Foot control method, foot pedal and X-ray machine

Abstract

The present invention discloses a foot control method, including: when the foot pedal is in the standby state, the foot pedal does not respond to the signal of the foot switch; after the foot pedal enters the ready state, the microcontroller sends a heartbeat frame signal to the wireless receiver every 1 s through the wireless transceiver module; if the wireless receiver receives the heartbeat frame signal, the wireless receiver feeds back a corresponding heartbeat confirmation frame signal to the microcontroller through the wireless transceiver module; after the foot pedal enters the working state, when the foot pedal is not pressed, the microcontroller sends a heartbeat frame signal to the wireless receiver every 20 ms through the wireless transceiver module to maintain communication; when the foot pedal is pressed, the microcontroller sends the signal of the foot switch when the foot pedal is pressed to the wireless receiver through the wireless transceiver module; after the foot pedal is pressed, the microcontroller sends a heartbeat frame signal to the wireless receiver every 20 ms through the wireless transceiver module to maintain communication; after the foot pedal is lifted, the microcontroller sends a heartbeat frame signal to the wireless receiver through the wireless transceiver module.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a foot control method, a foot pedal and an X-ray machine. Background Art

[0002] Most of the wireless foot pedals in the prior art use point-to-point transmission, and their corresponding foot control systems include a foot switch, a wireless transmitter and a wireless receiver. When the foot switch is pressed, the wireless transmitter collects the signal and sends it to the receiving end wirelessly, and the transmission ends when the foot is lifted. Although such wireless foot pedals are convenient to use and avoid more physical wire connections, they still have the following deficiencies in the application of X-ray machines: First, it cannot ensure that the foot switch can communicate wirelessly with the X-ray machine in real time. For example, when the foot pedal is pressed, the X-ray machine may not receive the signal, and the patient waits on the operating table for the X-ray to work, resulting in an extended operation time and affecting the operation effect. Second, it uses a fixed frequency band for transmission. Once the fixed frequency band is interfered, the communication quality will be seriously affected, and it may even not work. Third, it is powered by a battery and needs to be replaced regularly; if the battery is not replaced in time, the foot pedal will fail after the power is exhausted, which will affect the normal operation. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art.

[0004] To this end, the present invention provides a foot control method, a foot pedal and an X-ray machine, which can effectively ensure the signal transmission between the foot switch and the X-ray machine, ensure the communication quality, and avoid affecting the operation effect.

[0005] According to a first aspect of the present application, a foot control method is provided, which is applied to a foot control system. The foot control system includes a microcontroller, a wireless transceiver module, a foot switch and a wireless receiver; the microcontroller, the wireless transceiver module and the foot switch are integrated on the foot pedal, and both the wireless transceiver module and the foot switch are electrically connected to the microcontroller; the wireless receiver is arranged at a non-foot pedal position on the X-ray machine;

[0006] The foot pedal has a standby state, a ready state and a working state;

[0007] When the foot pedal is in the standby state, the foot pedal does not respond to the signal of the foot switch;

[0008] After the pedal enters the preparation state, the microcontroller sends a heartbeat frame signal to the wireless receiver through the wireless transceiver module every 1 s; if the wireless receiver does not receive the heartbeat frame signal, the wireless receiver sends an alarm message indicating that the pedal is unavailable; if the wireless receiver receives the heartbeat frame signal, the wireless receiver sends a corresponding heartbeat confirmation frame signal to the microcontroller through the wireless transceiver module.

[0009] After the pedal enters the working state, when the pedal is not depressed, the microcontroller sends the heartbeat frame signal to the wireless receiver through the wireless transceiver module every 20 ms to maintain communication; when the pedal is depressed, the microcontroller sends the signal of the pedal switch when the pedal is depressed to the wireless receiver through the wireless transceiver module; after the pedal is depressed, the microcontroller sends the heartbeat frame signal to the wireless receiver through the wireless transceiver module every 20 ms to maintain communication; after the pedal is lifted, the microcontroller sends the heartbeat frame signal to the wireless receiver through the wireless transceiver module; if the wireless receiver does not receive the heartbeat frame signal or the signal of the pedal switch within 100 ms, the wireless receiver sends an alarm message indicating that the pedal is unavailable.

