TDOA-based X light source detector alignment method and device, storage medium and terminal

Abstract

The invention provides a TDOA-based X light source detector alignment method and device, a storage medium and a terminal, and the method comprises the steps: transmitting ultrasonic waves at a preset transmitting position of a to-be-adjusted X light source, and receiving the ultrasonic waves at a plurality of preset receiving positions of a to-be-adjusted detector, so as to obtain a plurality of ultrasonic wave receiving results; based on all the ultrasonic receiving results, acquiring relative position data of the to-be-adjusted X light source and the to-be-adjusted detector; adjusting the relative positions of the to-be-adjusted X light source and the to-be-adjusted detector according to the relative position data, and obtaining the position of the adjusted X light source and the position of the adjusted detector as alignment results; wherein the number of the preset receiving positions is at least three. The alignment precision of the X light source and the detector can be effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of detectors, and relates to a TDOA-based X-ray source detector alignment method, and in particular to a TDOA-based X-ray source detector alignment method and device, storage medium and terminal. Background Art

[0002] With the development of science and technology, X-ray equipment is increasingly used in medical imaging, industrial testing and scientific research experiments. In these applications, the X-ray source is irradiated onto a flat-panel detector through a beam splitter. If the projection surface is too large, unnecessary parts will be irradiated, and if the projection surface is too small, necessary parts will be missed. Therefore, precise alignment of the X-ray source and the detector is crucial. In order to ensure efficient operation and accurate results of X-ray equipment, it is necessary to ensure that the relative position between the X-ray source and the detector meets the predetermined accuracy requirements.

[0003] However, the existing technology uses a probabilistic positioning method to align, that is, a filament or laser spot is projected onto the front side of the object / body (the side facing the X-ray source), and then the detector is roughly measured by the human eye to determine the position where the detector should be placed behind the object / body, and then the detector is placed near the position. The problem with this method is that the object / body may block the projection, which can easily cause a large alignment deviation, making it difficult to align the detector with the X-ray source, resulting in unsatisfactory shooting results, or even requiring reshoots. Summary of the invention

[0004] The purpose of the present invention is to provide a TDOA-based X-ray source detector alignment method and device, storage medium and terminal, which are used to solve the technical problem in the prior art that the detector is difficult to align with the X-ray source.

[0005] In a first aspect, the present invention provides a TDOA-based X-ray source detector alignment method, comprising:

[0006] Transmitting an ultrasonic wave at a preset transmitting position of the X-ray source to be adjusted, and receiving the ultrasonic wave at a plurality of preset receiving positions of the detector to be adjusted, respectively, to obtain a plurality of ultrasonic wave receiving results;

[0007] Based on all the ultrasonic receiving results, obtaining the relative position data of the X-ray source to be adjusted and the detector to be adjusted;

[0008] Adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted according to the relative position data, and obtaining the position of the X-ray source after adjustment and the position of the detector after adjustment as an alignment result;

[0009] Wherein, the number of the preset receiving positions is at least 3.

[0010] In one embodiment of the present invention,

[0011] Based on all the ultrasonic receiving results, obtaining the relative position data of the X-ray source to be adjusted and the detector to be adjusted includes:

[0012] Based on all the ultrasonic receiving results, obtaining the reception time required for each of the preset receiving positions;

[0013] The three-dimensional coordinates of each of the preset receiving positions are obtained, and based on all the three-dimensional coordinates and the corresponding reception time, the three-dimensional coordinates of the preset transmitting position are obtained as the relative position data of the X-ray source to be adjusted and the detector to be adjusted.

[0014] In one embodiment of the present invention, it further includes:

[0015] Acquire the relative position data of the adjusted X-ray source and the adjusted detector, and verify whether the relative position data meets the preset conditions;

[0016] If the preset conditions are met, the adjusted position of the X-ray source and the adjusted position of the detector are output as the final alignment result; otherwise, the relative positions of the X-ray source to be adjusted and the detector to be adjusted are readjusted until the relative position data meets the preset conditions.

[0017] In one embodiment of the present invention, the preset condition is:

[0018] The three-dimensional coordinates of the center of the adjusted X-ray source and the three-dimensional coordinates of the center of the adjusted detector satisfy a preset alignment relationship;

[0019] The three-dimensional coordinates of the center of the adjusted X-ray source are obtained by using the three-dimensional coordinates of the preset emission position of the adjusted X-ray source plus a preset vector.

