X-ray imaging equipment

Abstract

The invention relates to the technical field of X-ray imaging equipment, in particular to X-ray imaging equipment, which comprises a data acquisition module used for acquiring a pre-shot image of a to-be-detected target received by a receiving plate; the data analysis module is connected with the data acquisition module and is used for determining the preshot image qualification based on the preshot image definition and determining the tilt image feature qualification extracted in the corresponding tilt image shooting mode according to the feature gray value; the data processing module is connected with the data analysis module and used for determining the offset direction and the offset distance of the features based on the inclined image features; and the data adjusting module is connected with the data processing module and is used for determining a mobile transmitting plate or an inclined receiving plate based on the offset direction and the offset distance. According to the invention, the imaging precision of the X-ray imaging equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of X-ray imaging equipment, and in particular to an X-ray imaging equipment. Background Art

[0002] With the continuous advancement of science and technology, X-ray imaging equipment will continue to develop in the direction of higher resolution, lower radiation dose, greater intelligence and portability. The development of portable X-ray imaging equipment will make medical rescue and telemedicine services more convenient and efficient.

[0003] Chinese patent application publication number: CN104434165A discloses an X-ray imaging device, including an array X-ray source, a collimator and an X-ray flat panel detector; the array X-ray source is used to emit an array X-ray beam; the collimator is used to collimate the emitted array X-ray beam and irradiate the collimated array X-ray beam to the test object; the X-ray flat panel detector is used to receive the array X-ray beam that penetrates the test object and form an X-ray photographic image using the received array X-ray beam. However, the prior art has the following problems: the device has poor portability and poor imaging accuracy, which affects the accuracy of diagnosis, thereby resulting in the problem of low imaging accuracy of the X-ray imaging device. Summary of the invention

[0004] To this end, the present invention provides an X-ray imaging device to overcome the problem of low imaging accuracy of X-ray imaging devices in the prior art.

[0005] To achieve the above object, the present invention provides an X-ray imaging device, comprising:

[0006] A housing for carrying a transmitting board and a receiving board;

[0007] An emitting plate, comprising an X-ray tube disposed in the middle of the emitting plate for emitting X-rays;

[0008] A receiving plate, used for receiving X-rays emitted by the X-ray tube;

[0009] A connecting structure, comprising a connecting rod disposed at the bottom of the receiving plate and connected to the receiving plate, a supporting rod disposed at one end of the shell for supporting the shell, and a connecting shaft disposed at the upper part of the shell for connecting the shell and the transmitting plate;

[0010] A driving unit, comprising a first driving motor disposed at one end of the connecting rod near the receiving plate to drive the receiving plate to reciprocate along the axis direction of the connecting rod, and a second driving motor disposed at one end of the connecting shaft near the launching plate to drive the launching plate to reciprocate along the shell;

[0011] A control unit comprising:

[0012] A data acquisition module, used for acquiring a pre-shot image of the target to be detected received by the receiving board;

[0013] A data analysis module connected to the data acquisition module, for determining the eligibility of the pre-taken image based on the pre-taken image clarity, and determining the eligibility of the oblique image features extracted in the corresponding oblique image shooting mode according to the feature grayscale value under the condition that the pre-taken image is unqualified, wherein the oblique image shooting mode includes shooting the oblique image in a mode where the transmitting plate is perpendicular to the tangent plane of the target to be detected and shooting the oblique image in a normal mode;

[0014] A data processing module connected to the data analysis module is used to determine an offset strategy of the oblique image feature according to the oblique image feature parameters under the condition that the oblique image feature is qualified, wherein the offset strategy includes determining an offset direction and an offset distance of the oblique image feature;

[0015] A data adjustment module is connected to the data processing module and is used to determine whether to move the transmitting plate or tilt the receiving plate based on the offset strategy.

[0016] Furthermore, the data analysis module determines that the pre-shot image is unqualified based on a comparison result that the clarity of the pre-shot image is less than or equal to a preset clarity of the pre-shot image, under the condition that the data acquisition module acquires the pre-shot original film.

