Position control method and terminal for DR equipment

Abstract

The present invention discloses a position control method and terminal for DR equipment, which performs load difference correction on an active motion device and a following motion device in the DR equipment to obtain a characteristic coefficient; receives start motion information of the active motion device, and periodically obtains position information of the active motion device according to the start motion information; performs segmented processing on the position information to obtain motion parameters, and linearly processes the motion parameters based on the characteristic coefficients to obtain processed motion parameters; and sends motion instructions to the following motion device based on the processed motion parameters. As long as one device of the DR equipment moves, the other device can accurately follow the movement, thereby completing the automatic positioning and centering of the tube and the plate in the DR equipment, and can quickly achieve shooting of lesions or parts of interest, reducing the difficulty of operation, thereby effectively improving shooting efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of device control, and in particular to a position control method and terminal for DR equipment. Background Art

[0002] DR (digital X-ray imaging system) equipment is widely used in hospitals today, for example, in clinical diagnosis, surgical evaluation, postoperative recovery, and physical examinations. However, in these applications, the tube and flat panel require complex manual positioning before each shot, and after capturing the area of ​​interest, they need to be repositioned and centered. Such repetitive operations result in relatively low shooting efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a position control method and terminal for DR equipment, which can effectively improve the shooting efficiency.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0005] A position control method for a DR device comprises the following steps:

[0006] Perform load difference correction on the active motion device and the follower motion device in the DR device to obtain the characteristic coefficient;

[0007] receiving start motion information of the active motion device, and periodically acquiring position information of the active motion device according to the start motion information;

[0008] performing segmented processing on the position information to obtain motion parameters, and performing linear processing on the motion parameters based on the characteristic coefficients to obtain processed motion parameters;

[0009] Sending a motion instruction to the following motion device based on the processed motion parameters.

[0010] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0011] A position control terminal for a DR device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0012] Perform load difference correction on the active motion device and the follower motion device in the DR device to obtain the characteristic coefficient;

[0013] receiving start motion information of the active motion device, and periodically acquiring position information of the active motion device according to the start motion information;

[0014] performing segmented processing on the position information to obtain motion parameters, and performing linear processing on the motion parameters based on the characteristic coefficients to obtain processed motion parameters;

[0015] Sending a motion instruction to the following motion device based on the processed motion parameters.

[0016] The beneficial effects of the present invention are: the position information of the active motion device is acquired periodically according to the start motion information, the position information is segmented to obtain motion parameters, and the motion parameters are linearly processed based on the characteristic coefficients to obtain processed motion parameters, and motion instructions are sent to the follow-up motion device based on the processed motion parameters. As long as one of the devices of the DR equipment moves, the other device can accurately follow the movement, thereby completing the automatic positioning and centering of the tube and the flat panel in the DR equipment, and can quickly realize the shooting of lesions or parts of interest, reducing the difficulty of operation, thereby effectively improving the shooting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flowchart of a position control method for a DR device according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic structural diagram of a position control terminal for a DR device according to an embodiment of the present invention;

[0019] Figure 3 This is a position control flow chart of a position control method for a DR device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0021] Please refer to Figure 1 , an embodiment of the present invention provides a position control method for a DR device, comprising the steps of:

[0022] Perform load difference correction on the active motion device and the follower motion device in the DR device to obtain the characteristic coefficient;

[0023] receiving start motion information of the active motion device, and periodically acquiring position information of the active motion device according to the start motion information;

[0024] performing segmented processing on the position information to obtain motion parameters, and performing linear processing on the motion parameters based on the characteristic coefficients to obtain processed motion parameters;

[0025] Sending a motion instruction to the following motion device based on the processed motion parameters.

