CN219803728U - Anti-collision system and digital subtraction angiography equipment - Google Patents

Abstract

The utility model provides an anti-collision system and digital subtraction angiography equipment. Wherein, anticollision system includes: sensing device, communication device and alarm. The non-contact sensor in the sensing device does not need to sense in a contact way, can acquire corresponding collision signals before collision occurs, and can realize collision early warning through the alarm, so that the safety of the sports equipment is improved. Further, the movement device can stop or limit the movement according to different types of collision signals, so that the influence on the treatment process is reduced. In addition, wireless transmission module and communication device wireless connection have avoided wired connection's drawback, and the flexibility of reinforcing arrangement need not the wiring design, reduce cost, can also promote the durability of system simultaneously. Furthermore, the anti-collision system can be provided with a plurality of sensing devices, and the sensing devices are mutually independent, so that the anti-collision system can adapt to the forms and the movement modes of different movement devices, improves the design flexibility and is beneficial to standardization of the anti-collision system.

Description

Anti-collision system and digital subtraction angiography equipment

Technical Field

The utility model relates to the technical field of medical equipment, in particular to an anti-collision system and digital subtraction angiography equipment.

Background

Digital subtraction angiography (Digital subtraction angiograph, DSA) is a common technique for vascular disease examination and interventional therapy. During an examination or treatment, because there are a great number of collision cases that occur due to the suspension of the digital subtraction angiography device and the movement of the robotic arm, the physician needs to pay extra attention to the device in order to avoid collisions. If collision occurs in the actual use process, adverse effects can be generated on doctors or patients, and the experience of users is affected. Currently, anti-collision schemes for digital subtraction angiography devices are basically contact anti-collision schemes. Common anti-collision schemes are the following two:

first, by analyzing the movement of the various axes of the device, special mechanical mechanisms are designed in locations where collisions may occur to the doctor or patient. The mechanical structure can trigger the micro switch arranged at the position when in collision and generate a collision signal. The device collects the signals through a board card or other forms, analyzes the signals and gives the signals to a corresponding motion control system so as to stop the motion of the electric motion shaft and realize collision protection.

Secondly, the contact sensor is attached to the surface of the equipment, which is likely to collide, sensor signals are collected through the main controller, and then the corresponding signals are judged and then are sent to the corresponding motion control system, so that collision protection is realized.

However, the two anti-collision designs can stop damage in time, but cannot avoid collision. In addition, the motion forms of all motion systems in the equipment are different, unified standardization of an anti-collision scheme is difficult to realize, and power supply or signal transmission of an anti-collision sensor is required to be designed in a targeted manner, so that the design cost and the material cost are high.

Therefore, a new anti-collision system and digital subtraction angiography apparatus are needed to realize non-contact anti-collision protection and improve the safety of sports equipment.

Disclosure of Invention

The utility model aims to provide an anti-collision system and digital subtraction angiography equipment, which are used for solving at least one problem of how to realize non-contact collision early warning, how to improve the safety of sports equipment, how to realize standardization of the anti-collision system, how to improve the durability of the equipment, how to improve the flexibility of design and how to reduce the preparation cost.

In order to solve the above technical problems, the present utility model provides an anti-collision system for an anti-collision of a sports apparatus, the anti-collision system comprising: the sensing device, the communication device and the alarm;

the induction device is arranged on the surface of the sports equipment and comprises a non-contact sensor and a wireless transmission module; the non-contact sensor is used for sensing collision signals and transmitting the collision signals to the wireless transmission module; the wireless transmission module is in wireless connection with the communication device so as to transmit the collision signal to the communication device; the communication device is respectively connected with the movement equipment and the alarm to transmit the collision signal to the movement equipment and the alarm.

Optionally, in the anti-collision system, the non-contact sensor includes a capacitive sensor.

Optionally, in the anti-collision system, the collision signal is divided into a first signal and a second signal; when the speed of the movement equipment relative to the obstacle is larger than a preset value within the preset collision range distance of the sensing device, the non-contact sensor senses the first signal, the movement equipment stops moving, and the alarm gives an alarm; when the speed of the movement equipment relative to the obstacle is smaller than or equal to the preset value, the non-contact sensor senses the second signal, the movement equipment limits movement, and the alarm gives an alarm.

Optionally, in the anti-collision system, the sensing device further comprises a microcontroller, a dial and a power supply; the microcontroller is respectively connected with the non-contact sensor, the wireless transmission module and the dialer; the power supply is respectively connected with the non-contact sensor, the microcontroller, the wireless transmission module and the dialer.

