Static CT-oriented distributed control system, control method and upgrading method

Abstract

The invention discloses a static CT (Computed Tomography)-oriented distributed control system, a control method and an upgrading method. The distributed control system comprises a system bus, an upper computer, a central control module and a plurality of function control modules. Wherein the upper computer, the central control module and the multiple function control modules are all connected with the system bus so as to realize communication interaction among the control modules; the upper computer obtains CT control parameters through man-machine interaction and sends the CT control parameters to the central control module; after the central control module identifies the CT control parameters, the corresponding control parameters are distributed to the multiple function control modules so as to control the states of all the corresponding parts, the states of all the parts are collected in real time, and CT scanning is ended when the states of all the parts meet preset conditions. The distributed control system is suitable for a static CT system which is complex in system composition and high in control real-time performance.

Description

Technical Field

[0001] The present invention relates to a distributed control system for static CT, and also to a corresponding control method and an upgrade method, belonging to the technical field of medical devices. Background Art

[0002] Compared with traditional spiral CT, the static CT system uses a double ring structure consisting of a ray source ring and a detector ring instead of a slip ring structure, so that the time resolution of the CT device no longer depends on the speed of mechanical rotation. The core components of the static CT system include the detector ring and the ray source ring, where the annular detector configured in the detector ring is composed of multiple photon flow detectors. The ray source ring is composed of a distributed X-ray tube or an array-type integrated ray source.

[0003] Since the static CT system contains more radiation sources and detectors, its control system is much more complicated. Based on the complex system topology of static CT, it is difficult to control so many components to work together. For the image chain acquisition function of static CT, many components need to work together, and the control of similar components must ensure their consistency and uniformity, so as to ensure its real-time performance.

[0004] Chinese invention patent CN108614460B discloses a distributed multi-node control system and method, including: a first control node, a second control node, a plurality of servo nodes and an execution device. The first control node and the second control node are respectively connected to the plurality of servo nodes for communication, and the servo nodes are electrically connected to the execution devices for controlling the working state of the corresponding execution devices; the first control node is used to control the working state of at least one first servo node among the plurality of servo nodes, and the second control node is used to control the working state of at least one second servo node among the plurality of servo nodes. By sharing the real-time computing amount through multiple control nodes, distributed control is realized and the computing speed is accelerated.

[0005] However, the above-mentioned distributed control multi-node control system and method realizes distributed control by sharing the real-time computing load by multiple control nodes. This technical solution can only reduce the computing load of the control nodes, but cannot improve the real-time control performance. Summary of the invention

[0006] The primary technical problem to be solved by the present invention is to provide a distributed control system for static CTs.

[0007] Another technical problem to be solved by the present invention is to provide a distributed control method for the distributed control system.

[0008] Another technical problem to be solved by the present invention is to provide a system upgrade method for the distributed control system.

[0009] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0010] According to a first aspect of an embodiment of the present invention, there is provided a distributed control system for static CT, comprising a system bus, a host computer, a central control module and multiple functional control modules;

[0011] The system bus is used for communication and interaction between various control modules in the static CT;

[0012] The host computer is communicatively connected to the system bus, and the host computer has a human-computer interaction module for human-computer interaction, so as to obtain CT control parameters through the human-computer interaction module;

[0013] The central control module is communicatively connected with the system bus to receive the CT control parameters sent by the host computer, and after identifying the CT control parameters, distributes the corresponding control parameters to the various functional control modules;

[0014] The various functional control modules are all connected to the system bus for communication, so as to receive the control parameters distributed by the central control module, and control the status of the corresponding components according to the control parameters; and each functional control module obtains the status of each component in real time when executing the control component action, and feeds back the status of each component to the central control module through the system bus;

[0015] The central control module collects the status of each component to end the CT scan when the status of each component meets a preset condition.

[0016] Preferably, the multiple function control modules at least include:

[0017] A timing control module, which is in communication with the system bus to receive the timing control parameters distributed by the central control module and generate a timing control signal for performing timing control;

[0018] A motion control module, which is in communication with the system bus to receive the motion control parameters distributed by the central control module and perform motion control according to the timing control signal;

[0019] A ray source control module is connected to the system bus for receiving ray source control parameters distributed by the central control module and performing ray source exposure according to the timing control signal;

[0020] A detector control module, which is in communication with the system bus to receive the detector control parameters distributed by the central control module and to perform image acquisition according to the timing control signal;

[0021] an auxiliary control module, connected in communication with the system bus to receive auxiliary control parameters distributed by the central control module, thereby controlling the status of each auxiliary component;

[0022] The power control module is communicatively connected with the system bus to provide electric energy to the central control module, the timing control module, the motion control module, the ray source control module, the detector control module and the auxiliary control module.