[0026] From the above description, it can be seen that the beneficial effects of the present invention are: the position information of the active motion device is acquired periodically according to the start motion information, the position information is segmented to obtain motion parameters, and the motion parameters are linearly processed based on the characteristic coefficients to obtain processed motion parameters, and motion instructions are sent to the follow-up motion device based on the processed motion parameters. As long as one of the devices of the DR device moves, the other device can accurately follow the movement, thereby completing the automatic positioning and centering of the tube and the flat panel in the DR device, and can quickly realize the shooting of lesions or areas of interest, reducing the difficulty of operation, thereby effectively improving the shooting efficiency.

[0027] Furthermore, the load difference correction is performed on the active motion device and the follower motion device in the DR device to obtain characteristic coefficients including:

[0028] The same driving signal is sent to the active motion device and the following motion device in the DR device respectively;

[0029] receiving first movement completion information corresponding to the active movement device and second movement completion information corresponding to the following movement device, wherein the first movement completion information includes movement time of the active movement device and the second movement completion information includes movement time of the following movement device;

[0030] A characteristic coefficient is calculated according to the movement time of the active movement device and the movement time of the follower movement device.

[0031] As can be seen from the above description, using the same drive signal ensures that the motors of the two devices have the same torque. If the loads of the two devices are different, the time required to reach the same position will be different. In this way, the load difference between the two devices can be accurately corrected before automatic following, ensuring the accuracy of subsequent position following.

[0032] Furthermore, the calculating of the characteristic coefficient according to the movement time of the active movement device and the movement time of the following movement device includes:

[0033] k = t1 / t2;

[0034] Wherein, k represents the characteristic coefficient, t1 represents the movement time of the active movement device, and t2 represents the movement time of the follower movement device.

[0035] As can be seen from the above description, by calculating the characteristic coefficient based on the movement time of the active movement device and the movement time of the following movement device, the correction of the two devices can be completed simply and reliably using the characteristic coefficient.

[0036] Furthermore, the periodically acquiring the position information of the active motion device according to the start motion information includes:

[0037] Acquiring position information of the active motion device at preset time intervals according to the start motion information, and saving the position information to a position buffer area;

[0038] The segmented processing of the position information to obtain motion parameters includes:

[0039] Sequentially acquiring a plurality of location information from the location cache area according to a preset time unit;

[0040] Randomly extracting a preset number of target location information from the multiple location information;

[0041] Calculate the speed and acceleration corresponding to each target position information in sequence using a speed calculation formula and an acceleration calculation formula;

[0042] The speed and acceleration corresponding to each target position information are determined as motion parameters corresponding to each target position information.

[0043] From the above description, it can be seen that when the active motion device starts to move, the position information of the active motion device is recorded according to the preset time interval, so as to facilitate the subsequent calculation of the motion parameters corresponding to each movement of the active motion device, thereby realizing the following motion of the following motion device.

[0044] Furthermore, the linear processing of the motion parameters based on the characteristic coefficients to obtain the processed motion parameters includes:

[0045] sequentially performing linear processing on the acceleration corresponding to each target position information using the characteristic coefficient to obtain a processed acceleration;

[0046] A processed motion parameter is obtained according to the processed acceleration and the velocity.

[0047] As can be seen from the above description, by sequentially using characteristic coefficients to linearly process the acceleration corresponding to each target position information, it can be accurately converted into the motion parameters required by the following motion device, thereby achieving position tracking with small errors.

[0048] Furthermore, the linear processing of the acceleration corresponding to each target position information using the characteristic coefficient in sequence to obtain the processed acceleration includes:

[0049] a1=k*a2;

[0050] In the formula, a2 represents the acceleration corresponding to the target position information, a1 represents the acceleration after processing, and k represents the characteristic coefficient.

[0051] From the above description, it can be seen that by using the characteristic coefficients according to the above formula to determine the speed and acceleration of the following motion device, rapid automatic alignment can be achieved regardless of the position of the active motion device, thereby improving the degree of automation and efficiency of position control.

