KR20180043716A - Mobile X-ray imaging apparatus - Google Patents

Abstract

Disclosed is a portable mobile x-ray imaging apparatus with improved mobility and safety. The apparatus comprises: a main body; a driving wheel installed at a lower end of the main body to allow the main body to move; a drive motor driving the driving wheel; a motor encoder measuring a rotation speed of the drive motor; a driving wheel rotation speed detector detecting a rotating state of the driving wheel and including a rotating state detector installed on the main body and a bracket coaxially connected with the driving wheel and formed to detect on/off of the rotating state detector according to a rotation state; and a control part controlling the drive motor based on information detected by a motor rotating speed detector and a driving wheel rotation state detector.

Description

[0001] Mobile X-ray imaging apparatus [0002]

The present disclosure relates to a mobile x-ray imaging device capable of moving with wheels at the bottom.

 X-ray is an electromagnetic wave having a wavelength of 0.01 to 100 ohms (Å), and has a property of transmitting an object. Therefore, it is generally used in medical equipment for photographing the inside of a living body, Widely used.

An X-ray imaging apparatus using an X-ray can transmit an X-ray emitted from an X-ray source to a target object and detect an intensity difference of a transmitted X-ray using an X-ray detector to acquire an X-ray image of the object. The X-ray image can be used to identify the internal structure of the object and diagnose the object.

Typical x-ray imaging devices have x-ray sources and x-ray detectors fixed in a certain space so that the patient has to move to the examination room where the x-ray imaging device is located and move his / her body in order to perform x-ray imaging.

However, in the case of a patient having difficulty in moving, a mobile x-ray imaging apparatus capable of taking an x-ray regardless of a place has been developed since it is difficult to take a picture with a general x-ray imaging apparatus.

The portable x-ray imaging device is equipped with a portable x-ray source and a portable x-ray detector, so that the patient can easily visit the patient who is having difficulty in moving and can perform x-ray imaging.

And to provide a mobile X-ray imaging device with improved mobility and safety.

A mobile X-ray imaging apparatus according to an aspect of the present invention includes:

A traveling wheel installed at a lower end of the main body to move the main body;

A drive motor for driving the traveling wheels;

A motor encoder for measuring a rotational speed of the driving motor;

A rotation state detecting sensor disposed in the main body; a bracket coupled to the traveling wheel in a coaxial manner and configured to detect on / off of the sensor according to a rotation state, the rotation state detecting sensor detecting a rotation state of the traveling wheel; Detector; And

And a controller for controlling the driving motor based on information detected by the motor encoder and the traveling-wheel rotation state detector.

The bracket may include a sensor bracket formed along the periphery and a plurality of holes formed in the sensor bracket, and the rotation state detection sensor may include first and second sensors disposed adjacent to the sensor bracket.

Wherein the first and second sensors have a first arrangement in which the first and second sensors face a first and a second hole, respectively, of the plurality of holes at a first position of the bracket, A second arrangement in which the first sensor faces the first hole and the second sensor does not face the second hole at a second position rotated by a first angle from the first position to the second position, A third arrangement in which a first sensor and a second sensor are not facing each other in a third position rotated by an angle and a third position in which the bracket rotates at a third angle from the third position, The first sensor does not face the first hole and the second sensor faces the fourth hole adjacent to the second hole.

The first to third angles may all be the same.

The first and second sensors may be optical detection sensors.

The control unit may determine the rotational direction of the traveling wheel based on a detection signal pattern detected by the first and second sensors.

The control unit may determine the rotational speed of the traveling wheel based on the period of the detection signal detected by the first and second sensors.

The controller may determine an abnormal state of driving of the mobile X-ray imaging apparatus based on the information detected by the motor encoder and the driving wheel rotation state detector, and stop driving the driving motor when an abnormal state is detected.

The mobile X-ray imaging apparatus further includes a control panel having a display for displaying an operation state of the mobile X-ray imaging apparatus, and the control unit controls the X-ray imaging apparatus based on the information detected by the motor encoder and the driving wheel rotation state detector, It is possible to distinguish the quasi-abnormal state of the running of the vehicle and to display the warning on the display when the quasi-abnormal state is detected.

The mobile X-ray imaging apparatus further includes a warning lamp or a warning sound generator. The control unit discriminates a quasi-abnormal state of the mobile X-ray imaging apparatus based on the information detected by the motor encoder and the traveling-wheel rotation state detector, The warning lamp or the warning sound generator can be driven when the state is detected.