[0010] The pedal control method provided by this application has at least the following beneficial effects: when the pedal is in the standby state, it does not respond to the signal of the pedal switch and the pedal does not move, reducing the system power consumption while avoiding signal chaos; after the pedal enters the preparation state, the microcontroller sends a heartbeat frame signal to the wireless receiver through the wireless transceiver module every 1 s, and judges whether the pedal is available by whether the wireless receiver receives the corresponding signal; after the pedal enters the working state, when the pedal is not depressed, the microcontroller sends a heartbeat frame signal to the wireless receiver through the wireless transceiver module every 20 ms to maintain communication to ensure normal communication between the pedal in the working state and the X-ray machine; when the pedal is depressed, the microcontroller sends the signal of the pedal switch when the pedal is depressed to the wireless receiver, and after the wireless receiver receives it, the X-ray tube on the X-ray machine starts to emit X-rays; after the pedal is depressed, the microcontroller sends a heartbeat frame signal to the wireless receiver through the wireless transceiver module every 20 ms to maintain communication to ensure normal operation of the pedal; after the pedal is lifted, the microcontroller still sends a heartbeat frame signal to the wireless receiver to maintain communication to ensure that the pedal can be used normally in subsequent operations and avoid affecting subsequent surgeries.

[0011] The microcontroller sends a heartbeat frame signal to the wireless receiver at a set time through the wireless transceiver module to maintain communication, and determines whether the foot pedal is available based on whether the wireless receiver receives the heartbeat frame signal within the specified time. By communicating at set time intervals, it ensures stable signal transmission between the foot switch and the X-ray machine. This foot control method can ensure smooth and interference-free communication between the foot switch and the X-ray machine, which is beneficial to improving the stability of the entire system operation and avoiding affecting the surgical effect.

[0012] In the above method, the wireless transceiver module includes a CC1101 wireless data transmission chip, and there are ten channels in the CC1101 wireless data transmission chip; after the foot pedal enters the preparation state and the working state, the microcontroller sequentially and cyclically sends the heartbeat frame signal to the wireless receiver on the ten channels and selects the best channel according to the heartbeat confirmation frame signal fed back by the wireless receiver, so that the CC1101 wireless data transmission chip communicates with the wireless receiver through the best channel under the control of the microcontroller to ensure signal transmission between the foot switch and the X-ray machine.

[0013] In the above method, the channel quality and signal strength of the channel are fed back in the form of the heartbeat confirmation frame signal.

[0014] In the above method, the foot control system further includes a lithium battery module, a wireless charging receiving module and a wireless charging transmitting module; the lithium battery module and the wireless charging receiving module are integrated on the foot pedal, and the wireless charging transmitting module is arranged at a non-foot pedal position on the X-ray machine; the wireless charging transmitting module is electrically connected to the lithium battery module through the wireless charging receiving module to charge the lithium battery module.

[0015] In the above method, the wireless charging receiving module uses a JFH-RX066-20W module, and the wireless charging transmitting module uses a JFH-PWC-TX030 module.

[0016] In the above method, the foot control system further includes a magnetic switch, the magnetic switch is installed on the back plate of the foot pedal, and a permanent magnet is arranged at the corresponding position on the body of the X-ray machine. The magnetic switch is attracted to the permanent magnet so that the foot pedal is stored on the body of the X-ray machine.

[0017] In the above method, the foot control system further includes a power management module, and the power management module is electrically connected to the lithium battery module to convert the voltage output by the lithium battery module to supply power to the microcontroller, the wireless transceiver module, the foot switch and the magnetic switch.