[0017] Furthermore, the data analysis module determines, under the condition that the pre-captured image is unqualified, to capture an inclined image with the transmitting plate perpendicular to the tangent plane of the target to be detected based on the comparison result that the bone fragmentation degree evaluation value is less than or equal to the preset bone fragmentation degree evaluation value.

[0018] Furthermore, under the condition that the pre-captured image is determined to be unqualified, the data analysis module determines to capture the inclined image in a normal manner based on the comparison result that the bone fragmentation degree evaluation value is greater than the preset bone fragmentation degree evaluation value, wherein the normal manner is that the transmitting plate and the target to be detected are parallel to the horizontal plane.

[0019] Furthermore, the data analysis module determines to fit the oblique image based on a comparison result that the definition of the oblique image is less than or equal to the definition of the pre-shot image, under the condition that the oblique image is taken in a corresponding shooting mode.

[0020] Furthermore, the data analysis module determines that the features of the inclined image are qualified based on a comparison result that the feature grayscale value is greater than a preset feature grayscale value under the condition of determining that the inclined image is fitted.

[0021] Furthermore, under the condition that the tilted image feature is determined to be qualified, the data processing module determines that the tilted image feature is offset to the positive left side of the tilted image center point relative to the horizontal direction of the receiving plate based on the comparison result that the feature edge evaluation value is less than or equal to the preset feature edge evaluation value, and determines the offset distance of the tilted image according to the difference between the trajectory smoothness evaluation value and the preset trajectory smoothness evaluation value.

[0022] Furthermore, under the condition that the tilted image feature is determined to be qualified, the data processing module determines that the tilted image feature is offset to the right side of the tilted image center point relative to the receiving plate in the horizontal direction based on the comparison result that the feature edge evaluation value is greater than the preset feature edge evaluation value, and determines the offset distance of the tilted image according to the difference between the trajectory smoothness evaluation value and the preset trajectory smoothness evaluation value.

[0023] Further, the data adjustment module determines, under the condition of determining the offset direction and the offset distance of the tilted image feature, that the launch board moves a determined distance in a determined direction relative to a horizontal plane of the launch board based on the offset direction and the offset distance.

[0024] Further, the data adjustment module determines the receiving plate tilted to a determined angle in a determined direction relative to a horizontal plane of the receiving plate based on the offset direction and the offset distance under the condition of determining the offset direction and the offset distance of the tilted image feature.

[0025] Compared with the prior art, the invention has the beneficial effect that the invention determines the eligibility of the pre-shot image by comparing the pre-shot image clarity with the preset clarity, and further analyzes the degree of bone fragmentation of the unqualified pre-shot image. According to the comparison result of the degree of fragmentation with the preset standard, the relative angle between the transmitting plate and the target to be detected is adjusted to make the detection process more efficient. This dynamic adjustment strategy not only shortens the detection time, but also improves the imaging accuracy of the X-ray imaging device, thereby improving the imaging accuracy of the X-ray imaging device.

[0026] Furthermore, the present invention determines the shooting mode to shoot the oblique image, and then determines whether the oblique image needs to be fitted by comparing the clarity of the oblique image with the pre-shot image. For the oblique image that needs to be fitted, the eligibility of the oblique image feature is further evaluated based on the comparison result of its characteristic grayscale value with the preset characteristic grayscale value, ensuring that the image used in the end has higher quality, reducing the risk of misdiagnosis or missed diagnosis caused by blurred or unclear images, and improving the accuracy of imaging of X-ray imaging equipment.

[0027] Furthermore, the present invention determines the offset direction of the tilted image feature relative to the horizontal direction of the receiving plate by comparing the feature edge evaluation value of the tilted image with the preset feature edge evaluation value, and further determines the distance range of the tilted image feature offset according to the trajectory smoothness evaluation value of the tilted image, so as to ensure that the image feature is clear in the adjusted position, improve the accuracy and consistency of image processing, and thus improve the imaging accuracy of the X-ray imaging equipment.