According to another aspect of the present invention, there is provided a method of operating a mobile X-ray imaging apparatus having a traveling wheel for moving the main body and a traveling wheel rotation state detector for detecting the rotational state of the traveling wheel,

Measuring a rotational speed of the driving motor using a motor encoder; And

Detecting a rotation state of a traveling wheel driven by the driving motor using a traveling wheel rotation state detector,

The traveling wheel rotation state detector includes a rotation state detection sensor disposed in the main body, a bracket connected coaxially with the traveling wheel, and configured to detect on / off of the rotation state detection sensor according to the rotation state,

And controls the drive motor based on the information detected by the motor encoder and the traveling-wheel rotation state detector.

The bracket may include a sensor bracket formed along the periphery and a plurality of holes formed in the sensor bracket, and the rotation state detection sensor may include first and second sensors disposed adjacent to the sensor bracket.

Wherein the first and second sensors have a first arrangement in which the first and second sensors face a first and a second hole, respectively, of the plurality of holes at a first position of the bracket, A second arrangement in which the first sensor faces the first hole and the second sensor does not face the second hole at a second position rotated by a first angle from the first position to the second position, A third arrangement in which a first sensor and a second sensor are not facing each other in a third position rotated by an angle and a third position in which the bracket rotates at a third angle from the third position, In which the first sensor does not face the first hole and the second sensor faces the fourth hole adjacent to the second hole.

The rotation direction of the traveling wheel can be determined based on the detection signal pattern detected by the first and second sensors.

The rotational speed of the traveling wheel can be determined based on the period of the detection signal detected by the first and second sensors.

It is possible to discriminate an abnormal state of travel of the mobile X-ray imaging apparatus based on the information detected by the motor encoder and the traveling-wheel rotation state detector, and stop the driving of the driving motor when an abnormal state is detected. The abnormal state may be a state in which the rotational speed of the driving motor exceeds a motor reference value or the rotational speed of the traveling wheel exceeds a wheel reference value.

Wherein the driving state of the mobile X-ray imaging apparatus is determined based on the information detected by the motor encoder and the driving wheel rotation state detector, and when a quasi-abnormal state is detected, a warning is displayed on the display or a warning lamp or a warning sound generator can do. The quasi-abnormal state is a state in which the rotational speed of the driving motor exceeds the first motor reference value and does not exceed the second motor reference value, or the rotational speed of the traveling wheel exceeds the first wheel reference value and does not exceed the second wheel reference value, The second motor reference value may be greater than the first motor reference value and the second wheel reference value may be greater than the first wheel reference value. When the rotational speed of the driving motor exceeds the second motor reference value or the rotational speed of the traveling wheel exceeds the second wheel reference value, the driving of the driving motor can be stopped.

In the mobile x-ray imaging apparatus according to the disclosed embodiment, the movement of the traveling wheels is confirmed by sensors other than the motor encoders during the driving, and it is possible to construct a dual safety control system by performing a parallel review on the driving state.

1 is a perspective view showing a mobile X-ray imaging apparatus 1 according to an embodiment.
FIG. 2 is an enlarged view of a portion where the traveling wheel 60 of the mobile X-ray imaging apparatus 1 of FIG. 1 is detached and exposed.
3A and 3B are views showing the position of the sensor according to the rotational position of the traveling wheel.
4A to 4D are views for explaining the operation of the sensor according to the rotational position of the traveling wheel.
5A and 5B illustrate detection signals of the first and second sensors according to the rotation of the bracket.
6 shows a block diagram of a mobile x-ray imaging device 1 according to one embodiment.
7 shows a flowchart for explaining a method of operation of the mobile X-ray imaging apparatus 1 according to an embodiment.
8 shows a flowchart for explaining a method of operation of the mobile X-ray imaging apparatus 1 according to another embodiment.

The present specification discloses the principles of the present invention and discloses embodiments of the present invention so that those skilled in the art can carry out the present invention without departing from the scope of the present invention. The disclosed embodiments may be implemented in various forms.

Like reference numerals refer to like elements throughout the specification. The present specification does not describe all elements of the embodiments, and redundant description between general contents or embodiments in the technical field of the present invention will be omitted. As used herein, the term " part " may be embodied in software or hardware, and may be embodied as a unit, element, or section, Quot; element " includes a plurality of elements. Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

As used herein, the term " object " may include a person, an animal, or a part thereof as an object of photographing. For example, the object may comprise a part of the body (organ or organ) or a phantom.

