phase output of circuit
The outfan of XOR array module；Wherein, described second is constituted with door by a plurality of second with array, each second and door
Corresponding one first and door, each second includes two inputs and an outfan with door, described each second with door
One input is for being connected with the outfan of door with corresponding first, and another input is used for and described XOR array mould
The outfan of block is connected；The level controling signal exported is carried by described at least two reception of wireless signals module respectively simultaneously
Supply the described first corresponding with gate array first first XOR gate corresponding with door and described XOR gate array；Further,
Described master controller controls letter at the outfan output high level with described the first corresponding second and door corresponding with door
Number time, control corresponding actuator and perform the operation that described control signal is corresponding.
In one embodiment, described XOR array module farther includes: a rest-set flip-flop, described rest-set flip-flop
S input and described pulsewidth trigger the in-phase output end of circuit and be connected；The outfan of described rest-set flip-flop is in institute
Stating the verification of XOR array module when making mistake, output one mistake keeps signal；Wherein, described master controller is used further
In keeping signal to perform corresponding safe handling according to described mistake.
In one embodiment, described wireless control receiver farther includes: a monostable flipflop, described monostable
State trigger is connected with described signal checking module；Described at least two reception of wireless signals module is further used for receiving one
System enables control signal, and the system exporting correspondence enables control signal；Described signal checking module is further used for school
The system enable control signal testing the output of described at least two reception of wireless signals module is the most identical, if it is, to institute
The system stating monostable flipflop output corresponding enables control signal, makes described monostable flipflop be in output and is maintained tactile
The state sent out；The system the most not exporting correspondence enables control signal；It is a square-wave pulse that described system enables control signal
Signal；Further, described monostable flipflop is for when described output is maintained triggering, and output one is used for controlling
The security-enabled signal that each actuator enables.
A kind of wireless control system provided in this utility model embodiment, including: at least one any of the above-described way of realization
Controlled in wireless emitter, and the controlled in wireless of at least one arbitrary way of realization corresponding with controlled in wireless emitter
Receptor.
A kind of armarium provided in this utility model embodiment, including above-mentioned wireless control system.
In one embodiment, described equipment includes armarium.
It can be seen that owing to this utility model embodiment being provided with at least two for the transmission of control signal from such scheme
Individual transmission of wireless signals passage, i.e. controlled in wireless emitter are come respectively to same by least two wireless signal transmitting module
Control signal is launched, and wireless control receiver receives respectively also by least two reception of wireless signals module simultaneously
The control signal that corresponding wireless signal transmitting module is launched, is verified at least two by a signal checking module the most again
The control signal of transmission of wireless signals channel transfer is the most identical, if identical, then would be controlled corresponding holding by master controller
Row mechanism performs corresponding operation.Visible, what the dual pathways or the transmission of multichannel signal and signal checking ensure that system can
By property and safety, break away from the constraint of wireline cable simultaneously, the reasonable Arrangement of controller can have been facilitated.
Further, by using the hardware circuit module of at least one-level logic verify to realize signal checking module, can enter
One step ensures the reliability of system check, improves the accuracy of verification.
Additionally, in signal checking module except be provided for verifying the signal of transmission in two-way transmission channel the most consistent with
Outside gate array, whether certain passage verified in wireless transmitting system by XOR array module further exists mistake,
Further ensure system reliability of operation.
The mistake verified out XOR array module by arranging rest-set flip-flop locks, it is therefore prevented that be wirelessly transferred abnormal disappearing
After mistake, system is recovered to enable automatically.
In this utility model embodiment, be can ensure that by employing the hardware logic of security of system and reliability verifies, therefore
The wireless technology of lower power consumption can be used, such as Bluetooth, ZigBee technology, Z-Wave technology etc..And lead to
Cross and use the wireless technology of lower power consumption that the life-span of battery is extended.
By arranging controlled in wireless emitter fast wake-up from sleep that action sensor will be in sleep state, can contract
The sleep response time of short controlled in wireless emitter so that the sensitiveer convenience of controlled in wireless, and reduce further power
Consume.
Accompanying drawing explanation
Preferred embodiment of the present utility model will be described in detail by referring to accompanying drawing below, make those of ordinary skill in the art
Become apparent from above and other feature and advantage of the present utility model, in accompanying drawing:
Fig. 1 is the structural representation of a kind of wireless control system in this utility model embodiment.
Controlled in wireless emitter that Fig. 2 A and Fig. 2 B is respectively in this utility model example in a kind of wireless control system and nothing
The structural representation of line traffic control receptor.
Fig. 3 is that in one application example of this utility model, controlled in wireless emitter and wireless control receiver coordinate armarium
The schematic diagram used.
Wherein, reference is as follows:
Detailed description of the invention
Hereinafter in connection with accompanying drawing, one exemplary embodiment of the present utility model is described.Here, need the one of explanation
Point is, in order to avoid having obscured this utility model because of unnecessary details, illustrate only in the accompanying drawings and according to this reality
With the novel closely-related device structure of scheme, and eliminate other details little with this utility model relation.
Unless otherwise defined, what all technology used herein and scientific terminology had such as this utility model art is common
The implication that implication that technical staff is commonly understood by is identical.The described term used in the description of utility model herein is only
Be used to describe specific embodiments and be not intended to this utility model is caused restriction.As in theory of the present utility model
" one " and " described " of the singulative used in bright book and appended claims is also intended to include plural form,
Unless present disclosure is specified the most separately.All open files mentioned in this article, patent application document, patent and its
His list of references is all expressly incorporated into entire contents by quoting.