[0028] Furthermore, the present invention accurately controls the movement or tilt of the transmitting plate and the receiving plate by tilting the offset direction and offset distance of the image feature, ensuring that the transmitting plate can be accurately adjusted to the optimal shooting position, and the offset of the image feature is compensated by tilting the receiving plate, thereby optimizing the image quality, improving the accuracy and reliability of image acquisition, and improving the accuracy of the imaging of the X-ray imaging device, thereby improving the imaging accuracy of the X-ray imaging device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of an X-ray imaging device according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of module connection in an embodiment of the present invention;

[0031] Figure 3 A flow chart for determining the eligibility of a pre-taken image according to an embodiment of the present invention;

[0032] Figure 4 The present invention is a flowchart for determining the eligibility of tilted image features according to an embodiment of the present invention.

[0033] In the figure, 1, shell; 2, transmitting plate; 3, receiving plate; 101, supporting rod; 102, connecting rod; 103, first driving motor; 104, X-ray tube; 105, connecting shaft; 106, second driving motor. DETAILED DESCRIPTION

[0034] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0035] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0036] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0037] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] See also Figure 1 - Figure 4 As shown, Figure 1 This is a schematic structural diagram of an X-ray imaging device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of module connection in an embodiment of the present invention; Figure 3 A flow chart for determining the eligibility of a pre-taken image according to an embodiment of the present invention; Figure 4 The present invention is a flowchart for determining the eligibility of tilted image features according to an embodiment of the present invention.

[0039] An X-ray imaging device according to an embodiment of the present invention comprises:

[0040] A housing for carrying the transmitting board 2 and the receiving board 3;

[0041] An emitting plate, comprising an X-ray tube 104 disposed in the middle of the emitting plate 2 for emitting X-rays;

[0042] A receiving plate, which is used to receive X-rays emitted by the X-ray tube 104;

[0043] A connecting structure, comprising a connecting rod 102 disposed at the bottom of the receiving plate 3 and connected to the receiving plate 3, a supporting rod 101 disposed at one end of the housing 1 for supporting the housing 1, and a connecting shaft 105 disposed at the upper part of the housing 1 for connecting the housing 1 and the transmitting plate 2;

[0044] A driving unit, comprising a first driving motor 103 disposed at one end of the connecting rod 102 close to the receiving plate 3 for driving the receiving plate 3 to reciprocate along the axis direction of the connecting rod 102, and a second driving motor 106 disposed at one end of the connecting shaft 105 close to the launching plate 2 for driving the launching plate 2 to reciprocate along the housing 1;

[0045] A control unit comprising:

[0046] A data acquisition module, used for acquiring a pre-shot image of the target to be detected received by the receiving board;

[0047] A data analysis module connected to the data acquisition module, for determining the eligibility of the pre-shot image based on the pre-shot image clarity, and determining the eligibility of the oblique image features extracted in the corresponding oblique image shooting mode according to the feature grayscale value;

[0048] A data processing module connected to the data analysis module, for determining a feature offset direction and offset distance based on the tilted image feature;

[0049] A data adjustment module is connected to the data processing module and is used to determine whether to move the transmitting plate or tilt the receiving plate based on the offset direction and the offset distance.

[0050] Specifically, the data analysis module is used to determine the eligibility of the pre-shot image according to the comparison result between the pre-shot image definition and the preset pre-shot image definition;

[0051] If the definition of the pre-captured image is less than or equal to the preset definition of the pre-captured image, determining that the pre-captured image is unqualified;

[0052] If the definition of the pre-captured image is greater than the preset definition of the pre-captured image, it is determined that the pre-captured image is qualified.