1 is a perspective view showing a mobile X-ray imaging apparatus 1 according to an embodiment.

Referring to FIG. 1, a mobile X-ray imaging apparatus 1 according to one embodiment may include a main body 10 and an X-ray source 11 mounted on the main body 10.

A mobile wheel 40 and a traveling wheel 60 are provided below the main body 10. The body 10 is provided with a knob 13 so that the user can move the body 10 by holding the knob 13 and pushing or pulling it. In the figure, the direction in which the user pushes the handle 13 to advance the mobile x-ray imaging apparatus 1 is the y-direction, and the direction in which the movable x-ray imaging apparatus 1 is pulled back is the -y direction. The movable wheel 40 may be positioned on the side of the main body 10 in the forward direction (i.e., the front side) and the traveling wheel 60 may be positioned on the rear side of the movable wheel 40. [ The traveling wheel 60 can receive the driving force from the driving motor (95 in Fig. 5). FIG. 1 shows a case where two mobile wheels 40 are provided, but the present invention is not limited thereto. For example, only one movable wheel 40 may be provided.

The main body 10 may be provided with a control panel 15. The user can control the operation of the mobile X-ray imaging apparatus 1 by operating the control panel 15. [ The control panel 15 is provided with a display 16 to display the operation state of the mobile X-ray imaging apparatus 1. [ The display 16 can be used to induce a check or induce a user's attention through an indicator such as 'service check required' when an abnormal condition related to running of the mobile X-ray imaging apparatus 1 is detected have.

1 shows a configuration in which the control panel 15 is disposed adjacent to the X-ray source 11. However, the present invention is not limited thereto. For example, the control panel 15 may be provided on the body 10, or it may be supported by a control panel support member extending from the body 10.

The main body 10 may be provided with columnar columns 20. The column 20 is provided with an arm 30 extending in a direction away from the column 20 and an X-ray source 11 may be mounted on the arm 30.

The main body 10 is provided with a rotary panel 14 rotatably and the column 20 can be mounted on the rotary panel 14. [ The lower end 10a of the main body 10 protrudes to support the rotary panel 14. The column 20 can rotate together with the rotary panel 14. As the column 20 rotates, the x-ray source 11 connected to the column 20 rotates and its position can be varied. In this way, the X-ray source 11 is provided so as to be variable in position, so that X-ray imaging can be performed at various angles.

The column 20 may be provided so as to be vertically extended and shortened. The position of the x-ray source 11 connected to the column 20 can be changed up or down by extending or shortening the column 20. [ In this way, since the position of the X-ray source 11 is varied up and down, X-ray imaging can be performed at various heights.

In one example, the column 20 may include a first column 21 and a second column 22 extending from the first column 21. The second column 22 may be slidably disposed along the first column 21. [ When the second column 22 slides upward along the first column 21, the length of the column 20 can be extended and when the second column 22 slides downward along the first column 21 The length of the column 20 can be shortened.

The arm 30 can be mounted to the second column 22. [ The arm 30 can be slidably provided along the second column 22. [ The position of the X-ray source 11 in the vertical direction can be varied by sliding the arm 30 along the second column 22. [

The arm 30 may be extendably provided. As the arm 30 is extended or shortened, the x-ray source 11 mounted on the end of the arm 30 moves laterally and its position can be varied.

For example, the arm 30 may include a first arm 31 slidably mounted along the second column 22, and a second arm 32 extendably provided from the first arm 31 . Further, the arm 30 may further include a third arm 33 that is extendably provided from the second arm 32. [ The x-ray source 11 may be mounted at the end of the third arm 33. The length of the arm 30 can be extended or shortened by sliding the second arm 32 and / or the third arm 33 in one direction or the other direction from the first arm 31. The configuration of the arm 30 is not limited to that described above.

The column 20 and / or the arm 30 may be provided with a separate drive source for extending or shortening, or manually extended or shortened without a separate drive source.

A warning light 18 may be additionally provided at the top of the column 20 (i.e., at the top of the second column 22). The warning lamp 18 can emit light of a predetermined color (for example, red light) when it is determined that there is an abnormality in the traveling state of the mobile X-ray imaging apparatus 1, as described later. The warning light 18 is designed to emit a plurality of color lights and emits light of different light (for example, green light) to indicate the running state when the mobile x-ray imaging apparatus 1 is running, and / It may be possible to cause the apparatus 1 to emit light (e.g., orange light) when performing x-ray imaging. Of course, the warning light 18 is an example, and a warning sound generator (not shown) may be provided together with or instead of the warning light 18, and when it is determined that there is an abnormality in the traveling state of the mobile X- .