Optionally, in the anti-collision system, the anti-collision system includes a plurality of the sensing devices; the sensing devices are distributed on the outer surface of the sports equipment at intervals, and the dialing codes set by the dialing devices in the sensing devices are different.

Optionally, in the anti-collision system, the anti-collision system further comprises a central controller and a display; wherein the central controller is respectively connected with the communication device and the display; and the central controller is also in wireless connection with the microcontroller.

Optionally, in the anti-collision system, the communication device includes a router and a switch; the router is respectively connected with the wireless transmission module and the central controller to acquire the collision signal transmitted by the wireless transmission module and transmit the collision signal into the central controller;

the switch is respectively connected with the central controller, the movement equipment and the alarm, so as to at least receive the collision signal output by the central controller and transmit the collision signal into the movement equipment and the alarm.

Optionally, in the anti-collision system, the wireless transmission module includes a WIFI module.

Optionally, in the anti-collision system, the alarm includes a buzzer and/or a warning light.

Based on the same conception, the utility model provides a digital subtraction angiography device comprising the anti-collision system.

In summary, the present utility model provides an anti-collision system and a digital subtraction angiography apparatus. Wherein, the anticollision system includes: sensing device, communication device and alarm. The induction device comprises a non-contact sensor and a wireless transmission module; the non-contact sensor does not need to sense in a contact way, can acquire corresponding collision signals before collision occurs, and can realize collision early warning through the alarm, so that the safety of the sports equipment is improved. Further, the motion device can perform the motion stopping or limiting action according to different types of the collision signals so as to cope with different collision situations and reduce the influence on the treatment process. In addition, wireless transmission module with communication device wireless connection has avoided wired connection's drawback, and the flexibility of reinforcing arrangement need not the wiring design, and reduce cost can also promote the durability of system simultaneously. Furthermore, the anti-collision system can be provided with a plurality of sensing devices, and the sensing devices are mutually independent, so that the anti-collision system can adapt to the forms and the movement modes of different movement devices, and the design flexibility is improved. And the anti-collision system and the movement equipment are mutually independent, so that the anti-collision system has strong modularity, is beneficial to the cross-platform and cross-product application of the anti-collision system, and is beneficial to the standardization of the anti-collision system.

Therefore, the anti-collision system and the digital subtraction angiography device provided by the utility model can realize non-contact collision early warning, improve the safety of the sports equipment, improve the design flexibility, reduce the preparation cost, improve the durability of the equipment and be beneficial to realizing the standardization of the anti-collision system.

Drawings

Fig. 1 is a schematic structural view of an anti-collision system in an embodiment of the present utility model.

Fig. 2 is a schematic structural diagram of an induction device according to an embodiment of the present utility model.

Wherein, the reference numerals are as follows:

10-sensing means; 101-a non-contact sensor; 102-a wireless transmission module; 103-a microcontroller; 104-a dialer; 105-power supply; 20-communication means; 30-an alarm; 40-a central controller; m-sports equipment; m0-motion device control system.

Detailed Description

The utility model will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the utility model more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the utility model. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments. It should be further understood that the terms "first," "second," "third," and the like in this specification are used merely for distinguishing between various components, elements, steps, etc. in the specification and not for indicating a logical or sequential relationship between the various components, elements, steps, etc., unless otherwise indicated.

Referring to fig. 1-2, the present embodiment provides an anti-collision system for an anti-collision of a sports apparatus M, the anti-collision system including: sensing device 10, communication device 20, and alarm 30; the sensing device 10 is arranged on the surface of the sports equipment M, and the sensing device 10 comprises a non-contact sensor 101 and a wireless transmission module 102; the non-contact sensor 101 is used for sensing collision signals and transmitting the collision signals to the wireless transmission module 102; the wireless transmission module 102 is wirelessly connected with the communication device 20 to transmit the collision signal to the communication device 20; the communication device 20 is connected to the movement device M and the alarm 30, respectively, to transmit the collision signal to the movement device M and the alarm 30.

Therefore, the anti-collision system provided by the embodiment is used for realizing non-contact collision early warning, improving the safety of the movement equipment M, the flexibility and durability of system design, reducing the preparation cost, realizing the standardization of the anti-collision system and being beneficial to cross-platform and cross-product use. The following describes the anti-collision system provided in this embodiment in detail with reference to the accompanying drawings.