[0053] In an embodiment of the present invention, the preset pre-captured image clarity value is obtained by taking the average value of the pre-captured image clarity of several historical qualified pre-captured images, but the above value is not limited to this, and technical personnel in this field can also adjust the value according to actual needs.

[0054] Specifically, the data analysis module calculates the pre-shot image clarity according to the following formula:

[0055]

[0056] Wherein, P represents the definition of the pre-shot image, W represents the width of the pre-shot image, H represents the height of the pre-shot image, n represents the number of pixels in the pre-shot image, μi represents the grayscale value of the i-th pixel, Represents the average grayscale value of the pre-captured image.

[0057] Specifically, the data analysis module determines the method for determining the relative angle between the transmitting plate and the target to be detected according to the comparison result between the bone fragmentation degree evaluation value and the preset bone fragmentation degree evaluation value of 0.83 under the condition that the pre-captured image is determined to be unqualified;

[0058] If the bone fragmentation degree evaluation value is less than or equal to the preset bone fragmentation degree evaluation value, determining to shoot an oblique image in a manner that the transmitting plate is perpendicular to the tangent plane of the target to be detected;

[0059] If the bone fragmentation degree evaluation value is greater than the preset bone fragmentation degree evaluation value, determining to take the oblique image in a normal manner;

[0060] The tangent plane of the target to be detected is the direction of the target to be detected perpendicular to the ground. In a normal mode, the transmitting plate and the target to be detected are parallel to the ground.

[0061] In the embodiment of the present invention, the preset bone fracture degree evaluation value is 0.83, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0062] Specifically, the data analysis module calculates the bone fracture degree evaluation value according to the following formula, setting:

[0063]

[0064] Among them, P represents the evaluation value of bone fragmentation, N represents the number of fragments, and L represents the length of the fracture line.

[0065] In the embodiment of the present invention, the number of fragments refers to the number of independent parts into which the bone is broken after the fracture, and the fracture line length refers to the total distance that the fracture crack extends on the surface or inside of the bone.

[0066] Specifically, the present invention determines the eligibility of the pre-shot image by comparing the pre-shot image clarity with the preset clarity. For unqualified pre-shot images, the degree of bone fragmentation is further analyzed. According to the comparison result of the degree of fragmentation with the preset standard, the relative angle between the transmitting plate and the target to be detected is adjusted to make the detection process more efficient. This dynamic adjustment strategy not only shortens the detection time, but also improves the imaging accuracy of the X-ray imaging device, thereby improving the imaging accuracy of the X-ray imaging device.

[0067] Specifically, the data analysis module takes the inclined image at this position under the condition that the transmitting plate is perpendicular to the tangent plane of the target to be detected.

[0068] Specifically, the data analysis module determines whether to fit the oblique image based on a comparison result of the oblique image definition and the pre-shot image definition under the condition of determining the oblique image;

[0069] If the definition of the oblique image is less than or equal to the definition of the pre-shot image, determining to fit the oblique image;

[0070] If the definition of the oblique image is greater than the definition of the pre-shot image, it is determined not to perform fitting on the oblique image.

[0071] Specifically, the data analysis module calculates the oblique image clarity according to the following formula, setting:

[0072]

[0073] Where Q represents the oblique image clarity, Wp represents the width of the oblique image, Hp represents the height of the oblique image, m represents the number of pixels in the oblique image, μj represents the grayscale value of the jth pixel, Represents the average gray value of the tilted image.

[0074] Specifically, the data analysis module captures the oblique image at this position under the condition of determining that the image is captured in a normal manner.

[0075] Specifically, the data analysis module determines whether to fit the oblique image based on a comparison result of the oblique image definition and the pre-shot image definition under the condition of determining the oblique image;

[0076] If the definition of the oblique image is less than or equal to the definition of the pre-shot image, determining not to perform fitting on the oblique image;

[0077] If the definition of the oblique image is greater than the definition of the pre-shot image, determining to fit the oblique image;

[0078] Specifically, the data processing module determines the eligibility of the oblique image feature according to the comparison result of the characteristic gray value of the oblique image and the preset characteristic gray value 58 under the condition of fitting the oblique image in the corresponding shooting mode;

[0079] If the characteristic grayscale value is less than or equal to the preset characteristic grayscale value, it is determined that the inclined image feature is unqualified;

[0080] If the characteristic grayscale value is greater than the preset characteristic grayscale value, it is determined that the inclined image feature is qualified.