[0018] In the above method, the power management module includes a voltage regulator chip U3 and a fuse FU; the voltage regulator chip U3 has a power supply input pin IN, an output pin OUT, a low battery detection input pin LBI, a ground pin GND, a positive terminal pin C1+ of the first flying capacitor, a negative terminal pin C1- of the first flying capacitor, a positive terminal C2+ of the second flying capacitor, a negative terminal C2- of the second flying capacitor, an enable input pin EN, and a drain low battery detection output pin LBO;

[0019] The power supply input pin IN is connected to the output terminal of the lithium battery module through the fuse FU; the power supply input pin IN is connected to the ground in parallel through a first diode D1 and a second capacitor C2, and is connected to the low battery detection input pin LBI through a first resistor R1, and the low battery detection input pin LBI is grounded through an eighteenth resistor R18; the positive terminal pin C1+ and the negative terminal pin C1- of the first flying capacitor are connected through a third capacitor; the enable input pin EN is connected to the magnetic switch through a seventeenth resistor R17; the ground pin GND is grounded; the positive terminal C2+ and the negative terminal C2- of the second flying capacitor are connected through a fifth capacitor C5; the drain low battery detection output pin LBO is connected to the output pin OUT through a twelfth resistor R12; the output pin OUT is grounded through a fourth capacitor C4.

[0020] According to a second aspect of the present application, there is provided a foot pedal, including a foot pedal control system, and the foot pedal control system executes the above-mentioned foot pedal control method.

[0021] According to a third aspect of the present application, there is provided an X-ray machine, including the above-mentioned foot pedal.

[0022] Other features and advantages of the present application will be described in the following description, and part of them will be obvious from the description, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the description, claims, and drawings. Description of the Drawings

[0023] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0024] Figure 1 is a block diagram of the foot pedal control system provided by an embodiment of the present application;

[0025] Figure 2 is a circuit schematic diagram of the microcontroller provided by an embodiment of the present application; N

[0026] Figure 3 is a circuit schematic diagram of the wireless transceiver module provided by an embodiment of the present application;

[0027] Figure 4 This is the circuit schematic diagram of the power management module provided by the embodiment of the present application;

[0028] Figure 5 This is the signal transmission flowchart between the foot pedal and the wireless receiver after the foot pedal enters the ready state provided by the embodiment of the present application;

[0029] Figure 6 This is the signal transmission flowchart between the foot pedal and the wireless receiver after the foot pedal enters the working state provided by the embodiment of the present application;

[0030] Figure 7 This is the electrical connection diagram of the front foot pedal switch AP, the side foot pedal switch LT, and the dual-channel foot pedal switch APLT provided by the embodiment of the present application;

[0031] Figure 8 This is the circuit schematic diagram of the magnetic switch, the front foot pedal switch AP, the side foot pedal switch LT, and the dual-channel foot pedal switch APLT provided by the embodiment of the present application.

[0032] Reference numerals:

[0033] Microcontroller 10, wireless transceiver module 20, foot pedal switch 30, magnetic switch 40, power management module 50, lithium battery module 60, wireless charging receiving module 70, wireless receiver 80, wireless charging transmitting module 90 Detailed implementation manners

[0034] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] It should be noted that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the flowchart in the flowchart. The terms "first", "second", etc. in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0036] To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0037] Before describing the foot control method provided by the present application, the foot control system to which the foot control method is applied will be introduced first.

[0038] Such as Figure 1As shown in the figure, the foot control system includes a microcontroller 10, a wireless transceiver module 20, a foot switch 30, a magnetic switch 40, a power management module 50, a lithium battery module 60, a wireless charging receiver module 70, a wireless receiver 80, and a wireless charging transmitter module 90.

[0039] Among them, the microcontroller 10, the wireless transceiver module 20, the foot switch 30, the magnetic switch 40, the power management module 50, the lithium battery module 60, and the wireless charging receiver module 70 are integrated on the foot; the wireless receiver 80 and the wireless charging transmitter module 90 are arranged at a non-foot position on the X-ray machine. It should be noted that in this application, the non-foot position refers to the position on the X-ray machine where the foot is not installed.