In this utility model embodiment, the reasonable Arrangement of controller for convenience, it is considered to use wireless controller to realize control
System, simultaneously in order to ensure reliability and the safety of system, it is considered to uses at least two communication to lead in this wireless controller
Road transmits same control signal, and these communication ports carries out error detection verification, such as, by hardware circuit to these
Communication port carries out debugging verification, and only when the control signal of verification to these communication ports transmission is identical, it is right just to perform
The control operation answered.
For making the purpose of this utility model, technical scheme and advantage clearer, by the following examples this utility model is entered
One step describes in detail.
Fig. 1 is the structural representation of a kind of wireless control system in this utility model embodiment.As it is shown in figure 1, wireless controlled
System 1000 processed can include at least one controlled in wireless emitter 100 (illustrate only a controlled in wireless emitter in figure)
With at least one wireless control receiver 200 (illustrate only a wireless control receiver in figure).
Wherein, each controlled in wireless emitter 100 for controlling the control letter of function in the correspondence one receiving user's triggering
Number time, be packaged described control signal respectively by the wireless communication protocol of at least two independence processing, and will simultaneously
At least two wireless control signal after process is sent respectively by two corresponding transmission of wireless signals passages.
Described wireless control receiver 200 is for receiving the wireless of correspondence respectively by least two transmission of wireless signals passage
Control signal, and the wireless control signal received is carried out dissection process according to its Wireless signaling protocols, obtain correspondence
Control signal, and it is the most consistent to verify the two path control signal parsed, if unanimously, then controls the actuator of correspondence
Perform the operation that described control signal is corresponding.
In the present embodiment, the communication technology of corresponding said two wireless communication protocol can be identical, it is also possible to different.Certainly,
In order to reduce interfering between two transmission of wireless signals passages, and increase components and parts multiformity (Diversity), prevent
Common cause failure (Common Cause Failure), can use different wireless communication technologys or based on different communication channels
Realize communication.Above-mentioned wireless communication technology can be Bluetooth, ZigBee, Z-Wave, proprietary 2.4G (Proprietary
The wireless communication technology such as 2.4G).
When implementing, each controlled in wireless emitter 100 can have and multiple implements form.Fig. 1 illustrate only it
Middle one, as shown in the bold portion in Fig. 1, each controlled in wireless emitter 100 comprises the steps that human-machine interface module 101
With two wireless signal transmitting module 102,103.Wherein, two wireless signal transmitting module 102,103 respectively with people
Machine interface module 101 connects.Those skilled in the art can according to actual needs, in a controlled in wireless emitter
Arranging more wireless signal transmitting module, this utility model is the most unrestricted.
Wherein, human-machine interface module 101 can be used for receiving corresponding one control signal controlling function, and controls letter by described
Number it is simultaneously supplied to said two wireless signal transmitting module 102,103.The implementation of this human-machine interface module 101 can
Have multiple.For example, it is possible to include the button of a plurality of corresponding different control functions, user by pressing different buttons,
Trigger different control signals.
Each in said two wireless signal transmitting module 102,103, will for the wireless communication protocol according to self
Described control signal carries out wireless package, and the control signal after encapsulation is launched.When implementing, two wireless
Signal emission module 102,103 can be the module using same wireless technology, it is also possible to be to use different wireless skills
The module of art, such as, one uses proprietary 2.4GHz communication technology, and another uses the Zigbee of 800～900MHz
Communication technology, or the Z-Wave communication technology etc. of 868MHz or 908MHz.
Further, in order to improve the arousal reaction speed and the actually used body of user being in dormant wireless controller
Testing, alternatively, the controlled in wireless emitter 100 in the present embodiment also can be as shown in the dotted portion in Fig. 1, including one
Action sensor 104.Wherein, action sensor 104 is connected with two wireless signal transmitting module 102,103 and uses
In time being in sleep pattern in said two wireless signal transmitting module 102,103, if sensing, one promotes described wireless controlled
Emitter processed produces the actuating signal of shift action, then by said two wireless signal transmitting module 102,103 from sleep mould
Formula wakes up up.In a preferred embodiment, action sensor can be any applicable motion detection sensor, such as, three
Axis accelerometer etc..Those skilled in the art can select other action sensor being suitable for, this reality according to actual needs
With novel the most unrestricted.
Correspondingly, described wireless control receiver 200 also can have and multiple implements form.Fig. 1 again illustrate only it
Middle one, as shown in the bold portion in Fig. 1, described wireless control receiver 200 comprises the steps that two wireless signals connect
Receive module 201,202, signal checking module 203 and master controller 204.Wherein, signal checking module 203 and two
Individual reception of wireless signals module 201,202 connects, and master controller 204 is connected with signal checking module 203.Class
As, those skilled in the art can arrange the most wireless according to actual needs in a wireless control receiver
Signal receiving module, this utility model is the most unrestricted.
Wherein, each reception of wireless signals module 201,202 is respectively used to receive corresponding wireless control signal transmitter module
102, the control signal after 103 encapsulation launched, to the solution including decapsulation of the control signal after described encapsulation
Analysis processes, and exports the control signal of correspondence.Reception of wireless signals module 201,202 needs and wireless signal transmitting module
102,103 is corresponding.Such as, if wireless signal transmitting module 102 uses the first communication technology, wireless signal transmission
Module 103 uses the second communication technology, then reception of wireless signals module 201,202 also needs to be respectively adopted the first communication technology
Realize with the second communication technology.Such as, reception of wireless signals module 201 can use the first communication technology, wireless signal
Receiver module 202 can use the second communication technology etc., for receiving the control that corresponding wireless signal transmitting module is sent
Signal.