[0081] In the embodiment of the present invention, the preset characteristic grayscale value is 58, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0082] Specifically, the data processing module calculates the characteristic grayscale value according to the following formula and sets:

[0083]

[0084] Wherein, G represents the characteristic gray value, Gjx represents the gray value of the j-th pixel in the horizontal direction of the inclined image, Gjy represents the gray value of the j-th pixel in the vertical direction of the inclined image, and m represents the number of pixels in the inclined image.

[0085] Specifically, the present invention determines the shooting mode to shoot the oblique image, and then determines whether the oblique image needs to be fitted by comparing the clarity of the oblique image with the pre-shot image. For the oblique image that needs to be fitted, the eligibility of the oblique image feature is further evaluated based on the comparison result of its characteristic grayscale value with the preset characteristic grayscale value, ensuring that the image used in the end has higher quality, reducing the risk of misdiagnosis or missed diagnosis caused by blurred or unclear images, and improving the accuracy of imaging of X-ray imaging equipment.

[0086] Specifically, the data processing module determines the offset direction of the tilted image feature according to a comparison result between the feature edge evaluation value and a preset feature edge evaluation value of 0.74, under the condition that the tilted image feature is determined to be qualified;

[0087] If the feature edge evaluation value is less than or equal to the preset feature edge evaluation value, determining to shift the tilted image feature to the positive left side of the tilted image center point relative to the horizontal direction of the receiving plate;

[0088] If the feature edge evaluation value is greater than the preset feature edge evaluation value, it is determined to shift the tilted image feature to the right side of the tilted image center point relative to the horizontal direction of the receiving plate.

[0089] In the embodiment of the present invention, the preset feature edge evaluation value is 0.74, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0090] Specifically, the data processing module calculates the feature edge evaluation value according to the following formula, setting:

[0091]

[0092] Where D represents the feature edge evaluation value, m represents the number of feature points in the tilted image, cosjθ represents the gradient direction of the jth feature point, ΔIj represents the difference between the pixel values ​​on both sides of the jth feature point, and σj represents the standard deviation of the gradient intensity of the jth feature point.

[0093] Specifically, the data processing module determines the offset distance range of the oblique image feature according to the comparison result of the trajectory smoothness evaluation value of the oblique image and the preset trajectory smoothness evaluation value 0,67 under the condition that the oblique image feature is determined to be qualified;

[0094] If the trajectory smoothness evaluation value is less than or equal to the preset trajectory smoothness evaluation value, determining that the offset distance range of the tilted image feature is 1-3 mm;

[0095] If the trajectory smoothness evaluation value is greater than the preset trajectory smoothness evaluation value, it is determined that the offset distance range of the tilted image feature is 3-5 mm.

[0096] In the embodiment of the present invention, the preset trajectory smoothness evaluation value is 0.67, but the above value is not limited thereto, and those skilled in the art may also adjust the value according to actual needs.

[0097] Specifically, the data processing module calculates the trajectory smoothness evaluation value according to the following formula, setting:

[0098]

[0099] Among them, K represents the smoothness evaluation value of the feature trajectory, It represents the average value of the distance between two adjacent feature points of the feature trajectory, and σd represents the standard deviation of the distance between two adjacent feature points of the feature trajectory.

[0100] Specifically, the offset distance of the inclined image feature is determined by the difference between the trajectory smoothness evaluation value and the preset trajectory smoothness evaluation value.

