TWM486399U - Collision prevention device for mobile clinical equipment - Google Patents

Description

Anti-collision device for mobile medical equipment

The present invention relates to an anti-collision device for a mobile medical device, and more particularly to an anti-collision device for a mobile medical device combined with a camera.

Today's medical routine inspections often use X-ray equipment. In addition to the fixed X-ray equipment, there are mobile X-ray machines that are more convenient to use in a variety of environments, while mobile X-ray machines are used to avoid taking pictures during surgery, serious or inconvenient patients in the ward. Running between the examination rooms can also reduce the possible damage caused by the above-mentioned patients' movement and ensure the safety of the critically ill patients.

In the mobile traditional X-ray equipment, although the volume and weight are relatively light and lightweight, it still has a certain size and weight due to complicated accessories, which in turn causes flexibility and convenience when moving, and the operator moves X-ray. When the camera is used, it is easy to cause poor visibility in the front because of the large size. It is more difficult to control because the weight of the machine is too heavy. When the line of sight is not good, it is impossible to know in advance whether there are obstacles or people in front, and it is often known that the machine is in the machine. Excessive manipulation is difficult and cannot be stopped or turned immediately. Therefore, mobile X-ray machines frequently cause collisions in medical institutions. The cost of X-ray equipment is not as high as the cost of repairs caused by collisions. In addition, it is even more unimaginable if pedestrians or children are involved in the front and even after the patient collides.

In order to improve the mobile X-ray equipment that can be quickly, conveniently and safely operated by each operator, how to solve the above-mentioned lack of the prior art is a subject that is pursued by those involved in this industry.

Therefore, in order to solve the above problems, the purpose of the present invention is to provide an anti-collision device for a mobile medical device, by combining a mobile medical device and an anti-collision device. In order to solve the inconvenience caused by the operator when moving the medical equipment, it can also reduce the operation time and improve the operation safety.

The technical means for achieving the above object is to incorporate an anti-collision device in a mobile medical device, which comprises a depth camera and a distance determining device, both of which are connected to the processing unit, and the distance determining device A distance reference storage unit can store a plurality of distance reference values, wherein after the image pixel depth signal of the obstacle object captured by the depth camera, an obstacle object distance between the depth camera and the obstacle object is calculated. Sending to the distance determining device, the distance determining device respectively generates a normal traveling control signal, a deceleration traveling control signal, and a stop control signal to the motor control circuit according to the obstacle object distance and the distance reference value, and then The motor control circuit controls the normal travel, deceleration or stop of the drive motor.

The anti-collision device further includes an image capturing device connected to the processing unit via the image processing device, wherein the image capturing device is disposed at a position in front of the moving device facing the moving direction to capture the medical device. An image of a obstacle object that exists in front. The image capturing device can also incorporate a display device.

The distance determining device generates an alert signal to a warning device when determining that the obstacle object distance is less than the distance reference value. The warning device comprises an audible warning device and a illuminating warning device.

The anti-collision device of the mobile medical device further includes a predetermined object image data storage device connected to the processing unit and storing at least one image pixel depth signal of the predetermined object.

In terms of effects, through the above-mentioned technical means adopted by the present creation, the operator can easily grasp the front road condition by simply using the anti-collision device of the present invention when moving the X-ray diagnosis and treatment equipment, thereby solving the operator's movement. The inconvenience caused by the diagnosis and treatment equipment, and the device is equipped with a warning device, which enables the operator and the pedestrians in front of the device to simultaneously achieve the warning effect, reducing the operation time and improving the mobile safety in all aspects.

The specific embodiments of the present invention will be further described by the following examples and accompanying drawings.

100‧‧‧Medical equipment

1‧‧‧Mobile carrier

200‧‧‧anti-collision device

2‧‧‧ wheel body

3‧‧‧Drive motor

4‧‧‧Motor control circuit

5‧‧‧Processing unit

6‧‧‧Deep camera

61‧‧‧Image processing device

62‧‧‧Image capture device

63‧‧‧ display device

7‧‧‧Distance device

71‧‧‧Distance reference storage unit

8‧‧‧Warning device

81‧‧‧Sound warning device

82‧‧‧Lighting warning device

9‧‧‧Predetermined object image data storage device

B‧‧‧ obstacles

D‧‧‧ obstacle object distance

D1, d2, d3‧‧‧ distance reference value

M1‧‧‧ moving direction

S1‧‧‧Image Pixel Depth Signal

Image of S2‧‧‧ obstacles

S3‧‧‧ warning signal

Image pixel depth signal for S4‧‧‧ booked objects

Sd1‧‧‧ travel control signal

Sd2‧‧‧Deceleration travel control signal

Sd3‧‧‧ stop control signal

U‧‧‧Users

FIG. 1 is a schematic diagram showing the circuitry of the anti-collision device of the present mobile medical device.

FIG. 2 is a schematic diagram showing the correspondence relationship between the travel control signal and the travel mode of the medical treatment device corresponding to the different obstacle object distances of the present mobile medical treatment device.