Signal checking module 203 for verifying the control signal of said two reception of wireless signals module 201,202 output is
No identical, if it is, the control signal that output is corresponding；The most do not export the control signal of correspondence.In the present embodiment,
Signal checking module 203 can have and multiple implements form, such as, can be realized by software, or can also pass through
Hardware circuit realizes；Can include that one-level verifies, it is also possible to include two-stage verification or the verification etc. of more stages.
When signal checking module 203 uses hardware circuit module to realize, reception of wireless signals module 201,202 output
Control signal is generally level controling signal, and according to the level controling signal of reception of wireless signals module 201,202 output
Being that effectively or the different of Low level effective realize high level, the physical circuit composition of signal checking module 203 is the most different.
Such as, when reception of wireless signals module 201,202 output level controling signal be high level effective time, signal checking mould
Block 203 can use and realize with gate array and/or XOR array module etc..When reception of wireless signals module 201,202 exports
Level controling signal when being Low level effective, signal checking module 203 can use nor gate or door inclusive NAND door etc.
Realize.
When master controller 204 for exporting the control signal of correspondence in described signal checking module 203, control correspondence
Actuator performs the operation that described control signal is corresponding.
In order to make system more safely controllable, the system that can further provide in the present embodiment enables control signal and safety is superfluous
Remaining signal, its concrete methods of realizing can have multiple.
As an example, can be as shown in the dotted portion in Fig. 1, controlled in wireless emitter 100 wraps the most further
Include a pulse generator 105 being connected with human-machine interface module 101, and arrange on described human-machine interface module 101
There is trigger element (not shown in figure 1).Correspondingly, when described trigger element is activated, described pulse generator is made
Can enable control signal to produce system, human-machine interface module 101 can be further used for receiving a triggering signal, controls described
Pulse generator enables, and receives described system enable control signal, described system enable control signal is continuously available to
Two wireless signal transmitting module 102,103；Or when the activation of described trigger element needs to be stopped, receive one and break
Open the Safety Redundancy signal of described pulse generator, and stop described system enable control signal is supplied to two wireless communication
Number transmitter module 102,103.In the present embodiment, it can be a square-wave pulse signal that described system enables control signal.Institute
State each in two wireless signal transmitting module 102,103 and can be further used for the wireless communication protocol general according to self
Described system enables control signal and carries out wireless package, and the system enable control signal after encapsulation is launched.
Wherein, trigger element can include button, switch or contactor control device etc..
Alternatively, as shown in the dotted portion in Fig. 1, wireless control receiver 200 may further include one and signal
The monostable flipflop 205 that correction verification module 203 connects.Each wireless signal in described wireless control receiver 200 connects
After receiving the encapsulation that module 201,202 is further used for receiving corresponding wireless control signal transmitter module 102,103 transmitting
System enable control signal, to after described encapsulation system enable control signal include decapsulation including parsing at
Reason, and export the system enable control signal of correspondence, it can be a square-wave pulse signal equally that this system enables control signal.
Signal checking module 203 is further used for verifying the system of said two reception of wireless signals module 201,202 output and enables
Control signal is the most identical, if it is, the system enable control signal that output is corresponding, it is same that this system enables control signal
Sample can be a square-wave pulse signal；The system the most not exporting correspondence enables control signal.Signal checking module 203 exports
System enable control signal and can be used for maintaining described monostable flipflop 205 to be in output being maintained the state of triggering, should
The monostable flipflop 205 output when described output is maintained triggering is an extra security-enabled signal.
This security-enabled signal can be directly used for controlling each actuator and enables.
When stopping sending described system enable control signal at controlled in wireless emitter 100, described signal checking module 203
The most no longer exporting described system and enable control signal, now monostable flipflop 205 stops sending described security-enabled signal,
Each actuator anergy, system is stopped by force.Further, system can also is that and stopped by force after Preset Time.
Below by a hard-wired application example, the wireless control system 1000 in this utility model embodiment is entered
Row describes in detail.
Fig. 2 A and Fig. 2 B respectively illustrates the wireless controlled in a kind of wireless control system 1000 in this utility model example
Emitter processed and the structural representation of wireless control receiver.Fig. 2 A shows two controlled in wireless emitters, i.e. first
Controlled in wireless emitter 300 and the second controlled in wireless emitter 400, show a wireless control receiver in Fig. 2 B
500.Certainly, in other application example, wireless control system 1000 can also only including, a controlled in wireless is launched
Device, or include the controlled in wireless emitter of more than two.
In this example, the first controlled in wireless emitter 300 includes first human-machine interface module the 1, first wireless signal transmission
Module the 3, second wireless signal transmitting module 4, action sensor 5 and pulse generator 6.
Second controlled in wireless emitter 400 includes second human-machine interface module the 2, first wireless signal transmitting module 3, second
Wireless signal transmitting module 4, action sensor 5 and pulse generator 6.
First human-machine interface module 1 includes that L controls switch K1、K2、……、KLOpen with a system enable/anergy
Close KS.Wherein, the different switches that controls can be used for controlling different functions.L is the integer more than or equal to 1.
Second human-machine interface module 2 includes that M controls switch KL+1、KL+2、……、KL+MEnable with a system/
Anergy switch KS.Wherein, the different switches that controls can be used for controlling different functions.M is the integer more than or equal to 1.