[0052] Furthermore, the sending of the motion instruction to the following motion device based on the processed motion parameter includes:

[0053] The motion instructions are sent to the following motion device in sequence according to each of the processed motion parameters.

[0054] From the above description, it can be seen that sending motion instructions in sequence ensures the real-time control and improves the efficiency of position control.

[0055] Furthermore, after sending the motion instruction to the following motion device based on the processed motion parameter, the method further includes:

[0056] Determine whether the active motion device stops moving. If not, return to execute the step of sequentially obtaining multiple position information from the position buffer area according to the preset time unit. If so, use the position-type PID control algorithm to control the following motion device according to the relationship between the position information in the position buffer area and the preset time unit.

[0057] From the above description, it can be seen that using the position-based PID control algorithm can make the final position of the following motion device more accurate.

[0058] Furthermore, the controlling the following motion device using a position-based PID control algorithm according to the relationship between the position information in the position buffer and the preset time unit includes:

[0059] Acquire the location information that does not meet the preset time unit from the location cache;

[0060] The following motion device is controlled using a position-based PID control algorithm according to the position information that does not meet the preset time unit.

[0061] From the above description, it can be seen that using the preset time unit as a unit for position tracking can match the CPU computing power to set the preset time unit, maximize the use of the processor's computing resources, and ensure the real-time performance of position control. Position information that does not meet the preset time unit can directly use the position PID control algorithm for position control, which effectively improves the accuracy of position control.

[0062] Please refer to Figure 2Another embodiment of the present invention provides a position control terminal for a DR device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step in the position control method for the DR device is implemented.

[0063] The position control method and terminal of a DR device described above in the present invention can be applied to suspended DR devices, and are described below through specific implementation methods:

[0064] Example 1

[0065] Please refer to Figure 1 and Figure 3 A position control method of a DR device in this embodiment includes the following steps:

[0066] S1. Perform load difference correction on the active motion device and the follower motion device in the DR device to obtain the characteristic coefficient, such as Figure 3 As shown, specifically including:

[0067] S11, sending the same driving signal to the active motion device and the following motion device in the DR device respectively;

[0068] The suspended DR equipment is equipped with two columns, one of which carries a flat plate, referred to as the flat plate column, and the other column suspends the ball tube, referred to as the ball tube column. Two motors are used to control the movement of the flat plate column and the ball tube column respectively.

[0069] In an optional embodiment, the active motion device is a flat plate column, and the following motion device is a ball tube column.

[0070] In another optional embodiment, the active motion device is a ball tube column, and the follower motion device is a flat plate column.

[0071] S12, receiving first movement completion information corresponding to the active movement device and second movement completion information corresponding to the following movement device, wherein the first movement completion information includes the movement time of the active movement device, and the second movement completion information includes the movement time of the following movement device;

[0072] S13, calculating a characteristic coefficient according to the movement time of the active movement device and the movement time of the following movement device, specifically:

[0073] k = t1 / t2;

[0074] Wherein, k represents the characteristic coefficient, t1 represents the movement time of the active movement device, and t2 represents the movement time of the follower movement device.

[0075] In an optional implementation, the characteristic coefficients may be saved in an internal flash memory of an MCU (Microcontroller Unit) for real-time access.

[0076] S2, receiving the start motion information of the active motion device, and periodically acquiring the position information of the active motion device according to the start motion information;

[0077] Specifically, such as Figure 3 As shown, the position information of the active motion device is obtained according to the start motion information at a preset time interval, and the position information is saved in a position buffer area;

[0078] In an optional embodiment, a position detection unit, such as a potentiometer or an encoder, may be used to detect the position of the active motion device in real time, and a start motion information is sent when the active motion device moves.

[0079] In an optional implementation, the preset time interval is 20 ms.

[0080] In an optional implementation, a 20 ms timer may be initialized to obtain the position information of the active motion device every 20 ms after receiving the start motion information, and the position information is saved in a position buffer area FifoPosition.

