Medical imaging equipment and mobile device thereof

Abstract

The invention provides medical imaging equipment and a mobile device thereof, the mobile device comprises a vehicle body, a force acquisition unit and a control unit, and the vehicle body is provided with an electrically-driven power-assisted walking mechanism; the force acquisition unit is arranged on the vehicle body and is used for acquiring a vector result of a driving force applied to the vehicle body by an operation object; and the control unit is connected with the force acquisition unit to obtain a vector result, and controls the electrically-driven power-assisted walking mechanism to generate motion adaptive to the vector result. Thus, after the force collection unit collects the driving force applied to the vehicle body by the operation object, the control unit drives the electric-drive power-assisted walking mechanism to work so that the vehicle body can generate motion matched with a vector result of the driving force, for example, the driving force is adjusted according to the magnitude and direction of the driving force; and after the control unit controls the electric-driven power-assisted walking mechanism to work, the vehicle body moves forwards, backwards and turns. According to the movable device, the driving force applied to the vehicle body by the operation object can be greatly reduced, and the medical imaging equipment can be conveniently transferred among different operating rooms.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a medical imaging device and a mobile device thereof. Background Art

[0002] Mobile X-ray machines are mainly used in orthopedics, urology, endoscopy, plastic surgery, angiography, cardiology, vascular and neurology, as well as intensive care, accidents and emergencies, and are suitable for daily diagnosis in clinical environments. The existing mainstream mobile X-ray machines have a large weight, ranging from 250kg to 400kg depending on the power and optional functions, and need to be manually transported between different operating rooms. Since most hospitals have epoxy flooring or PVC floor glue on the ground during site decoration, the rolling resistance of heavier equipment is very large, and the running resistance on soft ground can even exceed 100N, which brings great difficulties to the small adjustments of equipment transportation and equipment positioning, and also limits the further integration of equipment and the addition of innovative functions and additional components. Summary of the invention

[0003] The object of the present invention is to provide a medical imaging device and a mobile device thereof, so as to solve the problem that the existing medical imaging device is difficult to be transported between different operating rooms due to its heavy weight.

[0004] In order to solve the above technical problems, based on one aspect of the present invention, the present invention provides a mobile device, which includes:

[0005] A vehicle body having an electric-driven power-assisted walking mechanism;

[0006] A force collection unit, which is disposed on the vehicle body and is used to collect vector results of the driving force applied to the vehicle body by the operating object;

[0007] A control unit is connected to the force acquisition unit to obtain the vectorial result and control the electric-driven power-assisted walking mechanism to generate a movement adapted to the vectorial result.

[0008] Optionally, the mobile device further comprises an anti-false triggering unit connected to the control unit, and the control unit receives the vector result after the anti-false triggering unit is activated;

[0009] The sign indicating that the false trigger prevention unit is activated is configured as: the false trigger prevention unit touches the operation object, and / or the false trigger prevention unit is pressed by the operation object.

[0010] Optionally, the anti-false triggering unit includes at least one of a mechanical pressing component and an inductive detection component.

[0011] Optionally, when the force value in the vector result is greater than a set value, the control unit controls the electric-driven power-assisted walking mechanism to generate a movement adapted to the vector result.

[0012] Optionally, the electric-powered walking mechanism includes a driving wheel, which is steerable; the mobile device also includes a posture detection unit, which is used to detect the steering posture angle of the driving wheel, and the control unit controls the travel direction and / or travel speed of the driving wheel according to the steering posture angle of the driving wheel fed back by the posture detection unit.

[0013] Optionally, the posture detection unit includes a trigger member and a plurality of micro switches, wherein the plurality of micro switches are arranged around a steering axis of the driving wheel, and the trigger member rotates synchronously around the steering axis of the driving wheel with the steering movement of the driving wheel, and the trigger member is used to touch the micro switch.

[0014] Optionally, the electric-driven power-assisted walking mechanism includes at least one pair of driving wheels, two driving wheels in one pair are arranged along the Y axis, and the steering axis of the driving wheel is the Z axis; the steering posture of the driving wheel includes a longitudinal posture and a transverse posture, the longitudinal posture is configured such that the central axis of the driving wheel is parallel to the Y axis, and the transverse posture is configured such that the central axis of the driving wheel is parallel to the X axis, and the X axis, Y axis and Z axis are perpendicular to each other;

[0015] Wherein, when the driving wheels are in the longitudinal posture, the control unit controls a pair of the driving wheels to move in the same direction and at the same speed, or controls a pair of the driving wheels to move in opposite directions and at different speeds;

[0016] When the driving wheels are in the horizontal running posture, the control unit controls the pair of driving wheels to move in the same direction and at the same speed.