On the other hand, since the mobile X-ray imaging apparatus 1 according to the present embodiment is moved to an arbitrary place, power can be supplied to the main body 10 or can be connected to an external power cable to receive power.

FIG. 2 is an enlarged view of a portion where the traveling wheel 60 of the mobile X-ray imaging apparatus 1 shown in FIG. 1 is detached and exposed. FIGS. 3a and 3b are views showing the operation of the sensor according to the rotational position of the traveling wheel to be.

Referring to FIG. 2, a bracket 70 for connecting the driving shaft (90 in FIG. 5) and the traveling wheel 60 is located inside the traveling wheel 60. The bracket (70) includes a wheel fixing plate (73) for fixing the traveling wheel (60). The wheel fixing plate 73 has a disk shape, for example, and a central portion thereof is coupled to the drive shaft 90. The wheel fixing plate 73 is provided with a fastening member 74 and engages with the driving wheel 60. A sensor bracket 71 is provided on the outer periphery of the wheel fixing plate 73. The sensor bracket 71 may be formed of a reflective material such as a metal or may be coated with a reflective material at least on the inner side facing the hole sensor 80. [ The sensor bracket 71 may be formed integrally with the wheel fixing plate 73. In some cases, the sensor bracket 71 may be separately provided on the coaxial axis of the wheel fixing plate 73. A plurality of holes 72 are provided at regular intervals along the circumference of the sensor bracket 71. The holes 72 have the same shape, and may have a square shape, for example, as shown in FIG.

At one side of the sensor bracket 71, a hole detection sensor 80 for sensing the hole 72 is provided. The hole detection sensor 80 may be, for example, an optical detection sensor such as a PSD (photo sensor detector). The combination of the sensor bracket 71, the hole 72 and the hole detection sensor 80 is an example of a driving wheel rotation state detector configured to detect on / off according to the rotation state of the traveling wheel 60. [ The hole detection sensor 80 may include first and second sensors 81 and 82 disposed adjacent the inner surface of the sensor bracket 71. In the present embodiment, although the hole sensor 80 includes two sensors 81 and 82 as an example, it does not exclude that one or more than three sensors are provided.

The wheel fixing plate 73 receives the driving force transmitted from the driving motor 95 (FIG. 5) through the driving shaft 90 and the driving chain 91 and rotates. The driving chain 91 may be omitted and the wheel fixing plate 73 may be directly connected to the driving shaft 90. [ The drive motor 95 may further include a motor encoder (not shown) and a brake (not shown). Furthermore, a gear box (not shown) may be further provided in the drive motor 95.

3A shows the case where the hole detection sensor 80 is located in a region where the hole 72 of the sensor bracket 71 is absent and FIG. 3B shows the case where the hole detection sensor 80 is inserted into the hole 72 of the sensor bracket 71. FIG. In the region where the < / RTI > In this embodiment, a separate light emitting device may not be disposed, so that the hole detecting sensor 80 detects ambient light. 3A, the hole detection sensor 80 directly faces the inner surface of the sensor bracket 71, so that light reflected from the inner surface of the sensor bracket 71 can be detected. 3B, the hole detection sensor 80 faces the hole 72 of the sensor bracket 71, so that light reflected from the inner surface of the sensor bracket 71 is not detected. Therefore, the amount of light detected by the hole detecting sensor 80 at the position of FIG. 3A becomes larger than the light amount detected by the hole detecting sensor 80 at the position of FIG. 3B, (NO), and the hole detecting sensor 80 is turned OFF at the position of FIG. 3B.

In the case where the ambient light is very weak, a light emitting element (not shown) may be disposed adjacent to the hole detecting sensor 80. The light emitting device and the hole detection sensor 80 may be located on the same side of the sensor bracket 71. In this case, the light reflected by the light emitting element is turned on when the hole detecting sensor 80 detects it, and turned off when the hole detecting sensor 80 can not detect the light. The light emitting device and the hole detection sensor 80 may be located on different surface sides of the sensor bracket 71, in which case the on / off state will be opposite.

Figs. 4A to 4D illustrate a configuration in which the first and second sensors 81 and 82 are disposed on the sensor bracket 71. Fig.

