Equipment correction method, device, equipment, system and storage medium

Abstract

The invention relates to an equipment correction method, device and system, equipment and a storage medium. The method comprises the steps that a conveying instruction is sent to a robot; the conveying instruction comprises a target conveying path, and the conveying instruction is used for instructing the machine to convey a radioactive source to PET equipment according to the target conveying path; sending a swing source instruction to the PET equipment; the source placing instruction is used for indicating the PET equipment to place the radioactive source to a target position and then carry out equipment correction processing. By adopting the method, radiation damage to a service engineer can be reduced when the PET equipment is corrected.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a device calibration method, apparatus, device, system and storage medium. Background Art

[0002] PET (Positron Emission Tomography) system can perform a one-time whole-body imaging examination, so that images of all regions of the human body can be clearly displayed, thus achieving the effect of a one-time examination. Therefore, it is currently widely used in imaging examinations of patients. In order to ensure the imaging effect of PET equipment, it is generally necessary to perform regular calibration and maintenance on the PET equipment.

[0003] In the related art, when calibrating a PET device, a service engineer generally first randomly places additional radiation sources in the PET device, and then adjusts the components of the PET device to place the radiation sources in appropriate positions; thereafter, the service engineer manually sets the corresponding correction items, starts the radiation sources, and controls the PET device to run the correction items to achieve correction of the PET device.

[0004] However, the above-mentioned way of calibrating the PET equipment may cause radiation damage to the service engineer. Summary of the invention

[0005] Based on this, it is necessary to provide an equipment calibration method, device, equipment, system and storage medium that can reduce radiation damage to service engineers when calibrating PET equipment in response to the above technical problems.

[0006] In a first aspect, the present application provides a device calibration method, the method comprising:

[0007] Sending a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radioactive source to the PET device according to the target transport path;

[0008] Send a source swing instruction to the PET device; the above-mentioned source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0009] In one embodiment, before sending the transport instruction to the robot, the method further includes:

[0010] Acquire a first position of a radiation source and a second position of a PET device input by a user;

[0011] A target transport path is determined according to the first position and the second position.

[0012] In one embodiment, determining the target transport path according to the first position and the second position includes:

[0013] Get the robot's third position;

[0014] determining a first transport path according to the third position and the first position, and determining a second transport path according to the first position and the second position;

[0015] The target transport path is determined based on the first transport path and the second transport path.

[0016] In one embodiment, determining the target transport path according to the first position and the second position includes:

[0017] Determine and display multiple candidate paths according to the first position and the second position;

[0018] Get the target delivery route selected by the user from multiple candidate routes.

[0019] In one embodiment, the method further comprises:

[0020] The target delivery path is displayed on a preset map component, and the first position and the second position are displayed on the map component in a preset display manner.

[0021] In one embodiment, the method further comprises:

[0022] The driving process of the robot is subjected to navigation processing based on the target transport path; the above-mentioned navigation processing includes at least one of local navigation processing and global navigation processing.

[0023] In one embodiment, the method further comprises:

[0024] Control the laser radar device to receive the echo signal sent by the robot;

[0025] The robot is positioned based on the echo signal.

[0026] In a second aspect, the present application also provides a device calibration apparatus, the apparatus comprising:

[0027] A first sending module is used to send a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radioactive source to the PET device according to the target transport path;

[0028] The second sending module is used to send a source swing instruction to the PET device; the above-mentioned source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0029] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0030] Sending a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radioactive source to the PET device according to the target transport path;

[0031] Send a source swing instruction to the PET device; the above-mentioned source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0033] Sending a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radioactive source to the PET device according to the target transport path;

[0034] Send a source swing instruction to the PET device; the above-mentioned source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0035] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0036] Sending a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radioactive source to the PET device according to the target transport path;

[0037] Send a source swing instruction to the PET device; the above-mentioned source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0038] The above-mentioned equipment calibration method, device, equipment, system and storage medium send a transport instruction including a target transport path to the robot to instruct the robot to transport the radioactive source to the PET device according to the target transport path, and then send a source swing instruction to the PET device to instruct the PET device to place the radioactive source at the target position and then perform equipment calibration. In this method, since the robot can be controlled to transport the radioactive source to the PET device by sending a transport instruction to the robot, and the position placement and equipment calibration process of the radioactive source transported by the robot can be realized by sending a source swing instruction to the PET device, the service engineer does not need to transport and place the radioactive source, but can automatically realize the transportation, source swing and equipment calibration process of the radioactive source, thereby avoiding radiation damage to the service engineer in the source swing and calibration process, and at the same time, the efficiency of equipment calibration can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A diagram of an application environment of a device calibration method in an embodiment;

[0040] Figure 2 A schematic diagram of a flow chart of a device calibration method in one embodiment;

[0041] Figure 3 is a flow chart of a device calibration method in another embodiment;

[0042] Figure 4 is a flow chart of a device calibration method in another embodiment;

[0043] Figure 5 It is a schematic diagram of the overall framework of a device calibration method in another embodiment;

[0044] Figure 6 is a structural block diagram of a device calibration apparatus in one embodiment;

[0045] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with 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.