[0023] Preferably, the system bus includes a high-speed communication bus, a low-speed communication bus and a timing control bus;

[0024] The host computer communicates and interacts with the central control module via the high-speed communication bus;

[0025] The various functional control modules all communicate and interact with the central control module via the low-speed control bus;

[0026] The timing control module, the motion control module, the ray source control module and the detector control module are controlled by the timing control bus.

[0027] Preferably, the multiple function control module also communicates and interacts with the high-speed communication bus to receive the upgrade package file sent by the host computer to the multiple function control module;

[0028] The host computer obtains the current version information of the central control module and the multiple function control modules through the high-speed communication bus, and sends the latest version upgrade package files to the central control module and the multiple function control modules based on the current version information;

[0029] The host computer controls the central control module and the various functional control modules to perform online upgrade operations by remote control, and obtains the upgrade status information of the central control module and the various functional control modules through the high-speed communication bus, until the central control module and the various functional control modules are upgraded to the latest version and then the online upgrade operation is stopped.

[0030] Preferably, the motion control module includes:

[0031] a rack control module connected to the central control module via the low-speed communication bus to control rack rotation according to the timing control signal based on the motion control parameter;

[0032] a bed control module connected to the central control module via the low-speed communication bus to control the movement of the bed according to the timing control signal based on the motion control parameters;

[0033] The beam limiter control module is connected to the central control module via the low-speed communication bus to control the beam limiter to limit the X-ray based on the motion control parameter and the timing control signal.

[0034] Preferably, the auxiliary control module includes:

[0035] an exposure control box connected to the central control module via the low-speed communication bus to perform exposure control based on the auxiliary control parameters;

[0036] a breathing navigation module, connected to the central control module via the low-speed communication bus, so as to perform breathing navigation control based on the auxiliary control parameters;

[0037] The exposure indicator light strip module is connected to the central control module via the low-speed communication bus to control the exposure indicator light strip based on the auxiliary control parameters.

[0038] Preferably, the high-speed communication bus is an Ethernet bus, the low-speed communication bus is a CAN bus, and the timing control bus is an nvSync bus.

[0039] According to a second aspect of an embodiment of the present invention, there is provided a distributed control method for the above-mentioned distributed control system, comprising the following steps:

[0040] Acquire CT control parameters through the host computer, and send the CT control parameters to the central control module through the system bus;

[0041] Acquire the CT control parameters through the central control module, and distribute the corresponding control parameters to various functional control modules after identifying the CT control parameters;

[0042] The control parameters distributed by the central control module are received through the multiple functional control modules, and the states of the corresponding components are controlled according to the control parameters; and each functional control module obtains the states of the components in real time when executing the control component action, and feeds back the states of the components to the central control module through the system bus;

[0043] The status of each component is collected by the central control module, so as to end the CT scan when the status of each component meets the preset conditions.

[0044] Preferably, the receiving of control parameters distributed by the central control module through the multiple function control modules and controlling the states of the corresponding components according to the control parameters include:

[0045] Receiving the timing control parameters distributed by the central control module through the timing control module, and generating a timing control signal;

[0046] Receiving the motion control parameters distributed by the central control module through the motion control module, and controlling the rack rotation and bed movement according to the timing control signal;

[0047] Receiving the ray source control parameters distributed by the central control module through the ray source control module, and performing ray source exposure according to the timing control signal;

[0048] Receiving the detector control parameters distributed by the central control module through the detector control module, and performing image acquisition according to the timing control signal;

[0049] Receiving the auxiliary control parameters distributed by the central control module through the auxiliary control module, thereby controlling the status of each auxiliary component;

[0050] The power supply control module provides electric energy to the central control module, the timing control module, the motion control module, the ray source control module, the detector control module and the auxiliary control module.