Figure 3 shows a schematic diagram of the circuitry of the present mobile medical device during normal travel.

FIG. 4 is a schematic diagram showing the circuit system of the present mobile medical device during deceleration.

FIG. 5 is a schematic diagram showing the circuit system of the present mobile medical device when it stops traveling.

Referring to FIG. 1, a preferred embodiment of the present invention is shown in a medical device 100. A mobile carrier 1 is provided with a wheel body 2, a drive motor 3, and a motor control circuit 4. The drive motor 3 is connected to the motor control circuit 4. The operation of the drive motor 3 can be controlled by the motor control circuit 4 under a user operation, thereby driving the wheel body 2 such that the mobile carrier 1 of the medical treatment device 100 travels in a moving direction M1.

In the present invention, an anti-collision device 200 is included in the medical device 100, and the motor control circuit 4 in the medical device 100 is interlocked by the anti-collision device 200 to control the operation of the drive motor 3.

The anti-collision device 200 of the present invention comprises a processing unit 5, a depth camera 6, and a distance determining device 7. The depth camera 6 is connected to the processing unit 5 via an image processing device 61, and the depth camera 6 is disposed at a position in front of the medical device 100 facing the moving direction M1 to obtain an image of an obstacle existing in front of the medical device 100. Depth signal S1.

The distance determining device 7 is connected to the processing unit 5 and a distance reference value storage unit 71, and a plurality of distance parameters are stored in the distance reference value storage unit 71. Test values d1, d2, d3.

The depth camera 6 obtains an image depth signal S1 of an obstacle existing in front of the medical device 100, and calculates an obstacle object distance d between the depth camera 6 and the obstacle by the image depth signal S1 and transmits the distance to the distance determination Device 7.

Also included in the creation is an image capture device 62 that is coupled to the processing unit 5 via the image processing device 61. The image capturing device 62 is disposed at a position in front of the moving direction M1 of the medical treatment device 100 to acquire an image S2 of an obstacle existing in front of the medical device 100.

The image capturing device 62 can also be connected to a display device 63, and the display device 63 can be disposed at a position behind the moving direction of the medical device 100 (ie, facing the user). In this way, the user can see the live image in front of the mobile carrier 1 via the display device 63 when the medical device 100 is moved.

The present invention further includes a predetermined object image data storage device 9 for storing at least one image pixel depth signal S4 of the booked object. In implementation, the predetermined object image data storage device 9 may be an image pixel depth signal of various expected objects such as a human body, an object or a pillar. The image depth signal S1 of the obstacle obtained by the depth camera 6 is compared with the image pixel depth signal S4 of the booked object, and the type of the obstacle is determined and even what object is determined.

FIG. 2 is a schematic diagram showing the correspondence relationship between the travel control signal and the travel mode of the medical treatment device corresponding to the different obstacle object distances of the mobile medical treatment device. The distance determining device 7 can perform the comparison according to the received obstacle object distance d, that is, the obstacle object distance d and the distance reference value d1, d2, d3 set in the distance reference value storage unit 71, after the comparison A normal travel control signal Sd1, a deceleration travel control signal Sd2, and a stop control signal Sd3 are respectively sent to the motor control circuit 4, and then the motor control circuit 4 according to the normal travel control signal Sd1, the deceleration travel control signal Sd2, Stopping the control signal Sd3 and controlling the traveling mode of the medical treatment device 100 to be normal traveling and decelerating Travel or stop traveling.

Figure 3 shows a schematic diagram of the circuitry of the present mobile medical device during normal travel. When the user U advances the mobile carrier 1 of the medical treatment apparatus 100 in the moving direction M1, the depth camera 6 immediately acquires the image depth signal S1 of the obstacle B existing in front of the medical treatment apparatus 100.

After receiving the image depth signal S1, the processing unit 5 calculates an obstacle object distance d between the depth camera 6 and the obstacle object B, and sends the obstacle object distance d to the distance determining device 7.

The distance determining device 7 performs distance determination based on the distance reference values d1, d2, and d3 after receiving the obstacle object distance d sent from the processing unit 5. As a result of the distance determination, if the obstacle object distance d is greater than the distance reference value d1, a normal travel control signal Sd1 is generated to the motor control circuit 4, and the motor control circuit 4 controls the medical treatment device 100 according to the normal travel control signal Sd1. The travel mode is normal travel.

FIG. 4 is a schematic diagram showing the circuit system of the present mobile medical device during deceleration. When the distance determining device 7 receives the obstacle object distance d sent from the processing unit 5, the distance determination is performed based on the distance reference values d1, d2, and d3. As a result of the determination, if the obstacle object distance d is smaller than the distance reference value d2, a deceleration traveling control signal Sd2 is generated to the motor control circuit 4, and the motor control circuit 4 controls the medical treatment device 100 according to the deceleration traveling control signal Sd2. The travel mode is decelerating travel.

In addition to the above-mentioned deceleration traveling control signal Sd2, the distance determining device 7 can generate an alert signal S3, which is connected to an alerting device 8, which includes an audible alert device 81, Illuminated warning device 82. When the warning signal S3 is generated, the warning device 8 can be activated to alert the user U or the surrounding person in a sound or light pattern.