[0040] Specifically, the wireless transceiver module 20, the foot switch 30, the magnetic switch 40, and the power management module 50 are all electrically connected to the microcontroller 10; the wireless charging transmitter module 90 is electrically connected to the lithium battery module 60 through the wireless charging receiver module 70 to charge the lithium battery module 60; the lithium battery module 60 is electrically connected to the power management module 50, and the power management module 50 converts the voltage output by the lithium battery module 60 to supply power to the microcontroller 10, the wireless transceiver module 20, the foot switch 30, and the magnetic switch 40. The wireless transceiver module 20 uses an antenna to establish a signal transmission channel between the microcontroller 10 and the wireless receiver 80; the magnetic switch 40 is installed on the back plate of the foot, and a permanent magnet is arranged at the corresponding position on the body of the X-ray machine. The magnetic switch 40 is attracted to the permanent magnet, so that the foot is stored on the body of the X-ray machine.

[0041] In some specific embodiments of this application, the foot has three states: standby, ready, and working. Specifically, when the foot is in the storage position and the X-ray machine is powered off, the foot enters the standby state and is in the low-power mode, and does not respond to any signals of the foot switch 30. When the X-ray machine is powered on and the foot is still in the storage position (the magnetic switch 40 is not separated from the permanent magnet), the wireless charging receiver module 70 and the wireless charging transmitter module 90 establish an electrical connection to start charging the foot, and the foot enters the ready state. The X-ray machine can charge the foot after being powered on. By adopting the charging form, it is not necessary to replace the battery regularly, and it can also avoid the foot failure after the power is exhausted. When the magnetic switch 40 is separated from the permanent magnet and the foot is taken away from the storage position, it enters the working state.

[0042] As Figure 2 shown, in some specific embodiments of this application, the microcontroller 10 uses an STM32L series chip as a low-power core device, and the standby current is as low as 5uA, which is beneficial to reducing system loss.

[0043] As Figure 3As shown, in some specific embodiments of the present application, the wireless transceiver module 20 includes a CC1101 wireless data transmission chip and its peripheral circuits. The CC1101 wireless data transmission chip is the core device for wireless transceiver. It has ten channels inside, and the CC1101 wireless data transmission chip uses the 433 MHz communication band. In the present application, the communication between the wireless transceiver module 20 and the wireless receiver 80 is carried out through the ten channels in the CC1101 wireless data transmission chip. It should be noted that only one channel can work at the same time. By cyclically sending signals on the ten channels, the channel with the best channel quality and signal strength is selected in real time for subsequent signal transmission, so as to ensure that the foot pedal can receive wireless signals in real time and ensure smooth communication without interference, which is beneficial to improving the stability of the operation of the entire system and avoiding affecting the surgical effect.

[0044] In some specific embodiments of the present application, the magnetic switch 40 adopts the SP111&SP112 series proximity switches, which have a long service life and are easy to install.

[0045] As Figure 4 shown, in some specific embodiments of the present application, the power management module 50 includes a voltage regulator chip U3 and a fuse FU. The voltage regulator chip U3 converts the output voltage of the lithium battery module 60 into 3.3V output to supply power to the microcontroller 10, the wireless transceiver module 20, the foot switch 30 and the magnetic switch 40. The chip model of the voltage regulator chip U3 is TPS60200DGSG4, which has a power supply input pin IN, an output pin OUT, a low battery detection input pin LBI, a ground pin GND, a positive pin C1+ of the first flying capacitor, a negative pin C1- of the first flying capacitor, a positive C2+ of the second flying capacitor, a negative C2- of the second flying capacitor, an enable input pin EN and a drain low battery detection output pin LBO.

[0046] Specifically, the power supply input pin IN of the voltage regulator chip U3 is connected to the output end of the lithium battery module 60 through the fuse FU. The power supply input pin IN is connected to the ground in parallel through the first diode D1 and the second capacitor C2, and the power supply input pin IN is connected to the low battery detection input pin LBI through the first resistor R1. The low battery detection input pin LBI is grounded through the eighteenth resistor R18; the positive pin C1+ and the negative pin C1- of the first flying capacitor are connected through the third capacitor; the enable input pin EN is connected to the magnetic switch 40 through the seventeenth resistor R17; the ground pin GND is grounded; the positive C2+ and the negative C2- of the second flying capacitor are connected through the fifth capacitor C5; the drain low battery detection output pin LBO is connected to the output pin OUT through the twelfth resistor R12; the output pin OUT outputs a voltage of 3.3V; the output pin OUT is grounded through the fourth capacitor C4.