[0051] According to a third aspect of an embodiment of the present invention, there is provided a system upgrade method for the above-mentioned distributed control system, comprising the following steps:

[0052] Obtain the current version information of the central control module and various functional control modules through the host computer using a high-speed communication bus;

[0053] Sending the latest version of the upgrade package file to the central control module and the multiple function control modules based on the current version information by the host computer;

[0054] Remotely control the central control module and the various function control modules through the host computer to perform online upgrade operations according to the upgrade package file;

[0055] Acquire the upgrade status information of the central control module and the various function control modules in real time through the host computer;

[0056] Determining whether the central control module and the various function control modules are upgraded to the latest versions based on the upgrade status information;

[0057] If the determination result is yes, the central control module and the multiple function control modules are remotely controlled by the host computer to stop the online upgrade operation; otherwise, the online upgrade operation is continued until the determination result is yes.

[0058] Compared with the prior art, the present invention adopts a collaborative control mode combining a central control module and a component control module. The central control module is responsible for the control of the business layer work tasks, and the component control module is responsible for the control of each component, reducing the control workload of the central control module. The central control module and each component control module communicate based on the system bus, thereby realizing the real-time control of the whole machine function and ensuring the system control efficiency. The distributed control system is particularly suitable for static CT systems with complex system structures and high real-time control. It is simpler to implement certain functional control aspects of complex static CT systems, such as online component upgrades, error code bursts, and log records, which have good operability and good stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic diagram of the structure of a distributed control system for static CT is provided for an embodiment of the present invention;

[0060] Figure 2 A schematic diagram of communication connection between a system bus and each control module in an embodiment of the present invention;

[0061] Figure 3 A flow chart of performing image chain acquisition of a static CT system using a distributed control system provided by an embodiment of the present invention;

[0062] Figure 4 A flow chart of performing system upgrade on a distributed control system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The technical content of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] The embodiments of the present invention provide a distributed control system, control method and upgrade method for static CT, which are particularly suitable for static CT systems with complex system structure and high real-time control. For the static CT system, according to its system architecture, a distributed control scheme is adopted to hand over the control rights of each component to the control module of each component (multiple function control modules in this embodiment), sharing the control work of the main control module (central control module in this embodiment). The main control module is responsible for overall function control, and the sub-component control module is responsible for its own function control. The main control component and the sub-component realize control command response and status information synchronization based on the communication bus and communication protocol, thereby realizing the functions of the whole machine and ensuring the control efficiency of the whole machine.

[0065] like Figure 1As shown, a distributed control system for static CT provided by an embodiment of the present invention includes a system bus 1, a host computer 2, a central control module 3 and a plurality of functional control modules 10. Among them, the host computer 2, the central control module 3 and the plurality of functional control modules 10 are all connected to the system bus 1 to realize communication and interaction between the control modules through the system bus 1. The host computer 2 obtains CT control parameters (which may be CT scanning parameters or other types of parameters) through human-computer interaction, and sends them to the central control module 3 through the system bus 1. After the central control module 3 identifies the CT control parameters, it distributes the corresponding control parameters to the plurality of functional control modules 10, so that the plurality of functional control modules 10 control the states of the corresponding components according to the control parameters. In addition, the plurality of functional control modules 10 feed back the states of the components to the central control module 3 in real time based on the system bus 1, so that the central control module 3 collects the states of the components in real time, and ends the CT scan when the states of the components meet the preset conditions.

[0066] The following describes in detail the various modules of the distributed control system provided by the embodiment of the present invention:

[0067] 1. System Bus

[0068] In this embodiment, the system bus 1 is used for communication and interaction between the control modules in the static CT. Figure 2 As shown, the system bus 1 includes but is not limited to a high-speed communication bus 11 , a low-speed communication bus 12 and a timing control bus 13 .

[0069] The host computer 2 communicates and interacts with the central control module 3 via a high-speed communication bus 11 , so that the CT control parameters can be quickly sent to the central control module 3 .

[0070] like Figure 1 As shown, the multi-function control module 10 includes a timing control module 4, a motion control module 5, a ray source control module 6, a detector control module 7, an auxiliary control module 8 and a power supply control module 9. Figure 2 As shown, each functional control module is connected to the low-speed communication bus 12 for performing different functional controls (described in detail below) according to the corresponding control parameters distributed by the central control module 3. In addition, the timing control module 4, the motion control module 5, the ray source control module 6 and the detector control module 7 are controlled by the timing control bus 13.