[0017] Optionally, the vehicle body includes a chassis, the electric drive power-assisted walking mechanism includes a motor, a rear wheel and a front wheel, the rear wheel and the front wheel are installed on the chassis at an interval, the driving wheel includes at least one of the rear wheel and the front wheel, the motor is used to drive the driving wheel to rotate around its own central axis; the steering axis of the driving wheel is perpendicular to the chassis, and the control unit controls the speed and direction of the motor.

[0018] Optionally, the motor and the driving wheel are integrated into a hub motor;

[0019] Alternatively, the electric-driven power-assisted walking mechanism further includes a transmission member, through which the motor is connected to the driving wheel in a transmission manner, and the motor and the transmission member can rotate synchronously around the steering axis of the driving wheel as the driving wheel turns.

[0020] Optionally, the vehicle body has a steering handle connected to the rear wheel transmission, and the steering handle is used to drive all the driving wheels to rotate synchronously around the Z axis.

[0021] Optionally, the driving wheels are rear wheels.

[0022] Optionally, the mobile device includes a battery, which is disposed on the vehicle body and electrically connected to the electric-drive power-assisted walking mechanism.

[0023] Optionally, the vehicle body includes a pushing handle, the pushing handle is used for the operating object to hold to apply the driving force, the force collection unit is connected to the pushing handle, and the anti-mis-triggering unit is arranged on the pushing handle.

[0024] According to another aspect of the present invention, the present invention further provides a medical imaging device, comprising:

[0025] A mobile device as described above;

[0026] An imaging device is mounted on the body of the mobile device.

[0027] To summarize, in the medical imaging equipment and mobile device thereof provided by the present invention, the mobile device includes a vehicle body, a force collection unit and a control unit, the vehicle body has an electric-driven power-assisted walking mechanism; the force collection unit is arranged on the vehicle body, and is used to collect the vector result of the driving force applied to the vehicle body by the operating object; the control unit is connected to the force collection unit to obtain the vector result, and controls the electric-driven power-assisted walking mechanism to produce a movement adapted to the vector result.

[0028] With such configuration, when the force collection unit collects the driving force applied to the vehicle by the operating object, the control unit drives the electric-driven power-assisted walking mechanism to operate so that the vehicle produces a vector-response movement that adapts to the driving force. For example, according to the magnitude and direction of the driving force, the control unit controls the electric-driven power-assisted walking mechanism to operate so that the vehicle moves forward, backward, and turns. The coordination relationship between the electric-driven power-assisted walking mechanism, the force collection unit, and the control unit can greatly reduce the driving force applied to the vehicle by the operating object, making it easier for the vehicle to drive the imaging device between different operating rooms.

[0029] It should be noted that, since the medical imaging equipment includes the mobile device, it also has the beneficial technical effects brought by the mobile device, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Those skilled in the art should understand that the drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0031] Figure 1is a schematic diagram of a medical imaging device according to an embodiment of the present invention;

[0032] Figure 2 is a schematic diagram of a force collection unit and a posture detection unit in a mobile device according to an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of a motor and a rear wheel in a mobile device according to an embodiment of the present invention;

[0034] Figure 4 is a schematic diagram of a mobile device according to an embodiment of the present invention when the rear wheels are in a longitudinal position;

[0035] Figure 5 is a schematic diagram of a mobile device according to an embodiment of the present invention when the rear wheels are in a horizontal position;

[0036] Figure 6 is a control flow chart of a mobile device according to an embodiment of the present invention.

[0037] In the attached figure:

[0038] 100-mobile device; 200-imaging device;

[0039] 10-car body; 11-electric drive power-assisted walking mechanism; 110-driving wheel; 111-motor; 112-rear wheel; 113-front wheel; 114-transmission member; 115-support plate; 116-driving pulley; 117-driven pulley; 118-friction wheel; 119-wheel frame; 12-chassis; 13-support member; 14-frame structure; 15-lifting structure; 16-connecting arm; 17-push handle; 18-steering handle;

[0040] 20-force acquisition unit;

[0041] 30- Anti-false triggering unit;

[0042] 40-posture detection unit; 41-micro switch; 411-first micro switch; 412-second micro switch; 413-third micro switch; 42-trigger;

[0043] 50-battery;

[0044] 60-C-arm;

[0045] 70 - launcher;

[0046] 80-Detector. DETAILED DESCRIPTION

[0047] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0048] As used in the present invention, the singular forms "one", "an" and "the" include plural objects, the term "or" is generally used to include the meaning of "and / or", the term "several" is generally used to include the meaning of "at least one", and the term "at least two" is generally used to include the meaning of "two or more". In addition, the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "the proximal end" and "the distal end" generally refer to two corresponding parts, which include not only the endpoints, and the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. In addition, as used in the present invention, an element disposed on another element generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements may be direct or indirect through an intermediate element, and cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element may be in any orientation such as inside, outside, above, below or on one side of another element, unless otherwise clearly indicated in the content. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] Figure 1 FIG. 1 is a schematic diagram of a medical imaging device according to an embodiment of the present invention. Figure 1 As shown, Figure 1 As shown, the medical imaging device includes an imaging device 200 and a mobile device 100 connected to the imaging device 200. The mobile device 100 has a movable property and can drive the imaging device 200 to move, so as to be transported between different operating rooms. In one embodiment, the medical imaging device is a mobile X-ray machine, which is used in orthopedics, urology, endoscopy, plastic surgery, angiography, cardiology, vascular and neurology, as well as intensive care and accident and emergency.