In another embodiment, K is switched except system enable/anergySOther all control switches can not also use
Independent switch key form shown in Fig. 2 A, as used double-contact or double-deck switch (double-pole single-throw (D.P.S.T.)), the most also
Other implementation can be used.Such as, inductively or capacitively touch control etc..
First human-machine interface module 1 switchs corresponding control function with the control of the second human-machine interface module 2 can part weight
Folded, naturally it is also possible to the most overlapping or the most different.Such as, as a example by the X-ray imaging device in armarium, first
Controlled in wireless emitter 300 can be hand-hold wireless control transmitter, and the second controlled in wireless emitter 400 can be foot-operated
Controlled in wireless emitter, the control function of the two can partly overlap, it is also possible to the most overlapping or the most different.
In above-mentioned first controlled in wireless emitter 300 and the second controlled in wireless emitter 400, when certain controls switch Guan Bi
Time, the control signal that should control switch and control function will be sent simultaneously to the first wireless signal transmitting module 3 He
Second wireless signal transmitting module 4.
First wireless signal transmitting module 3 and the second wireless signal transmitting module 4 are respectively according to the wireless communication protocol of self
Described control signal is carried out wireless package, the control signal after being encapsulated, and the control signal after encapsulation is launched
Go.In this example, understand for convenience, it is assumed that the first wireless signal transmitting module 3 uses the first wireless communication technology W1,
The most proprietary 2.4GHz communication technology, the second wireless signal transmitting module 4 uses the second wireless communication technology W2, such as
The Zigbee communication technology of 800～900MHz, then corresponding each control switchs K1、K2、……、KLThe control letter triggered
Number, the control signal that the first wireless signal transmitting module 3 obtains can be expressed as W1IN1、W1IN2、……、W1INL,
The control signal that second wireless signal transmitting module 4 obtains can be expressed as W2 IN1、W2 IN2、……、W2 INL；
Corresponding each control switchs KL+1、KL+2、……、KL+MThe control signal triggered, the first wireless signal transmitting module 3
To control signal can be expressed as W1INL+1、W1INL+2、……、W1INL+M, the second wireless signal transmission mould
The control signal that block 4 obtains can be expressed as W2INL+1、W2INL+2、……、W2 INL+M。
Alternatively, the first human-machine interface module 1 and the second human-machine interface module 2 can be provided with trigger element, described
Trigger element can be selected from button, switch or contactor control device.When described trigger element is activated, pulse generator 6 quilt
Enabling to produce system enable control signal, human-machine interface module receives described system and enables control signal, and by described system
System enables control signal and is continuously available to wireless signal transmitting module, and described system is made by wireless signal transmitting module further
Can control signal launch.When the activation of described trigger element needs to be stopped, human-machine interface module receives a disconnection
The Safety Redundancy signal of pulse generator 6, and stop described system enable control signal is supplied to wireless signal transmission mould
Block.
K is switched for system enable/anergy below with trigger elementSAs a example by illustrate.When system enable/anergy switchs KS
During Guan Bi, the square-wave pulse signal DMS that pulse generator 6 produces will persistently be sent to the first wireless signal transmitting module
3 and second wireless signal transmitting module 4.First wireless signal transmitting module 3 and the second wireless signal transmitting module 4 are respectively
Described square-wave pulse signal is carried out wireless package by the wireless communication protocol according to self, and by the square-wave pulse letter after encapsulation
Number launch.When system enable/anergy switchs KSDuring disconnection, it is wireless that pulse generator 6 will stop being sent to first
Signal emission module 3 and the second wireless signal transmitting module 4, correspondingly, the first wireless signal transmitting module 3 and second
Wireless signal transmitting module 4 stops launching described square-wave pulse signal.
Action sensor 5 is for being in described first wireless signal transmitting module 3 and the second wireless signal transmitting module 4
During sleep pattern, if sensing, one promotes described controlled in wireless emitter 300 and/or the second controlled in wireless emitter 400 to produce
When giving birth to the actuating signal of shift action, by described first wireless signal transmitting module 3 and/or the second wireless signal transmitting module
4 from sleep mode wakeup.
With the first above-mentioned controlled in wireless emitter 300 for hand-hold wireless control transmitter, the second controlled in wireless emitter 400
In case of foot-operated controlled in wireless emitter, when the action sensor 5 in the first controlled in wireless emitter 300 senses
To the first controlled in wireless emitter 300 when resting state is lifted, will wake up up in the first controlled in wireless emitter 300
The first wireless signal transmitting module 3 and the second wireless signal transmitting module 4.When in the second controlled in wireless emitter 400
Action sensor 5 when sensing the signal waking up the second controlled in wireless emitter 400 up, for instance in the foot of resting state
Step on controlled in wireless emitter when being ridden by user or touch, first in the second controlled in wireless emitter 400 will be waken up up
Wireless signal transmitting module 3 and the second wireless signal transmitting module 4.
In this example, wireless control receiver 500 includes: first reception of wireless signals module the 7, second wireless signal connects
Receive module 8, signal checking module 9, master controller 10, monostable flipflop 11.