[0071] In this embodiment, preferably, the high-speed communication bus is an Ethernet bus, the low-speed communication bus is a CAN bus, and the timing control bus is an nvSync bus. For further description of the nvSync bus, reference may be made to the inventor's prior invention patent CN108270652B (a high-speed real-time bus system and data processing method thereof).

[0072] 2. Host Computer

[0073] In this embodiment, the host computer 2 is communicatively connected to the high-speed communication bus 11 of the system bus 1, and the host computer has a human-computer interaction module 21 for human-computer interaction, so as to obtain CT control parameters through the human-computer interaction module.

[0074] It can be understood that the host computer 2, as one of the control modules of the distributed control system, is mainly responsible for the human-computer interaction and system status display functions of the static CT system. In addition, the host computer 2 can also obtain the current version information of the central control module 3 and the various functional control modules 10 according to the high-speed communication bus 11, so as to remotely control the central control module 3 and the various functional control modules 10 to perform online upgrade operations.

[0075] 3. Central Control Module

[0076] In this embodiment, the central control module 3 is connected to the high-speed communication bus 11 of the system bus 1 to receive the CT control parameters sent by the host computer 2, and after identifying the CT control parameters, distribute the corresponding control parameters to the various functional control modules 10. In addition, the central control module 3 is also used to collect the status of each component obtained in real time when each functional control module executes the control component action, so as to end the CT scan when the status of each component meets the preset conditions.

[0077] It can be understood that the central control module 3, as the main control module of the distributed system, is mainly responsible for logic control and function implementation, such as impact chain collection, error code management, etc.

[0078] 4. Multiple Function Control Modules

[0079] In this embodiment, the various functional control modules 10 are connected to the low-speed control bus 12 of the system bus communication 1 to receive the control parameters distributed by the central control module 3, and control the status of the corresponding components according to the control parameters. In addition, each functional control module obtains the status of each component in real time when executing the control component action, and feeds back the status of each component to the central control module 3 through the low-speed control bus 12. The details are as follows:

[0080] The timing control module 4 receives the timing control parameters distributed by the central control module 3 and generates a timing control signal for performing timing control.

[0081] The motion control module 5 receives the motion control parameters distributed by the central control module 3, and performs motion control according to the timing control signal. The motion control module 5 includes a gantry control module 51, a bed control module 52, and a beam limiter control module 53. The gantry control module 51 is connected to the central control module 3 via a low-speed communication bus 12 to control the rotation of the gantry based on the motion control parameters and the timing control signal. The bed control module 52 is connected to the central control module 3 via a low-speed communication bus 12 to control the movement of the bed based on the motion control parameters and the timing control signal. The beam limiter control module 53 is connected to the central control module 3 via a low-speed communication bus 12 to control the beam limiter to limit the X-ray based on the motion control parameters and the timing control signal.

[0082] The ray source control module 6 receives the ray source control parameters distributed by the central control module 3, and performs ray source exposure according to the timing control signal. The ray source control module 6 includes a plurality of ray source group control modules 61, each of which is used to control a ray source group for exposure, and the plurality of ray source groups are collectively arranged to form a ray source ring. Thus, the ray source control module 6 can control different ray source groups for exposure at different times according to the ray source control parameters and the timing control signal.

[0083] The detector control module 7 receives the detector control parameters distributed by the central control module 3, and performs image acquisition according to the timing control signal. The detector control module 7 includes a plurality of detector group control modules 71, each of which is used to control a detector group for image acquisition, and the plurality of detector groups are collectively arranged to form a detector ring. Thus, the detector control module 7 can control different detector groups to perform image acquisition at different times according to the ray source control parameters and the timing control signal. And, preferably, the number of the plurality of detector group control modules 71 is equal to the number of the plurality of ray source group control modules 61, and they correspond one to one. In other embodiments, the specific number of the detector group control modules 71 and the ray source group control modules 61 can also be freely adjusted as needed.

[0084] The auxiliary control module 8 receives the auxiliary control parameters distributed by the central control module 3, so as to control the status of each auxiliary component. Among them, the auxiliary control module 8 includes an exposure control box 81, a breathing navigation module 82 and an exposure indicator light strip module 83. The exposure control box 81 is connected to the central control module 3 via a low-speed communication bus 12 to perform exposure control based on the auxiliary control parameters. The breathing navigation module 82 is connected to the central control module 3 via a low-speed communication bus 12 to perform breathing navigation control based on the auxiliary control parameters. The exposure indicator light strip module 83 is connected to the central control module 3 via a low-speed communication bus 12 to control the exposure indicator light strip based on the auxiliary control parameters. It can be understood that the auxiliary control module 8 can also include other auxiliary components to realize other auxiliary functions, which are not specifically limited here.