[0050] Regarding the imaging device 200, the imaging device 200 includes a C-shaped arm 60, a detector 80 and a transmitter 70. The C-shaped arm 60 is connected to the mobile device 100 through a support 13. The detector 80 and the transmitter 70 are respectively arranged at opposite ends of the C-shaped arm 60. The transmitter 70 can emit electron rays (such as X-rays), which pass through the patient (the patient is located between the two ends of the C-shaped arm 60) and are received by the detector 80, and then medical imaging processing is performed.

[0051] Regarding the mobile device 100, the mobile device 100 includes a vehicle body 10, and the vehicle body 10 includes a frame structure 14, a lifting structure 15, a chassis 12 and a connecting arm 16. The connecting arm 16 is connected to the frame structure 14, and the connecting arm 16 is connected to the support member 13 so that the C-arm 60 is installed on the mobile device 100. The frame structure 14 is connected to the chassis 12 through a lifting mechanism. The lifting mechanism can be used to adjust the position of the vehicle body 10 along a direction perpendicular to the chassis 12. The chassis 12 is usually parallel to the horizontal plane, that is, the lifting structure 15 is used to adjust the height of the vehicle body 10, and then adjust the height of the imaging device 200.

[0052] Furthermore, the vehicle body 10 also includes an electric-powered walking mechanism 11 and a pushing handle 17. The electric-powered walking mechanism 11 can be installed on the chassis 12. The electric-powered walking mechanism 11 has a mobile property. The mobile device 100 can perform linear movement, curved movement and turning movement (steering movement) based on the electric-powered walking mechanism 11. The pushing handle 17 can be connected to the frame structure 14. The operating object can hold the pushing handle 17 to apply driving force to the vehicle body 10, so that the vehicle body 10 moves forward, backward or turns under the action of the electric-powered walking mechanism 11.

[0053] Figure 2 Schematic diagram of a force collection unit and a posture detection unit in a mobile device according to an embodiment of the present invention. Figure 2The mobile device 100 further includes a force acquisition unit 20 and a control unit (not shown). The force acquisition unit 20 is in communication with the control unit. The force acquisition unit 20 is disposed on the vehicle body 10. The control unit can be disposed on the vehicle body 10 or in the imaging device 200. The force acquisition unit 20 is used to acquire the vector result of the driving force applied by the operating object to the vehicle body 10. The control unit can be used to obtain the vector result of the driving force fed back by the force acquisition unit 20. It can be understood that the vector result of the driving force includes the direction and force value of the driving force. In one embodiment, the force collection unit 20 can be a force sensor arranged at the connection between the pushing handle 17 and the frame structure 14. It can be understood that the pushing handle 17 is connected to the frame structure 14 through the force sensor. Specifically, the operating object applies a driving force to the vehicle body 10 through the pushing handle 17, so that the strain gauge in the force sensor undergoes elastic deformation. The strain gauge forms an analog signal based on its own mechanical elastic deformation. A corresponding amplification circuit and a filtering circuit can be set to amplify and filter the analog signal and convert it into a digital signal, and finally transmit the digital signal to the control unit. The control unit obtains the vector result of the driving force based on the digital signal.

[0054] After the control unit obtains the vector result of the driving force, it controls the electric-driven power-assisted walking mechanism 11 according to the vector result of the driving force, so that the electric-driven power-assisted walking mechanism 11 produces a movement adapted to the vector result. For example, in an actual scenario, the force acquisition unit 20 detects that the direction of the driving force is biased to the left, and the control unit accordingly controls the electric-driven power-assisted walking mechanism 11 to turn left, thereby driving the vehicle body 10 to turn left. In this way, according to the magnitude and direction of the driving force, the control unit controls the electric-driven power-assisted walking mechanism 11 to work so that the vehicle body 10 moves forward, backward, and turns. The coordination relationship between the electric-driven power-assisted walking mechanism 11, the force acquisition unit 20, and the control unit can greatly reduce the driving force applied by the operating object to the vehicle body 10, making it convenient for the mobile device 100 to drive the imaging device 200 to be transported between different operating rooms, saving the force applied by the operating object.

[0055] Preferably, the control unit controls the electric-driven power-assisted walking mechanism 11 to produce a movement adapted to the vector result when the force value in the vector result is greater than a set value. Specifically, for example, when the mechanical elastic deformation of the strain gauge of the force sensor reaches a certain degree, the control unit will control the electric-driven power-assisted walking mechanism 11 to work. In this way, the electric-driven power-assisted walking mechanism 11 can be prevented from being triggered by mistake and thus working, thereby improving the safety of the equipment.