The size of the sensor surface for sensing the light of each of the first and second sensors 81 and 82 has a length L1 based on the circumferential direction as shown in FIG. 4A. The size of each of the holes 72 has a length L1 in the circumferential direction. At this time, L1 and L2 satisfy the following equation (1).

The holes 72 are spaced apart by the size of the holes 72 with respect to the circumferential direction. That is, the angle? Between the centers of the adjacent holes 72 with respect to the drive shaft 90 is given as follows.

Here, r is the distance between the holes 72 and the drive shaft 90.

The first and second sensors 81 and 82 are arranged such that the angle between the centers of the sensor surfaces has an angle? 1 with respect to the drive shaft 90. The interval between the centers of the holes 72 corresponding to the first and second sensors 81 and 82 has an angle? 2 with respect to the drive shaft 90. The angle [theta] 2 is an integral multiple of the angle [alpha] between adjacent holes 72. [ Fig. 4A shows the case where the angle [theta] 2 is 6 alpha.

At this time,? 1 and? 2 satisfy the following equation (3).

Next, detection signals of the first and second sensors 81 and 82 will be described in an exemplary arrangement of Figs. 4A to 4D.

As shown in FIG. 4A, at one point in time, the first and second sensors 81, 82 may be in a first configuration that is simultaneously in the position of the holes 72. In this case, both the first and second sensors 81 and 82 detect the OFF signal. 4B, when the sensor bracket 71 rotates by DELTA [theta] in the clockwise direction 79, the first sensor 81 is still in the position of the hole 72, but the second sensor 82 The first sensor 81 detects the OFF signal and the second sensor 82 detects the ON signal when the second arrangement state is indicated by the sensor bracket 71. [ ?? is an angle at which the sensor bracket 71 rotates while any one of the first and second sensors 81 and 82 is turned on / off. In this embodiment, ?? is given by Equation (4) as follows.

This ?? can be determined by the number, position and size of the first and second sensors 81 and 82, the shape of the holes 72, The diameter of the sensor bracket 71, and the like.

When the sensor bracket 71 further rotates in the clockwise direction 79 by DELTA [theta] as shown in FIG. 4C, the first and second sensors 81 and 82 are all positioned in the third arrangement State and the ON signal is detected. The first sensor 81 is still obscured by the sensor bracket 71 and the second sensor 82 is not covered by the sensor bracket 71 when the sensor bracket 71 further rotates in the clockwise direction 79 by? The first sensor 81 detects the ON signal and the second sensor 82 detects the OFF signal. When the sensor bracket 71 further rotates by DELTA [theta] in the clockwise direction 79, the first arrangement state shown in Fig. 4A is obtained. That is, as the sensor bracket 71 rotates in the clockwise direction 79, the first and second sensors 81 and 82 sequentially turn on (off), (off), and , (On, on), (on, off), (off, off), (off, on), ... The signal is detected in order.

If the rotation direction of the sensor bracket 71 is reversed, the order of the on-off combination of the first and second sensors 81 and 82 described in Figs. 4A to 4D will be reversed. That is, as the sensor bracket 71 rotates counterclockwise, the first and second sensors 81 and 82 sequentially (off, off), (on, off), ON, ON), (OFF, ON), (OFF, OFF), (ON, OFF), ... In order to detect the signal.

Therefore, the rotational direction of the sensor bracket 71 can be detected from the patterns of the signals sensed by the first and second sensors 81 and 82. [

Since the time intervals of the on / off signals sensed by the first and second sensors 81 and 82 can be determined by the rotation speed of the sensor bracket 71 and the diameter of the sensor bracket 71, The speed of the sensor bracket 71 may be detected from the time interval of the on / off signals of the signals sensed by the two sensors 81 and 82. [

The shape and arrangement of the traveling wheel rotation state detector, that is, the sensor bracket 71, the hole 72 and the hole detection sensor 80 shown in Figs. 4A to 4D are illustrative and not restrictive. For example, the holes 72 may have a shape such as a rectangle, a circle, an ellipse, and the like.

Furthermore, by disposing the first and second sensors 81 and 82 differently, any one of the first to fourth disposition states shown in Figs. 4A to 4D may not be satisfied. That is, the first and second sensors 81 and 82 may be arranged so as to satisfy at least three of the first to fourth arrangement states shown in Figs. 4A to 4D. In this case, Since the pattern of the on / off signal is different, the rotation direction can be detected.