[0085] The power control module 9 is connected to the low-speed communication bus 12 to provide power to the central control module 3 , the timing control module 4 , the motion control module 5 , the ray source control module 6 , the detector control module 7 and the auxiliary control module 8 .

[0086] The following takes the static CT system image chain acquisition as an example. Figure 3 The working process of the embodiment of the present invention is described as follows:

[0087] S1: The host computer 2 obtains scanning parameters through the human-computer interaction module 21. The scanning parameters include central control module parameters, timing control module parameters, motion control module parameters, ray source control module parameters, detector control module parameters and auxiliary control module parameters. In addition, the host computer 2 sends the scanning parameters to the central control module 3 through the high-speed communication bus 11.

[0088] S2: The central control module 3 receives the scanning parameters from the host computer 2, identifies the parameters and distributes the corresponding control parameters to each control module.

[0089] S3: After receiving the control parameters from the central control module 3, each control module precisely controls the corresponding components in parallel according to the parameters. In addition, each control module obtains the status of each component in real time when executing the control component action, and feeds back the status of each component to the central control module 3 through the low-speed communication bus 12 in the system bus.

[0090] S4: The central control module 3 collects the working status of each component. When the exposure conditions are met, it sends a timing instruction to the timing control module 4 through the low-speed communication bus 12, sends a rack rotation instruction and a bed movement instruction to the motion control module 5, and sends an auxiliary component control instruction to the auxiliary control module 8.

[0091] S5: Each component control module receives the instruction from the central control module 3 through the low-speed communication bus 12 and controls the component to perform the corresponding operation. Specifically, the timing control module 4 generates a timing control signal according to the timing instruction, the motion control module 5 controls the motion of the rack and the bed according to the rack rotation instruction and the bed motion instruction, and the auxiliary control module 8 controls the state of the auxiliary component according to the auxiliary component control instruction.

[0092] S6: The ray source control module 6 and the detector control module 7 receive the timing control signal from the timing control module 4 through the timing control bus 13 (ie, nvSync bus) in the system bus, and perform ray source exposure and data acquisition according to the working parameters identified by the central control module 3.

[0093] S7: The ray source control module 6 controls the ray source to obtain the working state of the ray source in real time when performing exposure, and feeds back the ray source state to the central control module through the low-speed communication bus in the system bus. Correspondingly, the detector control module 7 controls the detector module to obtain the working state of the detector in real time when performing data acquisition, and feeds back the detector state to the central control module 3 through the low-speed communication bus 12 in the system bus.

[0094] S8: The central control module 3 obtains the working status of each control module through the low-speed communication bus 12 in the system bus. When the exposure of the ray source is completed and the detector data collection is completed, the central control module 3 stops the impact chain collection.

[0095] In addition, based on Figure 2 In the system bus structure shown, in a preferred embodiment, the multiple function control modules 10 also communicate and interact with the high-speed communication bus 11. Therefore, when each module of the distributed control system needs to be upgraded, the host computer 2 is directly used to control each module to perform online upgrade operations through remote control.

[0096] The following takes the online upgrade function of the static CT system as an example. Figure 4 The system upgrade process provided by the embodiment of the present invention is described as follows:

[0097] S10: The host computer 2 uses the high-speed communication bus 11 to obtain the current version information of the central control module 3 and the multiple function control modules 10, thereby analyzing the current version number and working status of each control module to be upgraded (the central control module 3 and the multiple function control modules 10).

[0098] S20: Sending the latest version of the upgrade package file to the central control module 3 and the multi-function control module 10 through the host computer 2 based on the current version information.

[0099] Specifically, when the working status of the module to be upgraded allows upgrading, the host computer 2 remotely logs in and controls each module to be upgraded or its main module through the telnet protocol based on the Ethernet bus, and controls each module to perform online upgrade preparation work, such as stopping the current working task, stopping the motion module movement, etc.

[0100] When the online upgrade preparation is completed, the host computer 2 sends the latest version of the upgrade package file of each control module to each control module or its main module through the TFTP protocol based on the Ethernet bus, and verifies the correctness of the file after the file is transmitted.