[0047] In some specific embodiments of the present application, the wireless charging receiving module 70 uses a finished product module with the model number JFH-RX066-20W as the receiving end of wireless charging; the wireless charging transmitting module 90 uses a finished product module with the model number JFH-PWC-TX030 as the transmitting end of wireless charging; the wireless receiver 80 includes a microcontroller 10 and a wireless transceiver module 20. The working process is as described above and will not be elaborated here.

[0048] The first aspect embodiment of the present application provides a foot control method, which is applied to the above-mentioned foot control system. The foot control system includes a microcontroller, a wireless transceiver module, a foot switch, and a wireless receiver; the microcontroller, the wireless transceiver module, and the foot switch are integrated on the foot, and both the wireless transceiver module and the foot switch are electrically connected to the microcontroller; the wireless receiver is set at a non-foot position on the X-ray machine;

[0049] The foot has a standby state, a ready state, and a working state;

[0050] When the foot is in the standby state, the foot does not respond to the signal of the foot switch; in this state, the foot does not move, which reduces the system power consumption and avoids signal chaos at the same time;

[0051] After the foot enters the ready state, the microcontroller sends a heartbeat frame signal to the wireless receiver every 1 s through the wireless transceiver module; if the wireless receiver does not receive the heartbeat frame signal, the wireless receiver pops up an alarm message through the operation console to notify the operator that the foot is unavailable; if the wireless receiver receives the heartbeat frame signal, the wireless receiver feeds back a corresponding heartbeat confirmation frame signal to the microcontroller through the wireless transceiver module; the signal transmission process after the foot enters the ready state is as Figure 5 shown.

[0052] After the foot pedal enters the working state, when the foot pedal has not been stepped on, the microcontroller sends a heartbeat frame signal to the wireless receiver every 20 ms through the wireless transceiver module to maintain communication, so as to ensure normal communication between the foot pedal in the working state and the X-ray machine; when the foot pedal is stepped on, the microcontroller sends the signal of the foot switch corresponding to the foot pedal being stepped on to the wireless receiver through the wireless transceiver module. After the wireless receiver receives it, the X-ray tube on the X-ray machine starts to emit X-rays; after the foot pedal is stepped on, the microcontroller sends the heartbeat frame signal to the wireless receiver every 20 ms through the wireless transceiver module to maintain communication, so as to ensure the normal operation of the foot pedal; when the foot pedal is lifted, the microcontroller immediately sends a heartbeat frame signal to the wireless receiver through the wireless transceiver module to maintain communication. While indicating that the foot pedal has been lifted, it can ensure that the foot pedal can be used normally in subsequent operations and avoid affecting subsequent surgeries. If the wireless receiver does not receive the heartbeat frame signal or the foot switch signal within 100 ms, it is judged as timeout, and the wireless receiver pops up an alarm message on the console to notify the operator that the foot pedal is unavailable; the signal transmission process after the foot pedal enters the working state is as Figure 6 shown.

[0053] It should be noted that when the foot pedal has not been stepped on or the foot pedal has been lifted, the X-ray tube of the X-ray machine stops working and terminates the emission of X-rays to prevent the X-rays from being out of control.

[0054] In some specific embodiments of the present application, the wireless transceiver module includes a CC1101 wireless data transmission chip, and there are ten channels inside the CC1101 wireless data transmission chip; when the foot pedal enters the ready state and the working state, the microcontroller sequentially and cyclically sends a heartbeat frame signal to the wireless receiver on the ten channels and selects the best channel among the ten channels according to the heartbeat confirmation frame signal fed back by the wireless receiver, so that the CC1101 wireless data transmission chip communicates with the wireless receiver through the best channel under the control of the microcontroller to ensure the signal transmission between the foot switch and the X-ray machine. It should be noted that in the present application, the best channel can change; the microcontroller continuously selects the best channel to ensure the subsequent signal transmission and avoid the foot pedal from malfunctioning.