With continued reference to fig. 1, the sensing device 10 is configured to sense a collision signal without contact. The sensing means 10 is arranged at a position where the moving apparatus M is liable to collide. Further, the sensing device 10 may be provided at a plurality of positions according to the movement trace and posture of the movement apparatus M, and particularly, the sensing device 10 may be required to be provided at a position where a doctor or a patient is highly likely to collide. Such as the digital subtraction angiography apparatus shown in fig. 1, the apparatus comprises at least a C-shaped robot arm and its support means. The C-shaped mechanical arm rotates to different degrees during operation, so that collision is possible. Thus, a plurality of the sensing devices 10 may be distributed on the C-shaped robot arm to ensure collision prevention at a plurality of positions of the C-shaped robot arm. Preferably, the sensing device 10 is disposed at a corner where the C-shaped mechanical arm is easy to collide. Further, the sensing device 10 is detachably connected with the movement apparatus M, so as to flexibly change the position of the sensing device 10, thereby meeting the anti-collision requirements of different movement forms.

Referring to fig. 1 and 2, the sensing device 10 includes a non-contact sensor 101, a wireless transmission module 102, a microcontroller 103, a dial 104, and a power source 105. Wherein the non-contact sensor 101 is optionally a capacitive sensor. When an obstacle approaches the capacitive sensor, the capacitance distribution of the capacitive sensor is changed, thereby triggering a collision signal. Compared with the prior art, the non-contact sensor 101 can sense collision risk in advance, and can finish early warning work before collision occurs. Further, the collision signal is divided into a first signal and a second signal. Taking a C-shaped mechanical arm as an example, in a preset collision range of the sensing device 10, when the speed of the C-shaped mechanical arm relative to an obstacle is greater than a preset value, the non-contact sensor 101 senses the first signal; when the speed of the C-shaped mechanical arm relative to the obstacle is less than or equal to the preset value, the non-contact sensor 101 senses the second signal. For example, the sensing device 10 may have a preset collision range distance of 20cm and the preset value of 4cm/s. When the distance between the obstacle and the sensing device 10 is smaller than 20cm, the collision risk is indicated, the capacitive sensor triggers a collision signal, and the alarm 30 gives an alarm. In other words, the alarm 30 alarms whether the collision signal is a first signal or a second signal. The capacitance sensor can form different capacitance distribution according to the speed of the C-shaped mechanical arm relative to the obstacle. Therefore, when the speed of the C-shaped mechanical arm relative to the obstacle is greater than 4cm/s, the collision trend is obvious, the capacitive sensor can trigger a first signal, and the C-shaped mechanical arm can stop moving according to the received first signal so as to avoid collision. When the speed of the C-shaped mechanical arm relative to the obstacle is smaller than or equal to 4cm/s, the collision trend is not obvious, the capacitive sensor triggers a second signal, and the C-shaped mechanical arm limits movement according to the second signal. Wherein, the limiting movement refers to stopping movement of the corresponding movement axis in the movement device M, or performing deceleration movement, reverse movement and the like, thereby giving a doctor or a patient a certain time to avoid collision. It will be appreciated that in restricting movement, the extent to which the movement of the movement apparatus M as a whole does not cease movement has a reduced impact on the treatment process.

Further, the microcontroller 103 is connected to the contactless sensor 101, the wireless transmission module 102 and the dial 104, respectively. The power supply 105 is connected to the contactless sensor 101, the microcontroller 103, the wireless transmission module 102 and the dial 104, respectively. Further, the microcontroller 103 includes, but is not limited to, a single-chip microcomputer, a digital signal processor (Digital Signal Processing, DSP) or a programmable logic device (Field Programmable Gate Array, PFGA). The microcontroller 103 may adopt a low power mode, that is, when the non-contact sensor 101 senses the collision signal, the microcontroller 103 is triggered to switch from a sleep state to a working state, and then the microcontroller 103 receives the collision signal sent by the non-contact sensor 101 and transmits the collision signal to the wireless transmission module 102. The wireless transmission module 102 is used as a signal transmission end of the induction device 10 and is wirelessly connected with the communication device 20. Preferably, the wireless transmission module 102 is a WIFI module, so as to realize wireless transmission of data, and avoid various drawbacks of wired transmission. For example, complex wiring designs are avoided, the number of cables in the system is reduced, and the cost and material management cost are reduced; and, avoid the circumstances that the cable breaks that long-time torsion or buckling caused, strengthened the durability of system. Furthermore, the wireless connection mode can realize the variable design of the sensing device 10 so as to adapt to different sports equipment M. In addition, the microcontroller 103 also sends a heartbeat message to the wireless transmission module 102 at regular time, so that the central controller 40 in the anti-collision system can regularly monitor whether the sensing device 10 works normally.