[0056] Preferably, the mobile device 100 also includes an anti-false trigger unit 30 connected to the control unit. The control unit receives the vector result after the anti-false trigger unit 30 is activated, and subsequently controls the electric drive power-assisted walking mechanism 11 to work according to the vector result. Among them, the sign that the anti-false trigger unit 30 is activated is configured as: the anti-false trigger unit 30 touches the operating object, and / or the anti-false trigger unit 30 is pressed by the operating object. The anti-false trigger unit 30 is set on the pushing handle 17, and the operating object holds the pushing handle 17, thereby pressing or touching the anti-false trigger unit 30. Specifically, the anti-false trigger unit 30 includes at least one of a mechanical pressing component and an inductive detection component. The mechanical pressing component is, for example, a mechanical button, and the inductive detection component can be, for example, an inductive capacitor. The setting of the anti-false trigger unit 30 can improve the safety of the device to avoid uncontrolled movement caused by the electric drive power-assisted walking mechanism 11 of the device being triggered by mistake. It should be noted that when the anti-false trigger unit 30 is not activated, the operator can still control the movement of the mobile device 100 by manipulating the push handle 17, but this consumes physical strength and is difficult to control due to the large size and weight of the device. After the anti-false trigger unit 30 is activated, the control unit controls the electric drive power-assisted walking mechanism 11 to work, and combined with the driving force applied by the operator, the force applied by the operator can be significantly reduced, and the movement control of the device is more convenient.

[0057] Further, the electric-driven power-assisted walking mechanism 11 includes a motor 111, a rear wheel 112 and a front wheel 113. The number of the rear wheel 112 and the front wheel 113 can be, for example, a pair. The rear wheel 112 and the front wheel 113 are installed on the chassis 12 at intervals. The central axis of the rear wheel 112 and the central axis of the front wheel 113 are both parallel to the chassis 12. The motor 111 can be connected to the rear wheel 112 to drive the rear wheel 112 to rotate around its own axis. The front wheel 113 can be, for example, a universal wheel. In some other embodiments, the motor 111 can also be connected to the front wheel 133. The rear wheel 112 can also rotate relative to the chassis 12 around the Z axis, and the Z axis is perpendicular to the chassis 12. The Z axis can also be understood as the steering axis of the rear wheel 112. The vehicle body 10 also has a steering handle 18 that is transmission-connected to the rear wheel 112. The operating object can manipulate the steering handle 18 to drive all rear wheels 112 to rotate synchronously around the Z axis. The mobile device 100 can move forward, backward and turn with the cooperation of the rear wheel 112 and the front wheel 113. It can be understood that the control unit controls the electric drive power-assisted walking mechanism 11 to produce a vector result that adapts the driving force, specifically, the control unit controls the speed and rotation direction of the motor 111 to adapt the vector result of the driving force.

[0058] Preferably, the motor 111 and the rear wheel 112 are integrated into a hub motor. In this way, a large number of transmission components can be omitted, making the structure of the mobile device 100 simpler. Based on the principle of the hub motor, it can be seen that the hub motor used in this embodiment can integrate the power system, transmission system and brake system of the mobile device 100 together, making it easier to control the motion of the mobile device 100, and ensuring that the medical imaging equipment can be pushed with less force when operating on soft ground and climbing a slope. In addition, the selection of the hub motor realizes the miniaturization and integration of the vehicle body 10, avoiding the encroachment on the installation space of other components inside the vehicle body 10, and utilizing the unoccupied space to integrate other functional devices (such as printers, boards, etc.) to increase the functional attributes of the mobile device 100.

[0059] Figure 3 1 is a schematic diagram of a motor and a rear wheel in a mobile device according to an embodiment of the present invention. The motor 111 may also be externally mounted on the rear wheel 112, see Figure 3 The electric-driven power-assisted walking mechanism 11 also includes a transmission member 114, through which the motor 111 is connected to the rear wheel 112, and the transmission member 114 transmits the output torque of the motor 111 to the rear wheel 112, and the motor 111 and the transmission member 114 can rotate synchronously with the rear wheel 112 around the Z axis, ensuring that the torque of the motor 111 can still be output to the rear wheel 112 during the rotation of the rear wheel 112 around the Z axis. The transmission member 114 can be a transmission combination of a synchronous belt, a gear member, or both. Compared with the external form of the motor 111, due to the positioning requirements of the mobile C medical imaging device, the rear wheel 112 needs to rotate around the Z axis and then travel sideways, and the use of a hub motor allows the motor 111 to twist around the Z axis together with the rear wheel 112, without the need for any separate drive conversion structure, and without the need to reserve a rotational movement space for the external drive motor.