[0020] In one embodiment of the present invention, adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted includes:

[0021] The position of the X-ray source to be adjusted is adjusted, and / or the position of the detector to be adjusted is adjusted, so as to change the relative position of the X-ray source to be adjusted and the detector to be adjusted.

[0022] In one embodiment of the present invention, the transmitting source of the ultrasonic wave is an ultrasonic transmitter, and the receiving source of the ultrasonic wave is an ultrasonic receiver.

[0023] In a second aspect, the present invention further provides an X-ray source detector alignment device based on TDOA, characterized in that it comprises:

[0024] An ultrasonic transceiver module is used to transmit ultrasonic waves at a preset transmitting position of the X-ray source to be adjusted, and respectively receive ultrasonic waves at multiple preset receiving positions of the detector to be adjusted, so as to obtain multiple ultrasonic receiving results;

[0025] A position acquisition module, used for acquiring the relative position data of the X-ray source to be adjusted and the detector to be adjusted based on all the ultrasonic receiving results;

[0026] An alignment adjustment module, used for adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted according to the relative position data, and obtaining the position of the X-ray source after adjustment and the position of the detector after adjustment as an alignment result;

[0027] Wherein, the number of the preset receiving positions is at least 3.

[0028] In a third aspect, the present invention further provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the TDOA-based X-ray source detector alignment method as described above.

[0029] In a fourth aspect, the present invention further provides a terminal, comprising a processor and a memory, wherein the memory is communicatively connected to the processor;

[0030] The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes the TDOA-based X-ray source detector alignment method as described above.

[0031] As described above, the TDOA-based X-ray source detector alignment method and device, storage medium and terminal of the present invention have the following beneficial effects:

[0032] 1. The present invention sets a preset transmitting position and multiple preset receiving positions, based on the time difference of ultrasonic arrival combined with the data of multiple receiving points, accurately obtains the relative position data between the X-ray source and the detector, and makes corresponding position adjustments based on the relative position data. This greatly reduces human intervention and improves alignment accuracy.

[0033] 2. Through the flexible preset vector method, for different types of X-ray sources or detectors, the system can complete the alignment of various types of equipment by simply adjusting the preset vector, which can adapt to the alignment requirements of different devices and is more adaptable. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic flow chart of a TDOA-based X-ray source detector alignment method according to an embodiment of the present invention is shown.

[0035] Figure 2A schematic diagram of the positions of ultrasonic emission and reception in the TDOA-based X-ray source detector alignment method described in an embodiment of the present invention is shown.

[0036] Figure 3 A schematic structural diagram of a TDOA-based X-ray source detector alignment device according to an embodiment of the present invention is shown.

[0037] Figure 4 A schematic diagram of the structure of a terminal according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0038] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0039] The principles and implementation methods of the TDOA-based X-ray source detector alignment method and device, storage medium and terminal of this embodiment will be explained in detail below, so that those skilled in the art can understand the TDOA-based X-ray source detector alignment method, device, storage medium and terminal of this embodiment without creative work.

[0040] In order to solve the above technical problems existing in the prior art, an embodiment of the present invention provides an X-ray source detector alignment method based on TDOA.

[0041] Figure 1 FIG. 1 shows a flow chart of a method for aligning an X-ray source detector based on TDOA according to an embodiment of the present invention, referring to FIG. Figure 1 As shown, the X-ray source detector alignment method based on TDOA in the embodiment of the present invention mainly includes steps S100 to S300.

[0042] Step S100: emitting ultrasonic waves at a preset emitting position of the X-ray source to be adjusted, and receiving ultrasonic waves at a plurality of preset receiving positions of the detector to be adjusted, so as to obtain a plurality of ultrasonic wave receiving results.