FIG. 5 is a schematic diagram showing the circuit system of the present mobile medical device when it stops traveling. Wherein the distance determining device 7 is configured to receive the distance d of the obstacle object. The comparison is performed based on the distance reference values d1, d2, and d3.

Comparing the identification result, if the distance determining device 7 determines that the obstacle object distance d is smaller than the distance reference value d3, a stop control signal Sd3 is generated to the driving motor 3 of the medical device 100 to control the driving motor. 3 stop.

FIG. 5 is a schematic diagram showing the circuit system of the present mobile medical device during deceleration. When the distance determining device 7 receives the obstacle object distance d sent from the processing unit 5, the distance determination is performed based on the distance reference values d1, d2, and d3. As a result of the determination, if the obstacle object distance d is smaller than the distance reference value d3, a stop travel control signal Sd3 is generated to the motor control circuit 4 to control the drive motor 3 to stop.

The above embodiments are merely illustrative of the structural design of the present invention and are not intended to limit the present creation. Any of the above-mentioned embodiments may be modified and changed in the context of the design and spirit of the present invention. These changes are still within the spirit of this creation and the scope of patents defined below. Therefore, the scope of protection of this creation should be as listed in the scope of patent application described later.

100‧‧‧Medical equipment

1‧‧‧Mobile carrier

200‧‧‧anti-collision device

2‧‧‧ wheel body

3‧‧‧Drive motor

4‧‧‧Motor control circuit

5‧‧‧Processing unit

6‧‧‧Deep camera

61‧‧‧Image processing device

62‧‧‧Image capture device

63‧‧‧ display device

7‧‧‧Distance device

71‧‧‧Distance reference storage unit

8‧‧‧Warning device

81‧‧‧Sound warning device

82‧‧‧Lighting warning device

9‧‧‧Predetermined object image data storage device

D‧‧‧ obstacle object distance

D1, d2, d3‧‧‧ distance reference value

S1‧‧‧Image Pixel Depth Signal

Image of S2‧‧‧ obstacles

S3‧‧‧ warning signal

Sd1‧‧‧ travel control signal

Sd2‧‧‧Deceleration travel control signal

Sd3‧‧‧ stop control signal

Claims (9)

An anti-collision device for a mobile diagnosis and treatment device is configured with a mobile carrier of at least one wheel body, a drive motor and a motor control circuit, wherein the motor control circuit is connected to the drive motor and is in a user's In operation, the motor control circuit controls the operation of the drive motor, thereby driving the wheel body to move the mobile carrier of the medical treatment device in a moving direction, the collision avoidance device comprising: a processing unit; a depth camera Connected to the processing unit via an image processing device, the depth camera is disposed at a position in front of the moving direction of the medical device to capture an image pixel depth signal of an obstacle object existing in front of the medical device; The determining device is connected to the processing unit and a distance reference value storage unit, and stores a plurality of distance reference values in the distance reference value storage unit; wherein the processing unit receives the obstacle object captured by the depth camera After the image pixel depth signal, the depth camera and the obstacle object are calculated An obstacle object distance is sent to the distance determining device, and the distance determining device generates a normal traveling control signal, a deceleration traveling control signal, and a stop control signal according to the obstacle object distance and the distance reference value respectively. The motor control circuit is further controlled by the motor control circuit for normal travel, deceleration or stop of the drive motor. The anti-collision device of the mobile medical device according to claim 1, further comprising an image capturing device connected to the processing unit via the image processing device, wherein the image capturing device is disposed on the medical device The moving direction is in front of the position to capture an image of a obstacle object existing in front of the medical device. The anti-collision device of the mobile medical device according to claim 2, further comprising a display device connected to the image capturing device, wherein the display device is disposed on the mobile carrier and located in the medical device The position of the movement after the rear side. An anti-collision device for a mobile medical device according to claim 1, wherein the anti-collision device When determining that the obstacle object distance is greater than the distance reference value, the distance determining device generates a normal travel control signal to the drive motor of the medical treatment device to control the normal travel of the drive motor. The anti-collision device of the mobile medical device according to claim 1, wherein the distance determining device generates a deceleration traveling control signal to the medical treatment device when determining that the obstacle object distance is less than the distance reference value The motor is driven to control the drive motor to decelerate. The anti-collision device of the mobile medical device according to claim 5, wherein the distance determining device generates an alert signal to a warning device when determining that the obstacle object distance is less than the distance reference value. The anti-collision device of the mobile medical device according to claim 6, wherein the warning device comprises one of an audible warning device and a illuminating warning device. The anti-collision device of the mobile medical device according to claim 1, wherein the distance determining device generates a stop control signal to the driving device when determining that the obstacle object distance is less than the distance reference value. The motor is controlled to stop the drive motor. The anti-collision device of the mobile medical device according to claim 1, further comprising a predetermined object image data storage device connected to the processing unit and storing at least one image pixel depth signal of the predetermined object.