[0060] As further implementation details, the electric-driven assisted walking mechanism 11 includes a support plate 115, a driving pulley 116, a driven pulley 117, a friction wheel 118 and a wheel frame 119. The rear wheel 112 is mounted on the chassis 12 through the wheel frame 119. The motor 111 is mounted on the support plate 115. The output shaft of the motor 111 is coaxially fixed with the driving pulley 116. The driving pulley 116 is connected to the driven pulley 117 through a transmission member 114. Friction wheels 118 are coaxially fixed on both sides of the driven pulley 117. The friction wheel 118 is in press-contact with the rear wheel 112, and the rear wheel 112 is driven to rotate by rolling friction.

[0061] Preferably, the mobile device 100 includes a battery 50, which is disposed on the vehicle body 10, specifically on the chassis 12, and is electrically connected to the electric-driven power-assisted walking mechanism 11 to supply power to the electric-driven power-assisted walking mechanism 11, specifically to the motor 111, so that the motor 111 has energy for operation. Specifically, when the medical imaging device is in an operating room, the cable connected to the motor 111 can be plugged into a socket in the operating room to supply power to the motor 111, and when the medical imaging device needs to be transported between different operating rooms, the battery 50 is used to supply power to the motor 111.

[0062] Furthermore, the mobile device 100 further includes a posture detection unit 40, which is used to detect the steering posture angle of the driving wheel 110 of the electric drive power-assisted walking mechanism 11, and feed it back to the control unit, so that the control unit can control the travel direction and travel speed of the driving wheel 110 according to the steering posture angle of the driving wheel 110. The driving wheel 110 can be the rear wheel 112 or the front wheel 113. The rear wheel 112 is used as the driving wheel 110 for explanation, and the steering posture angle of the rear wheel 112 can also be understood as the posture angle of the rear wheel 112 relative to the chassis 12 after the rear wheel 112 rotates around the Z axis. The control unit controls the travel direction and travel speed of the rear wheel 112 based on the rotation direction and rotation speed of the motor of the rear wheel 112. Specifically, the posture detection unit 40 is used to detect the posture of the rear wheel 112 relative to the chassis 12 around the Z axis (it can also be understood as detecting the rotation angle of the rear wheel 112 relative to the chassis 12 around the Z axis), and the control unit controls the rotation direction and speed of the motor 111 according to the posture of the rear wheel 112 fed back by the posture detection unit 40, thereby controlling at least one of the travel direction and travel speed of the rear wheel 112. The posture of the rear wheel 112 is detected, and the next movement trend of the mobile device 100 is obtained in combination with the vector result of the driving force, and the control unit further controls the speed and rotation direction of the motor 111, thereby assisting the mobile device 100 to move forward, backward, sideways or turn.

[0063] In one embodiment, the posture detection unit 40 includes a trigger 42 and a plurality of micro switches 41. The plurality of micro switches 41 are arranged around the steering axis (that is, the Z axis) of the driving wheel 110. The trigger 42 rotates synchronously around the steering axis of the driving wheel with the steering movement of the driving wheel 110 (rotational movement around the Z axis). The trigger 42 is used to touch the micro switch 41. Specifically, taking the driving wheel 110 as the rear wheel 112 as an example, the plurality of micro switches 41 are arranged around the Z axis on the chassis 12. The trigger 42 rotates synchronously around the Z axis with the rear wheel 112. The trigger 42 is used to touch the micro switch 41. When the trigger 42 touches one of the micro switches 41, the posture of the rear wheel 112 around the Z axis can be reflected based on the position of the micro switch 41.

[0064] The mobile device 100 of this embodiment is described in detail below with the rear wheel 112 as the driving wheel 110. Of course, in some other embodiments, the front wheel 113 may also be used as the driving wheel 110. It is understood by those skilled in the art that the implementation of the front wheel 113 as the driving wheel 110 can be understood by referring to the implementation of the rear wheel 112 as the driving wheel 110.

[0065] Figure 4 is a schematic diagram of a mobile device according to an embodiment of the present invention when the rear wheels are in a longitudinal position, Figure 5 FIG. 1 is a schematic diagram of a mobile device according to an embodiment of the present invention when the rear wheels are in a horizontal position. Figure 4 and Figure 5 , exemplarily, the posture detection unit 40 may include three micro switches 41, namely a first micro switch 411, a second micro switch 412 and a third micro switch 413, the second micro switch 412 and the third micro switch 413 are arranged on the chassis 12 along the X axis, the first micro switch 411 is located between the second micro switch 412 and the third micro switch 413 around the Z axis, and the first micro switch 411 is arranged on the Y axis, and the X axis, the Y axis and the Z axis are perpendicular to each other. The front wheel 113 and the rear wheel 112 are arranged at intervals along the X axis, and the arrangement order of the second micro switch 412 and the third micro switch 413 in the same unilateral direction of the X axis is the same as the arrangement order of the rear wheel 112 and the front wheel 113 in the same unilateral direction of the X axis. The trigger member 42 extends in a direction perpendicular to the Z axis, and the extension direction of the trigger member 42 is parallel to the central axis direction of the rear wheel 112. Thus, when the rear wheel 112 rotates around the Z axis so that the trigger member 42 contacts the first micro switch 411, the first micro switch 411 reflects that the posture of the rear wheel 112 is the longitudinal posture ( Figure 4 As shown), that is, the central axis of the rear wheel 112 is parallel to the Y axis; when the rear wheel 112 rotates around the Z axis so that the trigger 42 touches the second micro switch 412 or the third micro switch 413, the micro switch 41 reflects that the posture of the rear wheel 112 is the horizontal posture ( Figure 5 As shown), that is, the central axis of the rear wheel 112 is parallel to the X-axis.