[0043] In this embodiment, the number of preset receiving positions needs to be set to at least 3. The X-ray source to be adjusted and the detector to be adjusted are misaligned X-ray sources and detectors. The purpose of step S100 is to measure the relative position between the X-ray source to be adjusted and the detector to be adjusted through ultrasonic signals to provide data support for subsequent adjustments. Ultrasonic waves propagate in the air at a known speed, and the corresponding propagation distance can be obtained by measuring their propagation time. Each preset receiving position will receive an ultrasonic wave emitted from a preset transmitting position, and multiple ultrasonic wave reception results are obtained based on the emission time of the ultrasonic wave and the arrival time of the ultrasonic wave received at multiple preset receiving positions. The ultrasonic wave reception result of each preset receiving position includes the emission time of the preset transmitting position and the arrival time of the ultrasonic wave received at the corresponding preset receiving position. The number of preset receiving positions is at least 3, and the relative position between the X-ray source and the detector is accurately calculated by measuring at least three different positions. Figure 2 The schematic diagram of the position of ultrasonic emission and reception in the TDOA-based X-ray source detector alignment method described in the embodiment of the present invention is shown. The preset emission position is located directly above the X-ray source to be adjusted, and the preset receiving position is located directly above, below the left, and below the right of the detector to be adjusted. It should be noted that after the ultrasonic emission and receiving positions are set, the position of the preset emission position relative to the X-ray source to be adjusted is obtained, and the position of the preset receiving position relative to the detector to be adjusted is obtained to provide an output data basis for the subsequent calculation of relative position data. Further, those skilled in the art can set more preset receiving positions based on this embodiment. The more preset receiving positions there are, the smaller the alignment error is.

[0044] Optionally, the ultrasonic emission source is an ultrasonic transmitter, and the ultrasonic receiving source is an ultrasonic receiver. The ultrasonic transmitter is a device for transmitting ultrasonic signals, which generates ultrasonic vibrations through electrical signal excitation and emits sound waves into the environment. The ultrasonic transmitter is responsible for transmitting ultrasonic signals at a preset emission position of the X-ray source to be adjusted, and by adjusting the power, frequency and direction of the transmitter, it is ensured that the ultrasonic signal covers the target area and is transmitted to multiple preset receiving positions. The ultrasonic receiver is a device for receiving ultrasonic signals that have been transmitted through a medium. The ultrasonic receiver is located at multiple preset receiving positions of the detector to be adjusted, and receives ultrasonic signals emitted by the ultrasonic transmitter.

[0045] Step S200: Based on all ultrasonic receiving results, the relative position data of the X-ray source to be adjusted and the detector to be adjusted are obtained.

[0046] Since the propagation speed of ultrasound is known (the propagation speed in air is approximately 343 m / s, depending on factors such as ambient temperature), the relative position data between the X-ray source to be adjusted and the detector to be adjusted can be calculated based on the ultrasound reception results at the preset receiving positions (that is, the ultrasound emission time and the ultrasound arrival time) using TDOA technology. Specifically, the difference in reception time between different preset receiving positions is calculated based on the ultrasound reception results at all preset receiving positions, and the relative position data between the X-ray source to be adjusted and the detector to be adjusted is calculated using a triangulation positioning algorithm using the time difference between at least three preset receiving positions.

[0047] In a specific implementation of step S200, based on all ultrasonic reception results, obtaining the relative position data of the X-ray source to be adjusted and the detector to be adjusted includes: obtaining the reception time required for each preset receiving position based on the ultrasonic reception results; obtaining the three-dimensional coordinates of each preset receiving position, and based on all three-dimensional coordinates and the corresponding reception time required, obtaining the three-dimensional coordinates of the preset transmitting position as the relative position data of the X-ray source to be adjusted and the detector to be adjusted. Specifically, based on the ultrasonic reception results, the reception time required for the corresponding preset receiving position is obtained, and the reception time required is the difference between the arrival time and the transmission time, and the propagation distance from the preset transmitting position to each preset receiving position is obtained based on the reception time required and the ultrasonic propagation speed. The propagation distance is obtained with reference to the following formula:

[0048] d i =v·t i

[0049] Wherein, di represents the propagation distance between the i-th preset receiving position and the preset transmitting position, v represents the propagation speed of the ultrasonic wave, and ti represents the reception time corresponding to the i-th preset receiving position.