[0101] S30: remotely controlling the central control module 3 and the multi-function control module 10 through the host computer 2 to perform online upgrade operations according to the upgrade package file.

[0102] Specifically, the host computer 2 controls each module to be upgraded or its main module to perform online upgrade actions, such as flash erasing, flash writing, sending online upgrade start instructions, etc., through the telnet protocol.

[0103] Accordingly, each module to be upgraded or its main module responds to the remote instruction of the online upgrade module of the host computer, and actually executes the online upgrade operation of the module or controls the submodule to perform the online upgrade operation.

[0104] S40: acquiring the upgrade status information of the central control module 3 and the multi-function control module 10 in real time through the host computer 3 .

[0105] Specifically, during the online upgrade process, each control module main module directly feeds back the module online upgrade status to the host computer 2 via the high-speed Ethernet bus. The upgrade status of each control module submodule is managed by each control module main module, fed back to the central control module 3 via the low-speed communication bus 12, and finally fed back to the host computer 2 via the Ethernet bus by the central control module 3, so as to obtain the upgrade status information of the central control module 3 and the various functional control modules 10 in real time.

[0106] S50: Based on the upgrade status information in step S40, determine whether the central control module 3 and the multi-function control module 10 are upgraded to the latest version.

[0107] If the determination result is yes, the central control module 3 and the multi-function control module 10 are remotely controlled by the host computer 2 to stop the online upgrade operation; otherwise, the online upgrade operation is continued until the determination result is yes.

[0108] In summary, the embodiments of the present invention provide a distributed control system, control method and upgrade method for static CT, which have the following beneficial effects:

[0109] (1) A collaborative control method combining a central control module and a component control module is adopted. The central control module is responsible for the control of business layer work tasks, and the component control module is responsible for the control of each component, thereby reducing the control workload of the central control module. The central control module and each component control module communicate based on the system bus, thereby achieving real-time control of the entire machine function and ensuring system control efficiency.

[0110] (2) The distributed control system is suitable for static CT systems with complex system structures and high real-time control. It is simpler to implement certain functional control aspects of complex static CT systems, such as online component upgrades, error code bursts, and log recording, and has good operability and stability.

[0111] It should be noted that the above embodiments are only examples, and the technical solutions of the various embodiments can be combined, all within the protection scope of the present invention.

[0112] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0113] The above is a detailed description of the distributed control system, control method and upgrade method for static CT provided by the present invention. For those skilled in the art, any obvious changes made to it without departing from the essence of the present invention will constitute an infringement of the patent right of the present invention and will bear corresponding legal liabilities.

Claims

1. A distributed control system for static CT, characterized in that Including system bus, host computer, central control module and various functional control modules; The system bus is used for communication and interaction between various control modules in the static CT; The host computer is communicatively connected to the system bus, and the host computer has a human-computer interaction module for human-computer interaction, so as to obtain CT control parameters through the human-computer interaction module; The central control module is communicatively connected with the system bus to receive the CT control parameters sent by the host computer, and after identifying the CT control parameters, distributes the corresponding control parameters to the various functional control modules; The various functional control modules are all connected to the system bus for communication, so as to receive the control parameters distributed by the central control module, and control the status of the corresponding components according to the control parameters; and each functional control module obtains the status of each component in real time when executing the control component action, and feeds back the status of each component to the central control module through the system bus; The central control module collects the status of each component to end the CT scan when the status of each component meets a preset condition.

2. The distributed control system according to claim 1, characterized in that The multiple function control modules at least include: A timing control module, which is in communication with the system bus to receive the timing control parameters distributed by the central control module and generate a timing control signal for performing timing control; A motion control module, which is in communication with the system bus to receive the motion control parameters distributed by the central control module and perform motion control according to the timing control signal; A ray source control module is connected to the system bus for receiving ray source control parameters distributed by the central control module and performing ray source exposure according to the timing control signal; A detector control module, which is in communication with the system bus to receive the detector control parameters distributed by the central control module and to perform image acquisition according to the timing control signal; an auxiliary control module, connected in communication with the system bus to receive auxiliary control parameters distributed by the central control module, thereby controlling the status of each auxiliary component; The power control module is communicatively connected with the system bus to provide electric energy to the central control module, the timing control module, the motion control module, the ray source control module, the detector control module and the auxiliary control module.