In addition, the present embodiment is described by way of example in which the rotational angles of the sensor brackets 71 at the time of switching to the first to fourth arrangement states are all equal to ??, but the present invention is not limited thereto. Depending on the size of the sensor surfaces of the first and second sensors 81 and 82 and the sizes of the holes 72, the rotation angles of the sensor brackets 71 when switching to the first to fourth arrangement states At least some of which may be different.

Further, the hole detection sensor 80 may include three or more sensors to further diversify the on / off combination.

Next, the operation of the mobile X-ray imaging apparatus 1 of this embodiment will be described with reference to Fig.

6 shows a block diagram of a mobile x-ray imaging device 1 according to one embodiment.

6, the mobile X-ray imaging apparatus 1 includes a traveling wheel 60, a driving shaft 90 for transmitting driving force to the traveling wheel 60, a driving motor 95 for supplying driving force, a driving motor 95 And a motor encoder 96 for sensing the rotational speed of the motor. The control unit 100 drives and controls the drive motor 95. Further, the control unit 100 may detect an emergency situation through the rotation speed of the drive motor 95 detected through the motor encoder 96, and stop the driving of the drive motor 95. For example, if the rotational speed of the drive motor 95 detected through the motor encoder 96 suddenly becomes too fast or stops suddenly, it can be regarded as a condition such as a mechanical operation error or a collision. The driving of the motor 95 is stopped.

Further, the mobile X-ray imaging apparatus 1 of the present embodiment is provided with a traveling wheel rotation state detector on the side of the traveling wheel fixing bracket 70, and separately detects the traveling speed and the traveling direction on the traveling wheel 60 side. The configuration of the traveling wheel rotation state detector such as the sensor bracket 71 / hole 72 and the hole detection sensor 80 proposed in the present embodiment is very stable even if the accuracy of the traveling speed is slightly lowered, The presence or absence of an abnormal operation of the drive motor 95 can be discriminated in comparison with the rotational speed of the drive motor 95 detected by the drive motor 95. [

In the case of detecting the state of the driving motor only by the motor encoder in the conventional mobile X-ray imaging apparatus, there is a case where the control of the mobile X-ray imaging apparatus is problematic due to a judgment error of the motor encoder, and there is a danger of leading to a safety accident immediately. For example, there may be a case where the motor encoder is not recognized by the motor encoder 95 even though the driving motor 95 is driven at the current abnormal speed, or there is a case where the motor encoder 95 moves at an abnormal speed on the side of the driving wheel 60 .

In this embodiment, a highly stable traveling wheel rotation state detector is disposed on the traveling wheel side so that a dual safety control system is constructed by a parallel control by adding a separate physical inspection device instead of a single control by a motor encoder, A safe use environment can be provided.

7 shows a flowchart for explaining a method of operation of the mobile X-ray imaging apparatus 1 according to an embodiment.

7, when the drive motor 95 of the mobile X-ray imaging apparatus 1 is driven, the rotational speed of the drive motor 95 is continuously or discontinuously detected via the motor encoder 96 (S110 ). The rotation state of the traveling wheel 60 is detected simultaneously with the rotation speed measurement of the driving motor 95 or the traveling wheel rotation state detector at a predetermined period (S120). The rotating state of the traveling wheel 60 may be a rotating direction and a rotating speed of the traveling wheel 60. [

Based on the detected information of the rotational speed of the drive motor 95 and the rotational state of the traveling wheel 60, the control unit 100 determines whether the traveling state of the mobile X-ray imaging apparatus is abnormal. For example, when the rotational speed of the drive motor 95 detected by the motor encoder 96 exceeds the motor reference value (S120), it can be seen that the drive motor 95 is abnormally driven. Further, when the rotational speed of the traveling wheel 60 exceeds the wheel reference value (S130), it can be determined that the mobile X-ray imaging apparatus is in an abnormal state. Alternatively, if the traveling of the mobile X-ray imaging apparatus is a normal travel and the direction of rotation of the travel wheel 60 is the opposite direction, it can be determined that the mobile X-ray imaging apparatus is in an abnormal state. Therefore, when at least one of the rotation speed of the drive motor 95 detected by the motor encoder 96 and the rotation speed detected at the traveling wheel 60 side exceeds a predetermined reference value, the control unit 100 controls the drive motor 95 (S140) so as to prevent a safety accident from leading to the accident. If the motor encoder 96 itself has an error, the rotation speed of the drive motor 95 can not be measured correctly, causing the drive motor 95 to be abnormally driven or the drive motor 95 to be abnormal have. When the rotational speed of the drive motor 95 detected by the motor encoder 96 and the rotational speed detected at the traveling wheel 60 side satisfy the reference value, the drive of the drive motor 95 is maintained (S150).