In this example, it is assumed that the first reception of wireless signals module 7 and the first wireless signal transmitting module 3 are set up correspondence
Wireless transfer channel；Second reception of wireless signals module 8 and the second wireless signal transmitting module 4 are set up the wireless of correspondence
Transmission channel.In this case, the first reception of wireless signals module 7 is for receiving the first wireless signal transmitting module 3
Control signal after the encapsulation launched, to the dissection process including decapsulation of the control signal after described encapsulation,
And export the control signal of correspondence.Further, the first reception of wireless signals module 7 is additionally operable to receive the first wireless signal transmission
Square-wave pulse signal after the encapsulation that module 3 is launched, includes the square-wave pulse signal after described encapsulation decapsulating
Interior dissection process, and export the square-wave pulse signal DMS of correspondence.Second reception of wireless signals module 8 is for reception the
Control signal after the encapsulation that two wireless signal transmitting module 4 are launched, includes the control signal after described encapsulation solving
It is encapsulated in interior dissection process, and exports the control signal of correspondence.Further, the second reception of wireless signals module 8 is additionally operable to
Receive the square-wave pulse signal after the encapsulation that the second wireless signal transmitting module 4 is launched, to the square-wave pulse after described encapsulation
Signal carries out the dissection process including decapsulation, and exports the square-wave pulse signal DMS of correspondence.
The first wireless communication technology W1 is used, as proprietary 2.4GHz communicates for above-mentioned first wireless signal transmitting module 3
Technology, the second wireless signal transmitting module 4 uses the second wireless communication technology W2, such as the Zigbee of 800～900MHz
The situation of communication technology, corresponding each control switchs K1、K2、……、KL、KL+1、KL+2、……、KL+MTrigger
Control signal, first reception of wireless signals module 7 output control signal be represented by W1OUT1、
W1OUT2、……、W1OUTN, corresponding each control switchs K1、K2、……、KL、KL+1、KL+2、……、
KL+MThe control signal triggered, the control signal of the second reception of wireless signals module 8 output can be expressed as W2OUT1、
W2OUT2、……、W2OUTN.Wherein, N=L+M.Additionally, some application in, N can also more than L+M it
With.
In this example, signal checking module 9 is for verification the first reception of wireless signals module 7 and the second reception of wireless signals
The control signal of module 8 output is the most identical, if it is, the control signal that output is corresponding；The most do not export correspondence
Control signal.Further, signal checking module 9 is additionally operable to verify the first reception of wireless signals module 7 and the second wireless signal
The square-wave pulse signal DMS of receiver module 8 output is the most identical, if it is, the square-wave pulse signal that output is corresponding
DMS；The most do not export the square-wave pulse signal DMS of correspondence.
In this example, as a example by the hardware circuit module realization that signal checking module 9 uses two-level logic to verify, and with
First reception of wireless signals module 7 and the second reception of wireless signals module 8 export high level effectively in case of, the most such as
Shown in Fig. 2 B, signal checking module 9 includes: with Gate Array module 90 and XOR array module 92.Such as Fig. 2 B institute
In the preferred implementation shown, with Gate Array module 90 can include first with gate array 91 and second with gate array 93.
Wherein, first is made up of with door & N+1 first with gate array 91, each first and door include two inputs and
One outfan, each first is wireless for receiving the first reception of wireless signals module 7 and second with the two of door inputs
Signal receiving module 8 is for the level controling signal of the same control signal output received；Different first corresponding with door first
The level control that reception of wireless signals module 7 and the second reception of wireless signals module 8 export for the different control signals received
Signal processed.First is mainly used in verifying the first reception of wireless signals module 7 and the second nothing with first in gate array 91 and door
Whether the level controling signal of line signal receiving module 8 output is high level, if it is, output high level；Otherwise
Output low level.
Described XOR array module 92 includes: the XOR gate array 921 being made up of N+1 XOR gate XOR, one or
922, pulsewidth of door triggers circuit 923 and a rest-set flip-flop 924.XOR array module 92 is mainly used in wireless
Control system 1000 carries out error checking.
Wherein, each XOR gate includes two inputs and an outfan, and two inputs of described each XOR gate are used
Defeated for the same control signal received in receiving the first reception of wireless signals module 7 and the second reception of wireless signals module 8
The level controling signal gone out；Corresponding first reception of wireless signals module 7 and the second reception of wireless signals module of different XOR gates
8 level controling signals exported for the different control signals received.Each XOR gate is used for two inputs at self
When the level controling signal of reception is identical, output low level；Otherwise, output high level.
Or door 922 includes the input consistent with the quantity of described XOR gate and an outfan, described or door 922
Each input outfan with an XOR gate respectively is connected.Or door 922 receives height for the arbitrary input at self
During level controling signal, export high level；Otherwise, output low level.
Pulsewidth triggers circuit 923 and has an input, a reversed-phase output/Q and an in-phase output end Q；Pulsewidth
The input triggering circuit 923 is connected with described or door 922 outfan, and pulsewidth triggers the reversed-phase output of circuit 923
/ Q is the outfan of XOR array module 92.When wireless control system 1000 does not exists system mistake, pulsewidth triggers electricity
Road 923 will not be triggered, and now reversed-phase output output represents the high level signal K of normal (OK)；If wireless controlled
One passage of system 1000 processed occurs abnormal, and i.e. the input of any one XOR gate of XOR gate array is not if there is
With, then this XOR gate is output as high level, or door output also be high level, if or door output high level persistently default
Time, then pulsewidth trigger circuit be triggered, reversed-phase output is set to low level, this signal can close second with gate array
All outputs, pulsewidth triggers the high level signal Err of in-phase output end Q output expression abnormal (Error) of circuit 923.