[0050] To obtain relative position data, refer to the following formula:

[0051]

[0052] Among them, (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) represent the three-dimensional coordinates of three preset receiving positions, and (x, y, z) represent the three-dimensional coordinates of the preset transmitting position. The three-dimensional coordinates of the preset transmitting position are obtained by solving the above nonlinear equations as relative position data. It should be noted that the position coordinates of the detector to be adjusted and the position coordinates of each preset receiving position in the detector to be adjusted are obtained in advance, and the position of the preset transmitting position in the X-ray source to be adjusted is also obtained in advance. The position coordinates of the X-ray source to be adjusted and the position coordinates of the preset transmitting position are used as unknowns. The above steps obtain the position coordinates of the X-ray source to be adjusted based on the position coordinates of the detector to be adjusted, that is, the relative position of the X-ray source to be adjusted relative to the detector to be adjusted, as the relative position data between the X-ray source to be adjusted and the detector to be adjusted.

[0053] Based on the ultrasonic reception results, combined with the three-dimensional coordinates of the preset receiving position and the time required for reception, the TDOA algorithm is used to calculate the relative position data to provide a reference for subsequent alignment adjustments.

[0054] Step S300: adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted according to the relative position data, and obtaining the position of the X-ray source after adjustment and the position of the detector after adjustment as an alignment result.

[0055] Specifically, according to the relative position data obtained in step S200, the relative position between the X-ray source to be adjusted and the detector to be adjusted is adjusted to ensure that the relative position between them meets the predetermined alignment requirements. Taking the Cartesian coordinate system as an example, the current position coordinates of the detector to be adjusted are (xd, yd, zd), and the relative position coordinates of the X-ray source to be adjusted relative to the detector to be adjusted are (xs, ys, zs) obtained in step S200. According to the ideal relative position of the equipment design and alignment requirements, the adjustment scheme of the X-ray source and the detector is determined. For example, the ideal relative position requires that the longitudinal coordinate and the vertical coordinate of the detector to be adjusted are equal, and the horizontal coordinate difference is 20cm. At this time, zd is equal to zs, yd is equal to ys, and the difference between xd and xs is 10cm. Then, according to the position data, the relative position of the X-ray source to be adjusted and the detector to be adjusted is adjusted so that the distance between the two in the horizontal coordinate direction is reduced by 10cm, and alignment can be achieved, and the position of the adjusted X-ray source and the position of the adjusted detector are used as the alignment result.

[0056] Optionally, adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted includes: adjusting the position of the X-ray source to be adjusted, and / or adjusting the position of the detector to be adjusted, so as to change the relative positions of the X-ray source to be adjusted and the detector to be adjusted. The relative positions of the X-ray source and the detector will be optimized by position adjustment, and the process adjustment includes adjusting only the position of the X-ray source to be adjusted, adjusting only the position of the detector to be adjusted, and adjusting both the positions of the X-ray source to be adjusted and the detector to be adjusted, so as to ensure that they are aligned in three-dimensional space. Taking the above-mentioned difference of xd and xs as 10cm as an example, the X-ray source to be adjusted can be moved only 10cm closer to the direction of the detector to be adjusted along the horizontal axis, or only 10cm closer to the direction of the X-ray source to be adjusted along the horizontal axis, or both the X-ray source to be adjusted and the detector to be adjusted can be moved 5cm closer to each other along the horizontal axis to align the two.

[0057] Optionally, the embodiment of the present invention further includes: obtaining the relative position data of the adjusted X-ray source and the adjusted detector, and verifying whether the relative position data meets the preset conditions; if the preset conditions are met, the position of the adjusted X-ray source and the position of the adjusted detector are output as the final alignment result; otherwise, the relative position of the X-ray source to be adjusted and the detector to be adjusted is re-adjusted until the relative position data meets the preset conditions. That is, the present invention repeatedly obtains the relative position data for adjustment in an iterative manner by repeating steps S100-step S300, and stops after meeting the preset conditions to ensure that the X-ray source and the detector are accurately aligned. During the adjustment process, the system provides real-time feedback and fine-tuning. If it is found after verification that the adjusted relative position data does not meet the preset conditions, the positions of the X-ray source and the detector are re-adjusted, and multiple iterations are used to ensure that the relative position between the two meets the preset accuracy requirements to improve the alignment accuracy. It should be noted that the method of obtaining the relative position data of the adjusted X-ray source and the adjusted detector is the same as the method of obtaining the relative position data of the X-ray source to be adjusted and the detector to be adjusted in steps S100-step S200.