8 shows a flowchart for explaining a method of operation of the mobile X-ray imaging apparatus 1 according to another embodiment. As described above, the mobile X-ray imaging apparatus 1 of the present embodiment detects the rotational speed of the driving motor 95 through the motor encoder 96 and detects the rotational speed of the driving wheel 60 through the driving wheel rotational state detector (S210). The rotating state of the traveling wheel 60 may be a rotating direction and a rotating speed of the traveling wheel 60. [

The control unit 100 can set the value of the reference value in multiple stages. For example, the motor reference value may include a low-stage first motor reference value and a second motor reference value, and the wheel reference value may include a low-stage first wheel reference value and a second wheel reference value. If the rotational speed of the drive motor 95 detected by the motor encoder 96 is less than or equal to the first motor reference value S220 and the rotational speed detected by the traveling wheel 60 is less than or equal to the first wheel reference value S230, It is determined that the running of the X-ray imaging apparatus 1 is in the normal state and the drive of the drive motor 95 is maintained (S240). The rotational speed of the drive motor 95 detected by the motor encoder 96 exceeds the first motor reference value S220 and the rotational speed of the drive motor 95 does not exceed the second motor reference value S250, 95) is in a quasi-abnormal state. When the rotational speed detected on the side of the traveling wheel 60 exceeds the first wheel reference value and the rotational speed of the traveling wheel 60 does not exceed the second wheel reference value (S260), the rotation of the traveling wheel 60 It can be regarded as a quasi-abnormal condition. If driving of the drive motor 95 or rotation of the traveling wheel 60 is abnormal, the user can be alerted by warning sound, warning light, or an indicator such as 'service check required' on the display. (S270). When the rotational speed of the drive motor 95 detected by the motor encoder 96 exceeds the second motor reference value S250 and the rotational speed of the traveling wheel 60 exceeds the second wheel reference value S260, , The drive motor 95 may be immediately stopped and / or a warning sound or a warning light may be driven (S280).

Although the mobile X-ray imaging apparatus of the present invention has been described with reference to the embodiments shown in the drawings for the sake of understanding, it should be understood that those skilled in the art will appreciate that various modifications and equivalent arrangements may be made therein without departing from the scope of the present invention. You will understand that an example is possible. Accordingly, the true scope of the present invention should be determined by the appended claims.

1: X-ray imaging device 10:
11: X-ray source 20: column
21: first column 21: second column
30: arm 40: mobile wheel
60: Driving wheel 70: Bracket
80: sensor 90: drive shaft
95: Driving motor 96: Motor encoder

Claims (20)