[0101] Specifically, the data processing module calculates the offset distance of the tilted image feature according to the following formula, setting:

[0102]

[0103] Wherein, L represents the offset distance of the tilted image feature, K represents the feature trajectory smoothness evaluation value, and K0 represents the preset feature trajectory smoothness evaluation value.

[0104] Specifically, the present invention determines the offset direction of the tilted image feature relative to the horizontal direction of the receiving plate by comparing the feature edge evaluation value of the tilted image with the preset feature edge evaluation value, and further determines the distance range of the tilted image feature offset according to the trajectory smoothness evaluation value of the tilted image, so as to ensure that the image feature is clear in the adjusted position, improve the accuracy and consistency of image processing, and thus improve the imaging accuracy of the X-ray imaging equipment.

[0105] Specifically, the data adjustment module determines the moving direction and moving distance of the transmitting plate according to the offset direction and offset distance of the tilted image feature, and the moving direction and moving distance of the transmitting plate are positively correlated with the offset direction and offset distance of the tilted image feature;

[0106] If it is determined that the tilted image feature is offset to the left of the center point of the tilted image relative to the horizontal direction of the receiving plate and the offset is determined by the offset distance, then it is determined that the transmitting plate is moved to the left relative to the horizontal plane of the transmitting plate and moves a corresponding distance;

[0107] If it is determined that the tilted image feature is offset to the right of the tilted image center point relative to the horizontal direction of the receiving plate and the offset is determined by the offset distance, then it is determined that the transmitting plate moves to the right relative to the horizontal plane of the transmitting plate and moves a corresponding distance.

[0108] Specifically, the data adjustment module determines the tilt direction and tilt angle of the receiving plate according to the offset direction and offset distance of the tilt image feature, and the tilt direction and tilt angle of the receiving plate are positively correlated with the offset direction and offset distance of the tilt image feature;

[0109] If it is determined that the tilted image feature is offset to the left of the center point of the tilted image relative to the horizontal direction of the receiving plate and the offset is determined by the offset distance, it is determined that the receiving plate is tilted in a direction directly above the horizontal plane of the receiving plate and away from the transmitting plate and is tilted by a corresponding angle;

[0110] If it is determined that the tilted image feature is offset to the right of the tilted image center point relative to the horizontal direction of the receiving plate and the offset is determined by the offset distance, then it is determined that the receiving plate is tilted in a direction directly below the horizontal plane of the receiving plate and away from the transmitting plate and tilted at a corresponding angle, wherein the angle is the cosine of the angle between the distance of the tilted image feature of the tilted receiving plate relative to the origin of the horizontal receiving plate after it is mapped to the horizontal receiving plate and the distance of the tilted image feature of the tilted receiving plate relative to the origin of the tilted receiving plate.

[0111] Specifically, the present invention accurately controls the movement or tilt of the transmitting plate and the receiving plate by tilting the offset direction and offset distance of the image feature, ensuring that the transmitting plate can be accurately adjusted to the optimal shooting position, and the offset of the image feature is compensated by tilting the receiving plate, thereby optimizing the image quality, improving the accuracy and reliability of image acquisition, and improving the accuracy of the imaging of the X-ray imaging device, thereby improving the accuracy of the imaging of the X-ray imaging device.