[0081] S3, performing segmented processing on the position information to obtain motion parameters, and performing linear processing on the motion parameters based on the characteristic coefficients to obtain processed motion parameters, such as Figure 3 As shown, specifically including:

[0082] S31, sequentially acquiring a plurality of location information from the location cache area according to a preset time unit;

[0083] In an optional embodiment, the preset time unit is 200ms. Taking into account the computing power of the CPU, the driving frequency of the driving signal, and the fact that the CPU has other things to process, using 200ms as a unit can theoretically enable the following motion device to respond as quickly as possible, with higher real-time performance. If a CPU with a higher main frequency is used, it may be even faster. A self-incrementing variable Event200ms can be directly built into the 20ms timer.

[0084] S32, randomly extracting a preset number of target location information from the plurality of location information, thereby ensuring the randomness of the extracted target location information;

[0085] In an optional implementation, the preset number is 7;

[0086] For example, if the position information is recorded once every 20ms, then there are 10 pieces of position information within 200ms. Seven target position information are randomly selected from the 10 pieces of position information, assuming they are the 1st, 2nd, 3rd, 5th, 6th, 8th, and 10th target position information.

[0087] S33, using a speed calculation formula and an acceleration calculation formula to sequentially calculate the speed and acceleration corresponding to each target position information;

[0088] For example, continuing with the previous example, use the speed calculation formula and the acceleration calculation formula to calculate the speed and acceleration corresponding to the 1st, 2nd, 3rd, 5th, 6th, 8th, and 10th target position information in turn. Assume that for the first target position information, based on the sampling interval of 20ms, the distance difference ΔL between the first target position information and the second target position information is calculated, then the speed v corresponding to the first target position information is ΔL / 20ms, and then the acceleration a2 corresponding to the first target position information is calculated based on the difference Δv between the speed corresponding to the first target position information and the speed corresponding to the second target position information, and so on.

[0089] In an optional embodiment, the speed corresponding to each target position information can be saved in the ActiveMovement[i].a structure array, the acceleration can be saved in ActiveMovement[i].v, and then both can be saved in a preset array, such as the FollowMovementShadow array.

[0090] S34: Determine the speed and acceleration corresponding to each target position information as the motion parameters corresponding to each target position information.

[0091] S35, sequentially use the characteristic coefficients to perform linear processing on the acceleration corresponding to each target position information to obtain a processed acceleration, specifically:

[0092] a1=k*a2;

[0093] In the formula, a2 represents the acceleration corresponding to the target position information, a1 represents the acceleration after processing, and k represents the characteristic coefficient.

[0094] S36. Obtain processed motion parameters according to the processed acceleration and the velocity.

[0095] S4. Sending a motion instruction to the following motion device based on the processed motion parameters.

[0096] Specifically, a motion instruction is sent to the following motion device in sequence according to each of the processed motion parameters, and the following motion device can perform following motion after receiving the motion instruction.

[0097] S5. Determine whether the active motion device stops moving. If not, return to execute S31. If so, execute S51.

[0098] S51, using a position-based PID control algorithm to control the following motion device according to the relationship between the position information in the position buffer and the preset time unit, such as Figure 3 As shown, specifically including:

[0099] S511, obtaining location information that does not meet the preset time unit from the location cache;

[0100] S512: Control the following motion device using a position-based PID control algorithm according to the position information that does not satisfy the preset time unit.

[0101] Example 2

[0102] Please refer to Figure 2 A position control terminal for a DR device in this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, each step in the position control method for the DR device in the first embodiment is implemented.