[0058] Optionally, the preset condition is: the three-dimensional coordinates of the center of the adjusted X-ray source and the three-dimensional coordinates of the center of the adjusted detector meet the preset alignment relationship; the three-dimensional coordinates of the center of the adjusted X-ray source are obtained by using the three-dimensional coordinates of the preset emission position of the adjusted X-ray source plus a preset vector. Specifically, the position of the preset receiving position on the detector is pre-acquired, and the preset emission position is also pre-acquired compared to the center position of the X-ray source (the difference between the two is the preset vector). After each adjustment, the three-dimensional coordinates of the center of the detector can be obtained based on the three-dimensional coordinates of all preset receiving positions, the three-dimensional coordinates of the preset emission position can be obtained based on the three-dimensional coordinates of the preset receiving position, and the three-dimensional coordinates of the center of the X-ray source can be obtained based on the three-dimensional coordinates of the preset emission position plus the preset vector. The preset alignment relationship is the size relationship between the three-dimensional coordinates of the center of the X-ray source and the three-dimensional coordinates of the center of the detector when the X-ray source and the detector meet the alignment requirements. It should be noted that those skilled in the art can set the preset vector and preset conditions accordingly based on the X-ray source and detector of different equipment models to achieve accurate alignment requirements. By intuitively comparing the three-dimensional coordinates of the center of the adjusted X-ray source and the three-dimensional coordinates of the center of the adjusted detector, it can also be quickly determined whether the alignment requirements are met.

[0059] The protection scope of the TDOA-based X-ray source detector alignment method of the embodiment of the present invention is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present invention are included in the protection scope of the present invention.

[0060] The TDOA-based X-ray source detector alignment method of the embodiment of the present invention accurately obtains the relative position data between the X-ray source and the detector by setting a preset transmission position and multiple preset receiving positions, based on the time difference of ultrasonic arrival combined with the data of multiple receiving points, and also uses a flexible preset vector method to adapt to the alignment of various types of equipment, overcomes the shortcomings of traditional alignment methods, and has high precision, high efficiency and good adaptability. In addition, the alignment accuracy is improved by introducing a verification mechanism and multiple adjustments.

[0061] In order to solve the above technical problems existing in the prior art, an embodiment of the present invention further provides an X-ray source detector alignment device based on TDOA.

[0062] Figure 3 FIG. 1 shows a schematic diagram of the structure of the X-ray source detector alignment device based on TDOA according to an embodiment of the present invention, referring to FIG. Figure 3 As shown, the X-ray source detector alignment device based on TDOA in the embodiment of the present invention includes an ultrasonic transceiver module, a position acquisition module and an alignment adjustment module.

[0063] An ultrasonic transceiver module is used to transmit ultrasonic waves at a preset transmitting position of the X-ray source to be adjusted, and respectively receive ultrasonic waves at multiple preset receiving positions of the detector to be adjusted, so as to obtain multiple ultrasonic receiving results;

[0064] A position acquisition module, used for acquiring the relative position data of the X-ray source to be adjusted and the detector to be adjusted based on all the ultrasonic receiving results;

[0065] An alignment adjustment module, used for adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted according to the relative position data, and obtaining the position of the X-ray source after adjustment and the position of the detector after adjustment as an alignment result;

[0066] Wherein, the number of the preset receiving positions is at least 3.

[0067] The TDOA-based X-ray source detector alignment device of the embodiment of the present invention accurately obtains the relative position data between the X-ray source and the detector by setting a preset transmission position and multiple preset receiving positions, based on the time difference of ultrasonic arrival combined with the data of multiple receiving points, and also adapts to the alignment of various types of equipment through a flexible preset vector method, overcoming the shortcomings of traditional alignment methods, and having high precision, high efficiency and good adaptability. In addition, the alignment accuracy is improved by introducing a verification mechanism and multiple adjustments.

[0068] In order to solve the above-mentioned technical problems existing in the prior art, an embodiment of the present invention further provides a storage medium on which a computer program is stored, characterized in that when the program is executed by a processor, all steps of the embodiment of the X-ray source detector alignment method based on TDOA are implemented.

[0069] The specific steps of the TDOA-based X-ray source detector alignment method and the beneficial effects obtained by applying the readable storage medium provided in the embodiment of the present invention are the same as those in the above embodiment and will not be described in detail here.

[0070] A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above-mentioned embodiment can be completed by instructing a processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above-mentioned storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a digital video disc (DVD)), or a semiconductor medium (for example, a solid-state disk (SSD)), etc.