main body;
A traveling wheel installed at a lower end of the main body to move the main body;
A drive motor for driving the traveling wheels;
A motor encoder for measuring a rotational speed of the driving motor;
A traveling state detecting sensor disposed on the main body, the traveling state detecting sensor being coaxially connected to the traveling wheel, the traveling state detecting sensor detecting a turning state of the traveling state detecting sensor on / A wheel rotation state detector; And
And a control unit for controlling the driving motor based on information detected by the motor encoder and the traveling-wheel rotation state detector. The method according to claim 1,
Wherein the bracket includes a sensor bracket formed along the periphery and a plurality of holes formed in the sensor bracket, the rotation state detection sensor including first and second sensors disposed adjacent to the sensor bracket, . 3. The method of claim 2,
Wherein the first and second sensors comprise:
A first arrangement in which the first and second sensors in a first position of the bracket face first and second holes, respectively, of the plurality of holes,
A second arrangement in which the first sensor faces the first hole and the second sensor does not face the second hole at a second position where the bracket rotates at the first position by a first angle,
A third arrangement in which the first sensor and the second sensor are not opposed to the first and second apertures, respectively, at a third position where the bracket rotates at the second position by a second angle, and
The first sensor does not face the first hole at the fourth position where the bracket rotates by the third angle from the third position and the second sensor does not face the fourth hole which is adjacent to the second hole, Wherein the at least three configurations of the x-ray imaging apparatus are arranged to satisfy the at least three configurations. The method of claim 3,
Wherein the first to third angles are all the same. 3. The method of claim 2,
Wherein the first and second sensors are optical detection sensors. 3. The method of claim 2,
Wherein the control unit determines the rotational direction of the traveling wheel based on a detection signal pattern detected by the first and second sensors. 3. The method of claim 2,
Wherein the controller determines the rotational speed of the traveling wheel based on a period of the detection signal detected by the first and second sensors. 8. The method according to any one of claims 1 to 7,
Wherein the controller is configured to determine an abnormal state of travel of the mobile X-ray imaging apparatus based on the information detected by the motor encoder and the traveling-wheel rotation state detector, and to stop driving of the drive motor when an abnormal state is detected, Device. 8. The method according to any one of claims 1 to 7,
Further comprising a control panel having a display to indicate an operating state of the mobile x-ray imaging device,
Wherein the controller is configured to determine a quasi-abnormal state of the mobile x-ray imaging apparatus based on the information detected by the motor encoder and the wheel rotation state detector, Imaging device. 8. The method according to any one of claims 1 to 7,
Further comprising a warning lamp or a warning sound generator,
Wherein the control unit is configured to determine a quasi-abnormal state of the mobile x-ray imaging apparatus based on the information detected by the motor encoder and the driving wheel rotation state detector, X-ray imaging device. A method of operating a mobile X-ray imaging apparatus having a traveling wheel for moving the main body and a traveling wheel rotation state detector for detecting a rotational state of the traveling wheel,
Measuring a rotational speed of the driving motor using a motor encoder; And
Detecting a rotation state of a traveling wheel driven by the driving motor using a traveling wheel rotation state detector,
The traveling wheel rotation state detector includes a rotation state detection sensor disposed in the main body, a bracket connected coaxially with the traveling wheel, and configured to detect on / off of the rotation state detection sensor according to the rotation state,
And the driving motor is controlled based on the information detected by the motor encoder and the driving wheel rotation state detector. 12. The method of claim 11,
Wherein the bracket includes a sensor bracket formed along the periphery and a plurality of holes formed in the sensor bracket, the rotation state detection sensor including first and second sensors disposed adjacent to the sensor bracket, Lt; / RTI > 13. The method of claim 12,
Wherein the first and second sensors comprise:
A first arrangement in which the first and second sensors in a first position of the bracket face first and second holes, respectively, of the plurality of holes,
A second arrangement in which the first sensor faces the first hole and the second sensor does not face the second hole at a second position where the bracket rotates at the first position by a first angle,
A third arrangement in which the first sensor and the second sensor are not opposed to the first and second apertures, respectively, at a third position where the bracket rotates at a second angle from the second position, and
The first sensor does not face the first hole at the fourth position where the bracket rotates by the third angle from the third position and the second sensor does not face the fourth hole which is adjacent to the second hole, Wherein the at least three arrangements of at least three of the plurality of imaging devices are arranged to satisfy the at least three configurations. 13. The method of claim 12,
And determining the rotational direction of the traveling wheel based on a detection signal pattern detected by the first and second sensors. 13. The method of claim 12,
Wherein the rotational speed of the traveling wheel is determined based on a period of the detection signal detected by the first and second sensors. 16. The method according to any one of claims 11 to 15,
A motion of the mobile X-ray imaging apparatus for determining an abnormal state of travel of the mobile X-ray imaging apparatus based on information detected by the motor encoder and the traveling-wheel rotation state detector, and stopping the driving of the drive motor when an abnormal state is detected; Way. 17. The method of claim 16,
Wherein the abnormal state is a state in which the rotational speed of the driving motor exceeds a motor reference value or the rotational speed of the traveling wheel exceeds a wheel reference value. 16. The method according to any one of claims 11 to 15,
Wherein the driving state of the mobile X-ray imaging apparatus is determined based on the information detected by the motor encoder and the driving wheel rotation state detector, and when a quasi-abnormal state is detected, a warning is displayed on the display or a warning lamp or a warning sound generator A method of operating a mobile x-ray imaging device. 19. The method of claim 18,
The quasi-abnormal state is a state in which the rotational speed of the driving motor exceeds the first motor reference value and does not exceed the second motor reference value, or the rotational speed of the traveling wheel exceeds the first wheel reference value and does not exceed the second wheel reference value,
Wherein the second motor reference value is greater than the first motor reference value and the second wheel reference value is greater than the first wheel reference value. 20. The method of claim 19,
And stopping the driving of the driving motor when the rotational speed of the driving motor exceeds the second motor reference value or when the rotational speed of the traveling wheel exceeds a second wheel reference value.

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