[0055] In some specific embodiments of the present application, the microcontroller sends a heartbeat frame signal to the wireless receiver through a certain channel among ten channels. While receiving the heartbeat frame signal, the wireless receiver can obtain the channel quality and signal strength of this channel. The wireless receiver feeds back the channel quality and signal strength of this channel to the microcontroller in the form of a heartbeat acknowledgment frame signal through the wireless transceiver module. After the ten-channel cycle ends, the microcontroller selects four best channels as signal transmission channels. It should be noted that the signal strength is judged based on the RSSI value. The larger the RSSI value, the stronger the signal strength. In the present application, four best channels are selected to improve the stability of signal transmission. When the communication of a certain channel is affected or fails, it can be switched to other channels for communication. In other embodiments, the number of best channels is not specifically limited.

[0056] Further, the microcontroller can preset a signal strength threshold. First, it screens out the channels whose signal strength exceeds the threshold from the ten channels, and then selects four channels with the top four RSSI values from the channels that exceed the threshold. If the signal strength of all ten channels is lower than the threshold, it means that the foot pedal working distance is too far and it is not suitable to use.

[0057] The second aspect embodiment of the present application provides a foot pedal, including the above-mentioned foot pedal control system, and the foot pedal control system executes the above-mentioned foot pedal control method.

[0058] The third aspect embodiment of the present application provides an X-ray machine, including the above-mentioned foot pedal.

[0059] In some specific embodiments of the present application, as Figure 7 shown, a frontal foot switch AP, a lateral foot switch LT, and a dual-channel foot switch APLT are provided on the X-ray machine. Among them, the frontal foot switch AP is used to control the frontal tube to emit X-ray; the lateral foot switch LT is used to control the lateral tube to emit X-ray; the dual-channel foot switch APLT is used to control the frontal tube and the lateral tube to emit X-ray simultaneously; as Figure 2 and Figure 8 shown, the control pins of the frontal foot switch AP, the lateral foot switch LT, and the dual-channel foot switch APLT are all electrically connected to the microcontroller 10.

[0060] By adopting the foot control system and control method in the above technical solution, the anti-interference performance is enhanced through multi-level frequency shift keying (MFSK) technology. After the X-ray machine is powered on, the communication status and communication quality of the foot pedal can be confirmed in real time, ensuring that the signals of the foot pedal switch stepped on by the operator can be accurately received. Once communication anomalies occur, the operator can also be notified in advance, eliminating the need to handle the situation after stepping on the foot pedal. The foot pedal is built-in with a wireless charging system, which can be automatically charged as long as the foot pedal is hung on the storage position of the X-ray machine, eliminating the need to replace the battery regularly. After being fully charged, the built-in battery can support continuous operation for more than 72 hours, effectively improving the endurance ability.

[0061] The above is a specific description of the preferred embodiment of the present application. However, the present application is not limited to the above implementation manners. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present application.

Claims

1. A foot control method, applied to a foot control system, characterized in that: The foot control system includes a microcontroller, a wireless transceiver module, a foot switch, and a wireless receiver; the microcontroller, the wireless transceiver module, and the foot switch are integrated on the foot, and both the wireless transceiver module and the foot switch are electrically connected to the microcontroller; the wireless receiver is arranged at a non-foot position on the X-ray machine; The foot has a standby state, a ready state, and a working state; When the foot is in the standby state, the foot does not respond to the signal of the foot switch; After the foot enters the ready state, the microcontroller sends a heartbeat frame signal to the wireless receiver once every 1 s through the wireless transceiver module; If the wireless receiver does not receive the heartbeat frame signal, the wireless receiver issues an alarm message indicating that the foot is unavailable; If the wireless receiver receives the heartbeat frame signal, the wireless receiver feeds back a corresponding heartbeat confirmation frame signal to the microcontroller through the wireless transceiver module; After the foot enters the working state, when the foot is not stepped on, the microcontroller sends the heartbeat frame signal to the wireless receiver once every 20 ms through the wireless transceiver module to maintain communication; when the foot is stepped on, the microcontroller sends the signal of the foot switch indicating that the foot is stepped on to the wireless receiver through the wireless transceiver module; after the foot is stepped on, the microcontroller sends the heartbeat frame signal to the wireless receiver once every 20 ms through the wireless transceiver module to maintain communication; when the foot is lifted, the microcontroller sends the heartbeat frame signal to the wireless receiver through the wireless transceiver module; if the wireless receiver does not receive the heartbeat frame signal or the signal of the foot switch within 100 ms, the wireless receiver issues an alarm message indicating that the foot is unavailable.