If the abnormal very short time that only continues of wireless control system 1000, then pulsewidth triggering circuit will not be triggered, it is therefore intended that
Tolerate transmission time difference, delay or signal jitter slight between two passages.
The in-phase output end that the S input of rest-set flip-flop 924 triggers circuit 923 with pulsewidth is connected, at XOR array
When module 92 verification makes mistake, i.e. the expression that S input receives the in-phase output end output that pulsewidth triggers circuit 923 is different
During normal high level, the outfan Q of rest-set flip-flop 924 exports a mistake to master controller 10 and keeps signal, is used for
Locking error condition, after preventing from being wirelessly transferred abnormal disappearance, system is recovered to enable automatically.Correspondingly, described center controls
Device 10 can be used for keeping signal to perform corresponding safe handling according to described mistake, and the R by reset rest-set flip-flop is defeated
Enter end and eliminate the output of mistake holding signal.
Second is constituted with door & by N+1 second with gate array 93, and each second one first and door corresponding with door is each
Second includes two inputs and an outfan with door, and described each second is used for corresponding with door input
First is connected with the outfan of door, another input for being connected with the outfan of described XOR array module 92, i.e. with
Described pulsewidth triggers the reversed-phase output of circuit 923 and is connected, in the anti-phase output receiving pulsewidth triggering circuit 923
During the normal high level of expression of end output, make first effective with the level controling signal of door output, now master controller
10 actuators that can control correspondence perform corresponding operation.
In actual application, the first reception of wireless signals module 7 and the second reception of wireless signals module 8 will be exported respectively
It is corresponding with door and XOR gate array 921 that level controling signal is simultaneously supplied to first corresponding with gate array 91 first
XOR gate.
Correspondingly, master controller 10 is at the outfan output high level of second and the door corresponding with door with corresponding first
Time, control corresponding actuator and perform the operation that described control signal is corresponding.
Additionally, in other embodiments, signal checking module 9 can also use other implementation, such as, with
Gate Array module 90 or XOR array module 92 can be the combinations of discrete component, it is also possible to realize with logical device,
Such as PAL, GAL, CPLD/FPGA etc..Additionally, signal checking module 9 also can be only with the one-level logic in this example
Verification realizes, and i.e. uses in this example first to realize with gate array 91.Now, the first reception of wireless signals module
7 and second reception of wireless signals module 8 respectively the level controling signal exported is supplied to described first with gate array 91
First and door of middle correspondence.Described master controller 10 is for controlling at the outfan output high level of corresponding first with door
During signal, control corresponding actuator and perform the operation that described control signal is corresponding.
Monostable flipflop 11 when signal checking module 9 exports the square-wave pulse signal DMS of correspondence, i.e. corresponding the
Two with door output square-wave pulse signal DMS time, be in output and be maintained the state of triggering, and export one and respectively hold for controlling
The security-enabled signal that row mechanism enables.
First reception of wireless signals module 7 and the second reception of wireless signals module 8 are connected to center by system bus 12 and control
Device 10 processed, by described master controller 10 to described first reception of wireless signals module 7 and the second reception of wireless signals mould
Block 8 completes to arrange operation or the wireless signal transmitting module 3 the most corresponding with it carries out with 4 code or be connected the behaviour such as license
Make.
As a kind of embodiment, wireless signal transmitting module and reception of wireless signals module in the present embodiment can use
The nRF24xx family chip of Nordic company of Norway realizes, or may be used without the chip of other form, the most right
It limits.
The controlled in wireless emitter in above-mentioned wireless control system and wireless control receiver in this utility model can be independent
Sell.
Additionally, a kind of armarium provided in this utility model can include that in this utility model embodiment, any one is specifically real
The wireless control system 1000 of existing form.Alternatively, described armarium can be CT machine, X-ray imaging device (X
Ray machine) etc., those skilled in the art can according to actual needs, the wireless control system that will provide in this utility model
1000 are applied to various equipment, and this utility model is the most unrestricted.
Below as a example by this armarium is for X-ray imaging device, described wireless control system 1000 is described in the device
Facilities.Fig. 3 is that in one application example of this utility model, controlled in wireless emitter and wireless control receiver coordinate doctor
The schematic diagram that treatment equipment uses.As described in Figure 3, controlled in wireless emitter can include hand-hold wireless control transmitter 600
With foot-operated controlled in wireless emitter 700, the two controlled in wireless emitter 600,700 can be configured according to using needs.
Wireless control receiver 800 may be provided in system centre control unit 900.Wherein, hand-hold wireless control transmitter 600
Can exist with foot-operated controlled in wireless emitter 700, it is possible to only exist one of them simultaneously.
From such scheme it can be seen that in this utility model embodiment, the transmission for control signal is provided with two wireless communication
Number transmission channel, i.e. controlled in wireless emitter to carry out same control signal respectively by two wireless signal transmitting module
Launch after wireless package, simultaneously wireless control receiver receive respectively also by two reception of wireless signals modules right
The control signal that the wireless signal transmitting module answered is launched, is verified two wireless communication by a signal checking module the most again
The control signal of number transmission channel transmission is the most identical, if identical, master controller control corresponding actuator and holds
The operation that row is corresponding.Visible, the transmission of twin-channel signal and signal checking ensure that reliability and the safety of system, with
Time broken away from the constraint of wireline cable, the reasonable Arrangement of controller can be facilitated.
Further, by using the hardware circuit module of at least one-level logic verify to realize signal checking module, can enter
One step ensures the reliability of system check, improves the accuracy of verification.