[0112] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0113] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An X-ray imaging device, characterized in that: include: A housing for carrying a transmitting board and a receiving board; An emitting plate, comprising an X-ray tube disposed in the middle of the emitting plate for emitting X-rays; A receiving plate, used for receiving X-rays emitted by the X-ray tube; A connecting structure, comprising a connecting rod disposed at the bottom of the receiving plate and connected to the receiving plate, a supporting rod disposed at one end of the shell for supporting the shell, and a connecting shaft disposed at the upper part of the shell for connecting the shell and the transmitting plate; A driving unit, comprising a first driving motor disposed at one end of the connecting rod near the receiving plate to drive the receiving plate to reciprocate along the axis direction of the connecting rod, and a second driving motor disposed at one end of the connecting shaft near the launching plate to drive the launching plate to reciprocate along the shell; A control unit comprising: A data acquisition module, used for acquiring a pre-shot image of the target to be detected received by the receiving board; A data analysis module connected to the data acquisition module, for determining the eligibility of the pre-taken image based on the pre-taken image clarity, and determining the eligibility of the oblique image features extracted in the corresponding oblique image shooting mode according to the feature grayscale value under the condition that the pre-taken image is unqualified, wherein the oblique image shooting mode includes shooting the oblique image in a mode where the transmitting plate is perpendicular to the tangent plane of the target to be detected and shooting the oblique image in a normal mode; A data processing module connected to the data analysis module is used to determine an offset strategy of the oblique image feature according to the oblique image feature parameters under the condition that the oblique image feature is qualified, wherein the offset strategy includes determining an offset direction and an offset distance of the oblique image feature; A data adjustment module is connected to the data processing module and is used to determine whether to move the transmitting plate or tilt the receiving plate based on the offset strategy.

2. The X-ray imaging device according to claim 1, characterized in that: The data analysis module determines that the pre-shot image is unqualified based on a comparison result that the definition of the pre-shot image is less than or equal to a preset definition of the pre-shot image, under the condition that the data acquisition module acquires the pre-shot original film.

3. The X-ray imaging device according to claim 2, characterized in that: The data analysis module determines, under the condition that the pre-shot image is unqualified, to shoot an oblique image with the transmitting plate perpendicular to the tangent plane of the target to be detected based on the comparison result that the bone fragmentation degree evaluation value is less than or equal to the preset bone fragmentation degree evaluation value.

4. The X-ray imaging device according to claim 2, characterized in that: The data analysis module determines, under the condition that the pre-captured image is unqualified, to capture the inclined image in a normal manner based on a comparison result that the bone fragmentation degree evaluation value is greater than a preset bone fragmentation degree evaluation value, wherein the normal manner is that the transmitting plate and the target to be detected are parallel to the horizontal plane.

5. The X-ray imaging device according to claim 4, characterized in that: The data analysis module determines to fit the oblique image based on the comparison result that the definition of the oblique image is less than or equal to the definition of the pre-shot image, under the condition that the oblique image is taken in the corresponding shooting mode.

6. The X-ray imaging device according to claim 5, characterized in that: The data analysis module determines that the oblique image features are qualified based on the comparison result that the feature grayscale value is greater than the preset feature grayscale value under the condition of determining that the oblique image is fitted.

7. The X-ray imaging device according to claim 6, characterized in that: The data processing module determines, under the condition that the tilted image feature is qualified, that the tilted image feature is offset to the positive left side of the tilted image center point relative to the horizontal direction of the receiving plate based on the comparison result that the feature edge evaluation value is less than or equal to the preset feature edge evaluation value, and determines the offset distance of the tilted image according to the difference between the trajectory smoothness evaluation value and the preset trajectory smoothness evaluation value.

8. The X-ray imaging device according to claim 6, characterized in that: The data processing module determines, under the condition that the tilted image feature is qualified, that the tilted image feature is offset to the right side of the tilted image center point relative to the horizontal direction of the receiving plate based on the comparison result that the feature edge evaluation value is greater than the preset feature edge evaluation value, and determines the offset distance of the tilted image according to the difference between the trajectory smoothness evaluation value and the preset trajectory smoothness evaluation value.

9. The X-ray imaging device according to claim 8, characterized in that: The data adjustment module determines, under the condition of determining the offset direction and the offset distance of the tilted image feature, that the launch plate moves a determined distance in a determined direction relative to a horizontal plane of the launch plate based on the offset direction and the offset distance.

10. The X-ray imaging device according to claim 8, characterized in that: The data adjustment module determines the receiving plate tilted to a determined angle in a determined direction relative to a horizontal plane of the receiving plate based on the offset direction and the offset distance under the condition of determining the offset direction and the offset distance of the tilted image feature.

Images