3. The distributed control system as claimed in claim 2, characterized in that The system bus includes a high-speed communication bus, a low-speed communication bus and a timing control bus; The host computer communicates and interacts with the central control module via the high-speed communication bus; The various functional control modules all communicate and interact with the central control module via the low-speed control bus; The timing control module, the motion control module, the ray source control module and the detector control module are controlled by the timing control bus.

4. The distributed control system according to claim 3, characterized in that: The multiple function control module also communicates and interacts with the high-speed communication bus to receive the upgrade package file sent by the host computer to the multiple function control module; The host computer obtains the current version information of the central control module and the multiple function control modules through the high-speed communication bus, and sends the latest version upgrade package files to the central control module and the multiple function control modules based on the current version information; The host computer controls the central control module and the various functional control modules to perform online upgrade operations by remote control, and obtains the upgrade status information of the central control module and the various functional control modules through the high-speed communication bus, until the central control module and the various functional control modules are upgraded to the latest version and then the online upgrade operation is stopped.

5. The distributed control system according to claim 3, characterized in that The motion control module comprises: a rack control module connected to the central control module via the low-speed communication bus to control rack rotation according to the timing control signal based on the motion control parameter; a bed control module connected to the central control module via the low-speed communication bus to control the movement of the bed according to the timing control signal based on the motion control parameters; The beam limiter control module is connected to the central control module via the low-speed communication bus to control the beam limiter to limit the X-ray based on the motion control parameter and the timing control signal.

6. The distributed control system according to claim 3, characterized in that The auxiliary control module comprises: an exposure control box connected to the central control module via the low-speed communication bus to perform exposure control based on the auxiliary control parameters; a breathing navigation module, connected to the central control module via the low-speed communication bus, so as to perform breathing navigation control based on the auxiliary control parameters; The exposure indicator light strip module is connected to the central control module via the low-speed communication bus to control the exposure indicator light strip based on the auxiliary control parameters.

7. The distributed control system according to claim 3, characterized in that: The high-speed communication bus is an Ethernet bus, the low-speed communication bus is a CAN bus, and the timing control bus is an nvSync bus.

8. A distributed control method, used in a distributed control system as claimed in any one of claims 1 to 7, characterized in that The steps include: Acquire CT control parameters through the host computer, and send the CT control parameters to the central control module through the system bus; Acquire the CT control parameters through the central control module, and distribute the corresponding control parameters to various functional control modules after identifying the CT control parameters; The control parameters distributed by the central control module are received through the multiple functional control modules, and the states of the corresponding components are controlled according to the control parameters; and each functional control module obtains the states of the components in real time when executing the control component action, and feeds back the states of the components to the central control module through the system bus; The status of each component is collected by the central control module, so as to end the CT scan when the status of each component meets the preset conditions.

9. The distributed control method according to claim 8, characterized in that The receiving the control parameters distributed by the central control module through the multiple function control modules and controlling the states of the corresponding components according to the control parameters includes: Receiving the timing control parameters distributed by the central control module through the timing control module, and generating a timing control signal; Receiving the motion control parameters distributed by the central control module through the motion control module, and controlling the rack rotation and bed movement according to the timing control signal; Receiving the ray source control parameters distributed by the central control module through the ray source control module, and performing ray source exposure according to the timing control signal; Receiving the detector control parameters distributed by the central control module through the detector control module, and performing image acquisition according to the timing control signal; Receiving the auxiliary control parameters distributed by the central control module through the auxiliary control module, thereby controlling the status of each auxiliary component; The power supply control module provides electric energy to the central control module, the timing control module, the motion control module, the ray source control module, the detector control module and the auxiliary control module.

10. A system upgrade method, used in a distributed control system as claimed in any one of claims 1 to 7, characterized in that The steps include: Obtain the current version information of the central control module and various functional control modules through the host computer using a high-speed communication bus; Sending the latest version of the upgrade package file to the central control module and the multiple function control modules based on the current version information by the host computer; Remotely control the central control module and the various function control modules through the host computer to perform online upgrade operations according to the upgrade package file; Acquire the upgrade status information of the central control module and the various function control modules in real time through the host computer; Determining whether the central control module and the various function control modules are upgraded to the latest versions based on the upgrade status information; If the determination result is yes, the central control module and the multiple function control modules are remotely controlled by the host computer to stop the online upgrade operation; otherwise, the online upgrade operation is continued until the determination result is yes.

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