[0103] In summary, the present invention provides a position control method and terminal for a DR device, which corrects the load difference between the active motion device and the following motion device in the DR device to obtain a characteristic coefficient; receives the start motion information of the active motion device, and periodically obtains the position information of the active motion device according to the start motion information; performs segmented processing on the position information to obtain motion parameters, and linearly processes the motion parameters based on the characteristic coefficients to obtain processed motion parameters; sends motion instructions to the following motion device based on the processed motion parameters, so that as long as one of the devices of the DR device moves, the other device can accurately follow the movement, thereby completing the automatic positioning and centering of the tube and the plate in the DR device, and can quickly realize the shooting of lesions or areas of interest, reducing the difficulty of operation, thereby effectively improving the shooting efficiency; in addition, using a preset time unit as a unit for position tracking can ensure the real-time nature of position control, and the position information that does not meet the preset time unit can directly use the position PID control algorithm for position control, which effectively improves the accuracy of position control.

[0104] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A position control method for a DR device, characterized in that: Including steps: Perform load difference correction on the active motion device and the follower motion device in the DR device to obtain the characteristic coefficient; receiving start motion information of the active motion device, and periodically acquiring position information of the active motion device according to the start motion information; performing segmented processing on the position information to obtain motion parameters, and performing linear processing on the motion parameters based on the characteristic coefficients to obtain processed motion parameters; sending a motion instruction to the following motion device based on the processed motion parameters; The load difference correction of the active motion device and the follower motion device in the DR device is performed to obtain characteristic coefficients including: The same driving signal is sent to the active motion device and the following motion device in the DR device respectively; receiving first movement completion information corresponding to the active movement device and second movement completion information corresponding to the following movement device, wherein the first movement completion information includes movement time of the active movement device and the second movement completion information includes movement time of the following movement device; Calculating a characteristic coefficient according to the movement time of the active movement device and the movement time of the following movement device includes: k=t1 / t2; Wherein, k represents the characteristic coefficient, t1 represents the movement time of the active movement device, and t2 represents the movement time of the follower movement device; The periodically acquiring the position information of the active motion device according to the start motion information includes: Acquiring position information of the active motion device at preset time intervals according to the start motion information, and saving the position information to a position buffer area; The segmented processing of the position information to obtain motion parameters includes: Sequentially acquiring a plurality of location information from the location cache area according to a preset time unit; Randomly extracting a preset number of target location information from the multiple location information; Calculate the speed and acceleration corresponding to each target position information in sequence using a speed calculation formula and an acceleration calculation formula; Determining the speed and acceleration corresponding to each target position information as the motion parameters corresponding to each target position information; After sending the motion instruction to the following motion device based on the processed motion parameter, the method further includes: Determining whether the active motion device has stopped moving; if not, returning to the step of sequentially acquiring a plurality of position information from the position buffer according to a preset time unit; and if so, controlling the following motion device using a position-based PID control algorithm based on a relationship between the position information in the position buffer and the preset time unit; The controlling the following motion device using a position-based PID control algorithm according to the relationship between the position information in the position buffer and the preset time unit includes: Acquire the location information that does not meet the preset time unit from the location cache; The following motion device is controlled using a position-based PID control algorithm according to the position information that does not meet the preset time unit.

2. A position control method for DR equipment according to claim 1, characterized in that: The linear processing of the motion parameters based on the characteristic coefficients to obtain the processed motion parameters includes: sequentially performing linear processing on the acceleration corresponding to each target position information using the characteristic coefficient to obtain a processed acceleration; A processed motion parameter is obtained according to the processed acceleration and the velocity.

3. The position control method of a DR device according to claim 2, characterized in that: The linear processing of the acceleration corresponding to each target position information using the characteristic coefficients in sequence to obtain the processed acceleration includes: a1=k*a2; In the formula, a2 represents the acceleration corresponding to the target position information, a1 represents the acceleration after processing, and k represents the characteristic coefficient.

4. The position control method of a DR device according to claim 1, characterized in that: The sending of the motion instruction to the following motion device based on the processed motion parameter comprises: The motion instructions are sent to the following motion device in sequence according to each of the processed motion parameters.

5. A position control terminal for a DR device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, each step of the position control method of a DR device according to any one of claims 1 to 4 is implemented.

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