2. The pedal control method according to claim 1, wherein The wireless transceiver module includes a CC1101 wireless data transmission chip, and there are ten channels in the CC1101 wireless data transmission chip; after the foot enters the ready state and the working state, the microcontroller sequentially and cyclically sends the heartbeat frame signal to the wireless receiver on the ten channels and selects the best channel according to the heartbeat confirmation frame signal fed back by the wireless receiver, so that the CC1101 wireless data transmission chip communicates with the wireless receiver through the best channel under the control of the microcontroller to ensure the signal transmission between the foot switch and the X-ray machine.

3. The foot control method according to claim 2, wherein The channel quality and signal strength of the channel are fed back in the form of the heartbeat confirmation frame signal.

4. The pedal control method according to claim 1, wherein The foot control system further includes a lithium battery module, a wireless charging receiving module, and a wireless charging transmitting module; the lithium battery module and the wireless charging receiving module are integrated on the foot, and the wireless charging transmitting module is arranged at a non-foot position on the X-ray machine; the wireless charging transmitting module is electrically connected to the lithium battery module through the wireless charging receiving module to charge the lithium battery module.

5. The pedal control method according to claim 4, wherein The wireless charging receiving module uses the JFH-RX066-20W module, and the wireless charging transmitting module uses the JFH-PWC-TX030 module.

6. The pedal control method according to claim 4, characterized in that The foot control system further includes a magnetic switch. The magnetic switch is installed on the back plate of the foot pedal, and a permanent magnet is provided at a corresponding position on the body of the X-ray machine. The magnetic switch is attracted to the permanent magnet, so that the foot pedal is stored on the body of the X-ray machine.

7. The foot control method according to claim 6, characterized in that The foot control system further includes a power management module. The power management module is electrically connected to the lithium battery module to convert the voltage output by the lithium battery module to supply power to the microcontroller, the wireless transceiver module, the foot switch, and the magnetic switch.

8. The foot control method according to claim 7, wherein The power management module includes a voltage regulator chip U3 and a fuse FU; the voltage regulator chip U3 has a power supply input pin IN, an output pin OUT, a low battery detection input pin LBI, a ground pin GND, a positive terminal pin C1+ of the first flying capacitor, a negative terminal pin C1- of the first flying capacitor, a positive terminal C2+ of the second flying capacitor, a negative terminal C2- of the second flying capacitor, an enable input pin EN, and a drain low battery detection output pin LBO. The power supply input pin IN is connected to the output terminal of the lithium battery module through the fuse FU; the power supply input pin IN is connected to the ground in parallel through a first diode D1 and a second capacitor C2, and is connected to the low battery detection input pin LBI through a first resistor R1. The low battery detection input pin LBI is grounded through an eighteenth resistor R18; the positive terminal pin C1+ and the negative terminal pin C1- of the first flying capacitor are connected through a third capacitor; the enable input pin EN is connected to the magnetic switch through a seventeenth resistor R17; the ground pin GND is grounded; the positive terminal C2+ and the negative terminal C2- of the second flying capacitor are connected through a fifth capacitor C5; the drain low battery detection output pin LBO is connected to the output pin OUT through a twelfth resistor R12; the output pin OUT is grounded through a fourth capacitor C4.

9. A pedal, characterized in that, It includes a foot control system, and the foot control system executes the foot control method according to any one of claims 1 to 8.

10. An X-ray machine, characterized in that, It includes the foot pedal according to claim 9.

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