Additionally, in signal checking module except be provided for verifying the signal of transmission in two-way transmission channel the most consistent with
Outside gate array, whether certain passage verified in wireless transmitting system by XOR array module further exists mistake,
Further ensure system reliability of operation.
The mistake verified out XOR array module by arranging rest-set flip-flop locks, it is therefore prevented that be wirelessly transferred abnormal disappearing
After mistake, system is recovered to enable automatically.
In this utility model embodiment, be can ensure that by employing the hardware logic of security of system and reliability verifies, therefore
The wireless technology of lower power consumption can be used, such as ZigBee technology, Z-Wave technology etc..And it is relatively low by using
The wireless technology of power consumption makes the life-span of battery be extended.
By arranging controlled in wireless emitter fast wake-up from sleep that action sensor will be in sleep state, can contract
The sleep response time of short controlled in wireless emitter so that the sensitiveer convenience of controlled in wireless, and reduce further power
Consume.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all in this reality
Within novel spirit and principle, any modification, equivalent substitution and improvement etc. made, should be included in this practicality new
Within the protection domain of type.
Claims (14)
1. a controlled in wireless emitter, it is characterised in that including:
One human-machine interface module (101,1,2)；And
At least two wireless signal transmitting module (102,103,3,4), described at least two wireless signal transmitting module
(102,103,3,4) are connected with described human-machine interface module (101,1,2) respectively；
Wherein, described human-machine interface module (101,1,2) is for receiving a control signal and described control signal is same
Time be supplied to described at least two wireless signal transmitting module (102,103,3,4)；And
Wherein, described at least two wireless signal transmitting module (102,103,3,4) is for sending out described control signal
It is shot out.
Controlled in wireless emitter the most according to claim 1, it is characterised in that described controlled in wireless emitter enters one
Step includes an action sensor (104,5), described action sensor (104,5) and described at least two wireless signal
Transmitter module (102,103,3,4) connects and promotes described controlled in wireless emitter to produce mobile moving for sensing one
The actuating signal made；
Wherein, when described at least two wireless signal transmitting module (102,103,3,4) is in sleep pattern, if
Described action sensor (104,5) senses described actuating signal, described at least two wireless signal transmitting module (102,
103,3,4) it is waken up from sleep pattern.
Controlled in wireless emitter the most according to claim 1 and 2, it is characterised in that described controlled in wireless emitter
Farther include a pulse generator (105,6), described pulse generator (105,6) and described human-machine interface module
(101,1,2) connect and are provided with trigger element (K on described human-machine interface module (101,1,2)S)；
Wherein, as described trigger element (KS) when being activated, described pulse generator (105,6) is enabled to produce system
Enabling control signal, described human-machine interface module (101,1,2) is further used for receiving described system and enables control signal,
And by described system enable control signal be continuously available to described at least two wireless signal transmitting module (102,103,3,
4), described at least two wireless signal transmitting module (102,103,3,4) is further used for enabling described system
Control signal is launched；And
Wherein, as described trigger element (KS) activation when being stopped, described human-machine interface module (101,1,2) connects
Receive the Safety Redundancy signal of the described pulse generator of a disconnection (105,6), and stop described system is enabled control signal
It is supplied to described at least two wireless signal transmitting module (102,103,3,4).
Controlled in wireless emitter the most according to claim 3, it is characterised in that described trigger element include button,
Switch or contactor control device.
Controlled in wireless emitter the most according to claim 1 and 2, it is characterised in that described controlled in wireless emitter
Including hand-hold wireless control transmitter or foot-operated controlled in wireless emitter.
Controlled in wireless emitter the most according to claim 1 and 2, it is characterised in that described at least two wireless communication
Number wireless communication protocol that transmitter module (102,103,3,4) is used is different.
7. a wireless control receiver, it is characterised in that including:
At least two reception of wireless signals module (201,202,7,8), wherein said at least two reception of wireless signals
Module (201,202,7,8) is respectively used to receive same control signal, and exports the control signal of correspondence；
One signal checking module (203,9), described signal checking module (203,9) and described at least two wireless communication
Number receiver module (201,202,7,8) connect and for verify described at least two reception of wireless signals module (201,
202,7,8) control signal exported is the most identical, if it is, the control signal that output is corresponding；It is right the most not export
The control signal answered；And
One master controller (204,10), described master controller (204,10) and described signal checking module (203,
9) connect and when the control signal corresponding in described signal checking module (203,9) output, control corresponding holding
Row mechanism performs the operation that described control signal is corresponding.
Wireless control receiver the most according to claim 7, it is characterised in that described signal checking module (203,
9) it is the hardware circuit module comprising at least one-level logic verify；
The control signal of described reception of wireless signals module output is level controling signal.
Wireless control receiver the most according to claim 8, it is characterised in that described signal checking module (203,
9) including: with Gate Array module (90), and described include with Gate Array module (90) first with gate array (91)；
Wherein, described first is constituted with door by a plurality of first with gate array (91)；Each first includes at least two with door
Individual input and an outfan, described each first with at least two input of door be used for receiving described at least two without
Line signal receiving module (201,202,7,8) is for the level controling signal of the same control signal output received；No
With the first described at least two reception of wireless signals module (201,202,7,8) corresponding from door for the different controls received
The level controling signal of signal processed output；
The level controling signal that described at least two reception of wireless signals module (201,202,7,8) will be exported respectively
It is supplied to the described first first and door corresponding with gate array (91)；
Described master controller (204,10) when the first of described correspondence with the outfan of door output high-level control signal,
Control corresponding actuator and perform the operation that described control signal is corresponding.