[0071] In order to solve the above technical problems existing in the prior art, an embodiment of the present invention further provides a terminal. Figure 4 A schematic diagram of the structure of the terminal according to an embodiment of the present invention is shown, referring to Figure 4 As shown, the terminal of the embodiment of the present invention includes a processor and a memory, and the memory and the processor are communicatively connected; the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the terminal executes all steps of the X-ray source detector alignment method based on TDOA in the above embodiment.

[0072] The specific steps of the X-ray source detector alignment method based on TDOA and the beneficial effects obtained by the terminal provided by the embodiment of the present invention are the same as those in the above embodiment and will not be described in detail here.

[0073] It should be noted that the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. Similarly, the processor may also be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0074] Although the embodiments disclosed in the present invention are as above, the contents described are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention, but the protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A TDOA-based X-ray source detector alignment method, comprising: Transmitting an ultrasonic wave at a preset transmitting position of the X-ray source to be adjusted, and receiving the ultrasonic wave at a plurality of preset receiving positions of the detector to be adjusted, respectively, to obtain a plurality of ultrasonic wave receiving results; Based on all the ultrasonic receiving results, obtaining the relative position data of the X-ray source to be adjusted and the detector to be adjusted; Adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted according to the relative position data, and obtaining the position of the X-ray source after adjustment and the position of the detector after adjustment as an alignment result; Wherein, the number of the preset receiving positions is at least 3.

2. The method according to claim 1, characterized in that Based on all the ultrasonic receiving results, obtaining the relative position data of the X-ray source to be adjusted and the detector to be adjusted includes: Based on all the ultrasonic receiving results, obtaining the reception time required for each of the preset receiving positions; The three-dimensional coordinates of each of the preset receiving positions are obtained, and based on all the three-dimensional coordinates and the corresponding reception time, the three-dimensional coordinates of the preset transmitting position are obtained as the relative position data of the X-ray source to be adjusted and the detector to be adjusted.

3. The method according to claim 1, characterized in that Also includes: Acquire the relative position data of the adjusted X-ray source and the adjusted detector, and verify whether the relative position data meets the preset conditions; If the preset conditions are met, the adjusted position of the X-ray source and the adjusted position of the detector are output as the final alignment result; Otherwise, the relative positions of the X-ray source to be adjusted and the detector to be adjusted are readjusted until the relative position data meets the preset conditions.

4. The method according to claim 3, characterized in that The preset conditions are: The three-dimensional coordinates of the center of the adjusted X-ray source and the three-dimensional coordinates of the center of the adjusted detector satisfy a preset alignment relationship; The three-dimensional coordinates of the center of the adjusted X-ray source are obtained by using the three-dimensional coordinates of the preset emission position of the adjusted X-ray source plus a preset vector.

5. The method according to claim 1, characterized in that Adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted includes: The position of the X-ray source to be adjusted is adjusted, and / or the position of the detector to be adjusted is adjusted, so as to change the relative position of the X-ray source to be adjusted and the detector to be adjusted.

6. The method according to claim 1, characterized in that The ultrasonic emission source is an ultrasonic transmitter, and the ultrasonic receiving source is an ultrasonic receiver.

7. An X-ray source detector alignment device based on TDOA, characterized in that: include: An ultrasonic transceiver module is used to transmit ultrasonic waves at a preset transmitting position of the X-ray source to be adjusted, and respectively receive ultrasonic waves at multiple preset receiving positions of the detector to be adjusted, so as to obtain multiple ultrasonic receiving results; A position acquisition module, used for acquiring the relative position data of the X-ray source to be adjusted and the detector to be adjusted based on all the ultrasonic receiving results; An alignment adjustment module, used for adjusting the relative positions of the X-ray source to be adjusted and the detector to be adjusted according to the relative position data, and obtaining the position of the X-ray source after adjustment and the position of the detector after adjustment as an alignment result; Wherein, the number of the preset receiving positions is at least 3.

8. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the TDOA-based X-ray source detector alignment method described in any one of claims 1 to 6 is implemented.

9. A terminal, characterized in that: It includes a processor and a memory, and the memory is communicatively connected to the processor; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes the TDOA-based X-ray source detector alignment method as described in any one of claims 1 to 6.

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