[0066] In some other embodiments, the posture detection unit 40 may also be in the form of feedback of an angle potentiometer or an angle encoder.

[0067] Furthermore, the electric-driven power-assisted walking mechanism 11 includes a pair of rear wheels 112 and motors 111 corresponding to the rear wheels 112 one by one, and the pair of rear wheels 112 are arranged along the Y axis. When the rear wheels 112 are in a longitudinal posture, the control unit controls the two motors 111 to rotate in the same direction and at the same speed, so that the pair of rear wheels 112 move in the same direction and at the same speed, thereby causing the mobile device 100 to move forward or backward along the X axis; or the control unit controls the two motors 111 to rotate in opposite directions and at different speeds, so that the pair of rear wheels 112 move in opposite directions and at different speeds, thereby causing the mobile device 100 to turn left or right. When the rear wheels 112 are in a transverse posture, the control unit controls the two motors 111 to rotate in the same direction and at the same speed, so that the pair of rear wheels 112 move in the same direction and at the same speed, thereby causing the mobile device 100 to move along the Y axis, that is, the mobile device 100 moves left or right.

[0068] The following describes the movement of the vehicle body 10 by respectively assuming that the first micro switch 411 is triggered, the second micro switch 412 is triggered, and the third micro switch 413 is triggered.

[0069] When the first micro switch 411 is triggered by contact with the trigger member 42, the rear wheel 112 is in a longitudinal position, and the control unit controls the rotation speed of the two motors 111 according to the force value of the driving force applied by the operating object, and controls the rotation direction of the two motors 111 according to the direction of the driving force. Figure 2 For example, the movement modes of the vehicle body 10 include the following four modes: (1) when it is detected that the direction of the driving force is along the X-axis to the right, the control unit controls the two motors 111 to rotate forward at the same speed, so that the driving wheels 110 controlled by the two motors 111 move in the same direction to the right along the X-axis, driving the vehicle body 10 to move forward; (2) when it is detected that the direction of the driving force is along the X-axis to the left, the control unit controls the two motors 111 to reverse at the same speed, so that the driving wheels 110 controlled by the two motors 111 move in the same direction to the left along the X-axis, driving the vehicle body 10 to move backward; (3) when it is detected that the direction of the driving force is along the Y-axis to the left (inward on the paper), the control unit controls the motor 111 corresponding to the left rear wheel 112 to reverse so that the rear wheel 112 The vehicle body 10 will turn left as a whole, and the greater the force value of the driving force is, the greater the difference in the rotation speeds of the two motors 111 will be, and the faster the vehicle body 10 will turn left; (4) when it is detected that the direction of the driving force is to the right along the Y-axis (outward on the paper), the control unit controls the motor 111 corresponding to the left rear wheel 112 to rotate forward so that the rear wheel 112 moves forward, and controls the motor 111 corresponding to the right rear wheel 112 to rotate reversely so that the rear wheel 112 moves backward, and the vehicle body 10 will turn right as a whole, and the greater the force value of the driving force is, the greater the difference in the rotation speeds of the two motors 111 will be, and the faster the vehicle body 10 will turn right.

[0070] When the second micro switch 412 is triggered by contact with the trigger member 42, the posture of the rear wheel 112 is a horizontal posture, specifically a left horizontal posture. The direction of the driving force is detected to be left or right along the X-axis. At this time, since the axis of the rear wheel 112 is parallel to the X-axis, the vehicle body 10 cannot move. If it is detected that the driving force is to the left along the Y-axis, the two motors 111 are controlled to rotate forward synchronously at the same speed, driving the vehicle body 10 to move to the left along the Y-axis. If it is detected that the driving force is to the right along the Y-axis, the two motors 111 are controlled to rotate backward synchronously at the same speed, driving the vehicle body 10 to move to the right along the Y-axis.