The dialer 104 is configured to identify different sensing devices 10 as ID identification, and when a plurality of sensing devices 10 are provided, the dialer 104 in each sensing device 10 is configured to be different, so as to distinguish each sensing device 10. And when a collision alarm occurs, it is possible to accurately identify which position or positions the pre-collision condition occurs at according to the dialing code in the sensing device 10. The power supply 105 is used to supply power to the contactless sensor 101, the microcontroller 103, the wireless transmission module 102 and the dial 104. Preferably, the power source 105 is a battery, and no power supply design is needed, so as to facilitate flexible arrangement of the induction device 10.

The communication means 20 are arranged to effect the transfer and spreading of signals. Wherein the communication device 20 comprises a router 201 and a switch 202. The router 201 is connected to the wireless transmission module 102 and the central controller 40, respectively, so as to obtain the collision signal transmitted by the wireless transmission module 102, and transmit the collision signal to the central controller 40. The switch 202 is connected to the central controller 40, the movement device M and the alarm 30, respectively, to receive at least the collision signal outputted from the central controller 40, and transmit the collision signal to the movement device M and the alarm 30.

The router 201 is wirelessly connected to all the wireless transmission modules 102, receives the collision signals transmitted by each of the wireless transmission modules 102, and transmits the collision signals to the central controller 40 through ethernet. The central controller 40 is configured to obtain the collision signal and the operation signal sent by each sensing device 10 from the router 201, and receive the attitude angle data of each axis in the movement apparatus M provided by the control system M0 in the movement apparatus M. The central controller 40 builds a three-dimensional model of the sports equipment M based on the acquired data and signals, and each of the sensing devices 10 corresponds to a respective node in the three-dimensional model. The central controller 40 may perform network wrapping according to each node to construct an anti-collision network. It should be noted that, since each of the sensing devices 10 is a sensing within a certain range on one plane, even if more sensing devices 10 are provided, the entire anti-collision coverage of the sports apparatus M cannot be achieved. Therefore, through the virtual anti-collision network generated by the central controller 40, anti-collision simulation can be performed on the area between the sensing devices 10, so as to judge the possibility of collision of the area according to the collision signals between the adjacent nodes and the gesture data of the motion axis, so that the anti-collision early warning range of each sensing device 10 is enlarged, and the overall anti-collision of the motion equipment M can be realized.

The central controller 40 determines a corresponding operation instruction according to the constructed anti-collision network and the collision signal acquired in real time. The operation command may be to turn on or off the alarm 30, to stop the movement of the movement device M, or to limit the movement of a part of the movement axis, etc. Further, the central controller 40 interfaces with the switch 202, to send the collision signal and the operation instruction to the sports equipment control system M0 and the alarm 30 through the switch 202. For example, the router 201 receives the first signal sent by the sensing device 10, and transmits the first signal to the central controller 40. The central controller 40 generates an operation instruction for stopping the movement device M and an instruction for alarming by the alarm according to the first signal. The central controller 40 sends the first signal, the operation instruction for stopping the corresponding movement device M, and the instruction for alarming the alarm to the movement device control system M0 and the alarm 30 via the switch 202, so as to stop the movement of the movement device M and start the alarm 30. Alternatively, after the first signal sent by the sensing device 10 is eliminated, the central controller 40 may also release the operation command sent to the motion device control system M0 and the alarm 30, so as to release the motion blocking of the motion device M and turn off the alarm 30.

Further, the anti-collision system further includes a display, which is connected to the central controller 40, and the two may be integrated into a unified structure. The display is used for displaying data in the central controller 40 to reflect the working state and collision condition of each sensing device 10. Meanwhile, the display can also be used as a human-computer interaction interface so as to realize human intervention operation and realize two working modes of automation and semi-automation.

Further, the alarm 30 is used to prompt the doctor or patient of risk of collision. Optionally, the alarm 30 is a buzzer and/or a warning light. Of course, the alarm 30 may also be integrated with the central controller 40 and the display to provide an alert dialog or other form of alert to the operator through the interface of the display. It should be noted that, any one of the sensing devices 10 sends out a collision signal, whether the first signal or the second signal, the alarm 30 will start an alarm, and after the collision signal is eliminated, the alarm 30 will close the alarm.