Wireless control receiver the most according to claim 9, it is characterised in that described signal checking module (203,
9) farther include: XOR array module (92), and described farther include with Gate Array module (90) second with
Gate array (93)；
Wherein, described XOR array module (92) including: the XOR gate array (921) being made up of a plurality of XOR gates,
One or door (922) and a pulsewidth trigger circuit (923)；Wherein, each XOR gate includes at least two input and
Individual outfan, at least two input of described each XOR gate is used for receiving described at least two reception of wireless signals module
(201,202,7,8) are for the level controling signal of the same control signal output received；Different XOR gate correspondence institutes
State at least two reception of wireless signals module (201,202,7, the 8) level for the different control signals output received
Control signal；Described or door (922) includes the input consistent with the quantity of described XOR gate and an outfan, institute
State or each input outfan with an XOR gate respectively of door (922) is connected；Described pulsewidth triggers circuit (923)
There is an input, a reversed-phase output and an in-phase output end；Described pulsewidth triggers the input of circuit (923)
End is connected with described or door outfan, and it is described XOR array mould that described pulsewidth triggers the reversed-phase output of circuit (923)
The outfan of block (92)；
Wherein, described second is constituted with door by a plurality of second with array (93), each second corresponding with door one first
With door, each second includes two inputs and an outfan, described each second and an input use of door with door
In being connected with the outfan of door with corresponding first, defeated for described XOR array module (92) of another input
Go out end to be connected；
Wherein, the level control that described at least two reception of wireless signals module (201,202,7,8) will be exported respectively
Signal processed be simultaneously supplied to described first corresponding with gate array (91) first with door and described XOR gate array (921)
The XOR gate of middle correspondence；And
Wherein, described master controller (204,10) with described corresponding first with door the corresponding second defeated with door
When going out end output high-level control signal, control corresponding actuator and perform the operation that described control signal is corresponding.
11. wireless control receivers according to claim 10, it is characterised in that described XOR array module (92)
Farther including: a rest-set flip-flop (924), the S input of described rest-set flip-flop (924) triggers with described pulsewidth
The in-phase output end of circuit (923) connects；The outfan of described rest-set flip-flop (924) is at described XOR array mould
When block (92) verification makes mistake, output one mistake keeps signal；
Wherein, described master controller (204,10) is further used for keeping signal to perform corresponding peace according to described mistake
Full process.
12. according to the wireless control receiver according to any one of claim 7 to 11, it is characterised in that described wireless
Control receptor to farther include:
One monostable flipflop (205,11), described monostable flipflop (205,11) and described signal checking module
(203,9) connect；
Wherein, described at least two reception of wireless signals module (201,202,7,8) is further used for receiving a system
Enable control signal, and the system exporting correspondence enables control signal；
Wherein, described signal checking module (203,9) is further used for verifying described at least two reception of wireless signals mould
It is the most identical that the system that block (201,202,7,8) exports enables control signal, if it is, touch to described monostable
The system sending out device (205,11) output corresponding enables control signal, makes described monostable flipflop (205,11) be in
Output is maintained the state of triggering；The system the most not exporting correspondence enables control signal；And
Wherein, described monostable flipflop (205,11), for when described output is maintained triggering, exports one
For controlling the security-enabled signal that each actuator enables.
13. 1 kinds of wireless control systems, it is characterised in that including: at least one is such as claim 1,2,5 or 6 institute
The controlled in wireless emitter stated, and at least one wireless control receiver as according to any one of claim 7 to 11；
Or,
Including: at least one controlled in wireless emitter as described in claim 3 or 4 and at least one is such as claim
Wireless control receiver described in 12.
14. 1 kinds of armarium, it is characterised in that include wireless control system as described in claim 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620279735.7U CN205545216U (en) | 2016-04-06 | 2016-04-06 | Wireless control transmitter, receiver, wireless control system and medical equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620279735.7U CN205545216U (en) | 2016-04-06 | 2016-04-06 | Wireless control transmitter, receiver, wireless control system and medical equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107481372A (en) * | 2017-08-16 | 2017-12-15 | 广州甩手电子商务有限公司 | Dual redundant Intelligent storage device, dual redundant Internet of Things storage system and its implementation |
| CN110267019A (en) * | 2019-07-23 | 2019-09-20 | 北京疯景科技有限公司 | A kind of split type low-power consumption monitoring system |
| CN113456021A (en) * | 2021-06-29 | 2021-10-01 | 深圳市斯尔顿科技有限公司 | Remote control device attached to operating rod of ophthalmologic apparatus, system and slit-lamp microscope |
-
2016
- 2016-04-06 CN CN201620279735.7U patent/CN205545216U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107481372A (en) * | 2017-08-16 | 2017-12-15 | 广州甩手电子商务有限公司 | Dual redundant Intelligent storage device, dual redundant Internet of Things storage system and its implementation |
| CN110267019A (en) * | 2019-07-23 | 2019-09-20 | 北京疯景科技有限公司 | A kind of split type low-power consumption monitoring system |
| CN110267019B (en) * | 2019-07-23 | 2020-11-13 | 北京疯景科技有限公司 | Split type low-power consumption monitored control system |
| CN113456021A (en) * | 2021-06-29 | 2021-10-01 | 深圳市斯尔顿科技有限公司 | Remote control device attached to operating rod of ophthalmologic apparatus, system and slit-lamp microscope |
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