[0071] When the third micro switch 413 is triggered by contact with the trigger member 42, the posture of the rear wheel 112 is a horizontal posture, specifically a right horizontal posture. The direction of the driving force is detected to be left or right along the X-axis. At this time, since the axis of the rear wheel 112 is parallel to the X-axis, the vehicle body 10 cannot move. If it is detected that the driving force is to the left along the Y-axis, the two motors 111 are controlled to reverse synchronously and at the same speed, driving the vehicle body 10 to move to the left along the Y-axis. If it is detected that the driving force is to the right along the Y-axis, the two motors 111 are controlled to rotate forward synchronously and at the same speed, driving the vehicle body 10 to move to the right along the Y-axis.

[0072] In this way, by detecting which micro switch 41 is triggered, the movement trend of the mobile device 100 can be determined, and the size and direction of the driving force can be detected, which can cooperate with the electric drive power-assisted walking mechanism 11 to assist the vehicle body 10 to complete six movements, namely, forward or backward along the X-axis, forward or backward along the Y-axis, and left turn and right turn.

[0073] It is understandable that if the mobile device only needs assistance in one direction, a micro switch can be set only in that direction, and micro switches do not need to be set in other directions. For example, in actual use scenarios, if the electric drive walking power-assisting mechanism 11 is only needed to assist when the mobile device moves forward or backward, then in this embodiment, only the first micro switch 411 is set to realize the detection of the longitudinal posture of the mobile device.

[0074] Figure 6 is a control flow chart of a mobile device according to an embodiment of the present invention. Figure 6 The control process of the mobile device of this embodiment is described in detail, specifically:

[0075] In the first step, the operator manipulates the steering handle 18 to make all rear wheels 112 twist synchronously around the Z axis.

[0076] In the second step, the operator holds the pushing handle 17 and continuously triggers the mis-triggering prevention unit 30 .

[0077] In the third step, the operating object applies a driving force to the pushing handle 17;

[0078] In the fourth step, the posture detection unit 40 detects the posture of the rear wheel 112 around the Z axis relative to the chassis 12, specifically:

[0079] (1) If the first micro switch 411 is triggered, the rear wheel 112 is in a longitudinal posture, and the force collection unit 20 detects that the direction of the driving force is along the Y axis, then the direction of the driving force is in the left and right direction, and the control unit controls the two motors 111 to rotate synchronously, and the speed and rotation direction are different, at this time, the vehicle body 10 turns left or right; if the force collection unit 20 detects that the direction of the driving force is along the X axis, then the direction of the driving force is in the front and rear direction, and the control unit controls the two motors 111 to rotate synchronously, and the speed and rotation direction are the same, at this time, the vehicle body 10 moves forward or backward;

[0080] (2) If the second micro switch 412 is triggered, the rear wheel 112 is in a left sideways posture, and the force collection unit 20 detects that the direction of the driving force is along the Y axis, then the direction of the driving force is left and right, and the control unit controls the two motors 111 to rotate synchronously in the same direction (synchronous forward rotation or synchronous reverse rotation) and at the same speed, at which time the vehicle body 10 moves leftward or rightward along the Y axis; if the force collection unit 20 detects that the direction of the driving force is along the X axis, then the direction of the driving force is frontward and rearward, the control unit does not respond, and the vehicle body 10 is in a stationary state;

[0081] (3) If the third micro switch 413 is triggered, the rear wheel 112 is in a right sideways posture, and the force collection unit 20 detects that the direction of the driving force is along the Y axis, then the direction of the driving force is left and right, and the control unit controls the two motors 111 to rotate synchronously in the same direction (synchronous forward rotation or synchronous reverse rotation) and at the same speed, at which time the vehicle body 10 moves left or right along the Y axis; if the force collection unit 20 detects that the direction of the driving force is along the X axis, then the direction of the driving force is front and back, the control unit does not respond, and the vehicle body 10 is in a stopped state.

[0082] In the fifth step, the operating object releases the trigger restriction on the anti-false trigger unit 30 so that there is no contact between the operating object and the anti-false trigger unit 30. At this time, the control unit cannot receive the vector result of the driving force fed back by the force acquisition unit 20. The vehicle body 10 can continue to move when the operating object applies a larger driving force, or the vehicle body 10 is in a stopped state.

[0083] In summary, in the medical imaging equipment and its mobile device provided by the present invention, the mobile device includes a vehicle body, a force collection unit and a control unit, the vehicle body has an electric-driven power-assisted walking mechanism; the force collection unit is arranged on the vehicle body, and is used to collect the vector result of the driving force applied to the vehicle body by the operating object; the control unit is connected to the force collection unit to obtain the vector result, and controls the electric-driven power-assisted walking mechanism to produce a movement adapted to the vector result. In such a configuration, when the force collection unit collects the driving force applied to the vehicle body by the operating object, the control unit drives the electric-driven power-assisted walking mechanism to work so that the vehicle body produces a movement adapted to the vector result of the driving force, for example, according to the magnitude and direction of the driving force, the control unit controls the electric-driven power-assisted walking mechanism to work so that the vehicle body moves forward, backward and turns. The coordination relationship between the electric-driven power-assisted walking mechanism, the force collection unit and the control unit can greatly reduce the driving force applied to the vehicle body by the operating object, and facilitate the vehicle body to drive the imaging device to be transported between different operating rooms.