Based on the same conception, the present embodiment also provides a digital subtraction angiography apparatus. A digital subtraction angiography apparatus includes the anti-collision system. Alternatively, the central controller 40 in the anti-collision system may be integrated in the control system M0 of the sports apparatus.

Further, the application range of the anti-collision system provided in this embodiment is not limited to the digital subtraction angiography apparatus, and may be other medical apparatuses, and may also be applied across platforms, for example, in non-contact collision prevention in the fields of industrial production or smart home.

In summary, the present embodiment provides an anti-collision system and a digital subtraction angiography apparatus. The anti-collision system adopts the non-contact sensor 101 to realize collision sensing, real contact is not needed, corresponding collision signals can be obtained before collision occurs, collision early warning is realized through the alarm 30, and the safety of the movement equipment M is improved. Further, the motion device M may perform a motion stopping or limiting motion according to different kinds of the collision signals, so as to avoid collision and reduce the influence on the treatment process. In addition, the wireless transmission module 102 is wirelessly connected with the communication device 20, so that the defect of wired connection is avoided, the flexibility of arrangement is enhanced, wiring design is not needed, the cost is reduced, and meanwhile, the durability of the system can be improved. Furthermore, the anti-collision system may be provided with a plurality of sensing devices 10, and each sensing device 10 is independent from each other, so as to adapt to the shapes and the movement modes of different movement devices M, thereby improving the design flexibility. And the anti-collision system and the movement equipment M are mutually independent, so that the anti-collision system is high in modularity, and is beneficial to cross-platform and cross-product application of the anti-collision system and standardization of the anti-collision system.

It should also be appreciated that while the present utility model has been disclosed in the context of a preferred embodiment, the above embodiments are not intended to limit the utility model. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art without departing from the scope of the technology, or the technology can be modified to be equivalent. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims (10)

1. An anti-collision system for an athletic device, comprising: the sensing device, the communication device and the alarm;

the induction device is arranged on the surface of the sports equipment and comprises a non-contact sensor and a wireless transmission module; the non-contact sensor is used for sensing collision signals and transmitting the collision signals to the wireless transmission module; the wireless transmission module is in wireless connection with the communication device so as to transmit the collision signal to the communication device; the communication device is respectively connected with the movement equipment and the alarm to transmit the collision signal to the movement equipment and the alarm.

2. The anti-collision system of claim 1, in which the non-contact sensor comprises a capacitive sensor.

3. The anti-collision system of claim 1, in which the collision signal is split into a first signal and a second signal; when the speed of the movement equipment relative to the obstacle is larger than a preset value within the preset collision range distance of the sensing device, the non-contact sensor senses the first signal, the movement equipment stops moving, and the alarm gives an alarm; when the speed of the movement equipment relative to the obstacle is smaller than or equal to the preset value, the non-contact sensor senses the second signal, the movement equipment limits movement, and the alarm gives an alarm.

4. The anti-collision system of claim 1, in which the sensing device further comprises a microcontroller, a dial, and a power source; the microcontroller is respectively connected with the non-contact sensor, the wireless transmission module and the dialer; the power supply is respectively connected with the non-contact sensor, the microcontroller, the wireless transmission module and the dialer.

5. The anti-collision system of claim 4, in which the anti-collision system comprises a plurality of the sensing devices; the sensing devices are distributed on the outer surface of the sports equipment at intervals, and the dialing codes set by the dialing devices in the sensing devices are different.

6. The anti-collision system of claim 4, further comprising a central controller and a display; wherein, the central controller is connected with the communication device and the display respectively.

7. The anti-collision system of claim 6, in which the communication means comprises a router and a switch; the router is respectively connected with the wireless transmission module and the central controller to acquire the collision signal transmitted by the wireless transmission module and transmit the collision signal into the central controller;

the switch is respectively connected with the central controller, the movement equipment and the alarm, so as to at least receive the collision signal output by the central controller and transmit the collision signal into the movement equipment and the alarm.

8. The anti-collision system of claim 1, in which the wireless transmission module comprises a WIFI module.

9. The anti-collision system of claim 1, in which the alarm comprises a buzzer and/or a warning light.

10. A digital subtraction angiography apparatus comprising an anti-collision system according to any one of claims 1 to 9.