[0084] Although the present invention is disclosed as above with preferred embodiments, the above embodiments are not intended to limit the present invention. For any technician familiar with the art, without departing from the scope of the technical solution of the present invention, the technical content disclosed above can be used to make many possible changes and modifications to the technical solution of the present invention, or modified into equivalent embodiments of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belongs to the scope of protection of the technical solution of the present invention.

Claims

1. A mobile device (100), characterized in that: include: A vehicle body (10) having an electric-driven power-assisted walking mechanism (11); A force collection unit (20) is arranged on the vehicle body (10) and is used to collect vector results of the driving force applied by the operating object to the vehicle body (10); A control unit is connected to the force acquisition unit (20) to obtain the vector result and control the electric-driven power-assisted walking mechanism (11) to generate a movement adapted to the vector result.

2. The mobile device (100) according to claim 1, characterized in that: The electric-driven power-assisted walking mechanism (11) comprises a driving wheel (110), and the driving wheel (110) is steerable; the mobile device (100) further comprises a posture detection unit (40), and the posture detection unit (40) is used to detect the steering posture angle of the driving wheel (110); the control unit controls the travel direction and / or travel speed of the driving wheel (110) according to the steering posture angle of the driving wheel (110) fed back by the posture detection unit (40).

3. The mobile device (100) according to claim 2, characterized in that: The posture detection unit (40) comprises a trigger member (42) and a plurality of micro switches (41); the plurality of micro switches (41) are arranged around a steering axis of the driving wheel (110); the trigger member (42) rotates synchronously around the steering axis of the driving wheel (110) with the steering movement of the driving wheel (110); and the trigger member (42) is used to contact the micro switches (41).

4. The mobile device (100) according to claim 2, characterized in that: The electric-driven power-assisted walking mechanism (11) comprises at least one pair of driving wheels (110), wherein the two driving wheels (110) in one pair are arranged along the Y axis, and the steering axis of the driving wheel (110) is the Z axis; the steering posture of the driving wheel (110) comprises a longitudinal posture and a transverse posture, wherein the longitudinal posture is configured such that the central axis of the driving wheel (110) is parallel to the Y axis, and the transverse posture is configured such that the central axis of the driving wheel (110) is parallel to the X axis, and the X axis, the Y axis and the Z axis are perpendicular to each other; Wherein, when the driving wheels (110) are in the longitudinal posture, the control unit controls a pair of the driving wheels (110) to move in the same direction and at the same speed, or controls a pair of the driving wheels (110) to move in opposite directions and at different speeds; When the driving wheels (110) are in the horizontal running posture, the control unit controls a pair of driving wheels (110) to move in the same direction and at the same speed.

5. The mobile device (100) according to claim 2, characterized in that: The vehicle body (10) comprises a chassis (12); the electric-drive power-assisted walking mechanism (11) comprises a motor (111), a rear wheel (112) and a front wheel (113); the rear wheel (112) and the front wheel (113) are installed on the chassis (12) at intervals; the driving wheel (110) comprises at least one of the rear wheel (112) and the front wheel (113); the motor (111) is used to drive the driving wheel (110) to rotate around its own central axis; and the steering axis of the driving wheel (110) is perpendicular to the chassis (12).

6. The mobile device (100) according to claim 5, characterized in that The motor (111) and the driving wheel (110) are integrated into a wheel hub motor; Alternatively, the electric-driven power-assisted walking mechanism (11) further comprises a transmission member (114), the motor (111) being transmission-connected to the driving wheel (110) via the transmission member (114), and the motor (111) and the transmission member (114) being capable of synchronously rotating around a steering axis of the driving wheel (110) as the driving wheel (110) turns.

7. The mobile device (100) according to claim 1, further comprising an anti-false triggering unit (30) connected to the control unit, wherein the control unit receives the vectorial result after the anti-false triggering unit (30) is activated; wherein: The sign that the false trigger prevention unit (30) is activated is configured as: the false trigger prevention unit (30) touches the operation object, and / or the false trigger prevention unit (30) is pressed by the operation object.

8. The mobile device (100) according to claim 1, characterized in that: When the force value in the vector result is greater than a set value, the control unit controls the electric-driven power-assisted walking mechanism (11) to generate a movement adapted to the vector result.

9. The mobile device (100) according to claim 1, characterized in that: The mobile device (100) comprises a battery (50), wherein the battery (50) is arranged on the vehicle body (10) and is electrically connected to the electric-driven power-assisted walking mechanism (11).

10. A medical imaging device, characterized in that: include: The mobile device (100) according to any one of claims 1 to 9; An imaging device (200) is installed on the vehicle body (10) of the mobile device (100).

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