[0047] The device calibration method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. The application environment may include a computer device 101, a robot 102, a radiation source 103 and a PET device 104. The computer device 101, the robot 102 and the PET device 104 may include a communication module to achieve communication between the computer device 101 and the robot 102, and to achieve communication between the computer device 101 and the PET device 104.

[0048] The computer device 101 may be an industrial control host, which may be provided with a laser radar device for detecting the echo signal of the robot. The industrial control host may also include modules such as a processor and a controller for controlling the robot 102 and the PET device 104 and processing the received data of the robot 102 and the PET device 104.

[0049] The robot 102 may include a robot body and a circuit system, wherein the robot body may include: a base, a battery, a mechanical arm, a driving wheel and a driven wheel, etc., wherein the battery may provide power to the robot, the driving wheel and the driven wheel are used to assist the robot body in moving, and the mechanical arm is used to grab the radiation source and place the radiation source at a specific position; the circuit system may include a motor, a gyroscope, an infrared sensor and a gyroscope, wherein the motor may control the movement of the robot 102, the gyroscope may detect the angle (posture), angular velocity or angular acceleration of the robot 102; the infrared sensor may use infrared rays to measure the distance of the robot 102 (such as measuring the distance between the robot 102 and the radiation source 103, measuring the distance between the robot 102 and the PET device 104, etc.); the gyroscope may adjust the direction and elevation of the robot 102 during movement. In addition, the robot 102 may also include a hardware driver, which is used to drive the motor, gyroscope, infrared sensor and gyroscope in the robot 102 to work.

[0050] The PET device 104 may be a single-mode device or a multi-mode device, such as a PET-CT multi-mode device, a PET-MR multi-mode device, etc.

[0051] The radiation source 103 may be a standard radiation source that matches the PET device 104 , and may be set according to the PET device 104 in specific circumstances.

[0052] In one embodiment, Figure 2 As shown, a device calibration method is provided, which is applied to Figure 1 Taking the computer device in the example as an example, the method may include the following steps:

[0053] S202, sending a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radiation source to the PET device according to the target transport path.

[0054] In this step, the general PET equipment calibration needs to use a standard radiation source for calibration. Here, the radiation source needs to be placed on the PET equipment. Generally, the radiation source is not on the PET equipment, so a robot is required to transport the radiation source to the PET equipment.

[0055] When a robot is used to transport a radioactive source, a target transport path for transporting the radioactive source to the location of the PET device can generally be set for the robot through a computer device, and the target transport path and the transport object identification (for example, which radioactive source is being transported, which PET device is being transported, etc.) and other information can be packaged into a transport instruction, and then the transport instruction is sent to the robot.

[0056] The above-mentioned target transport path may be input by a user on the display interface of a computer device, or may be determined by the computer device through the positioning results of the radiation source, the robot and the PET device, or the target transport path may be determined by the user input combined with the positioning results of the computer device. In short, the target transport path may be confirmed.

[0057] After receiving the transport instruction sent by the computer device, the robot can parse the transport instruction to obtain the target transport path in the transport instruction. It can also obtain information such as which radioactive source needs to be transported and which PET device needs to be transported to. Then, the robot loads the specific radioactive source according to the target transport path and transports the radioactive source to the specific PET device along the target transport path.

[0058] S204, sending a source swing instruction to the PET device; the source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0059] In this step, the computer device sends a transport instruction to the robot to instruct the robot to transport the radioactive source to the PET device. After arriving at the PET device, the robot can feed back the arrival instruction to the computer device to inform the computer device that the radioactive source has been transported to the PET device. After that, the computer device can control the PET device to swing the source, so that the computer device can accurately send the source swing instruction to the PET device to avoid mis-sending and saving power consumption. Specifically, the computer device can send a source swing instruction to the PET device, and the source swing instruction may include the need for the PET device to swing the source, and may also include the content of using the placed radioactive source to calibrate the PET device after the source swing is completed. The source swing instruction mainly informs the PET device that there will be a radioactive source coming, and the PET device needs to perform a coordinated operation, such as requiring the PET device to perform movement and control of the bed board, etc. (for example, because the radioactive source is to be placed in the center of the field of view, the radioactive source is directly placed on the bed board by the robot mechanical arm, and then the radioactive source is placed in the center of the field of view by the movement of the bed board itself).

[0060] Of course, the above may also be that after the computer device sends the transport instruction to the robot, it does not need to wait for the arrival instruction returned by the robot, and directly sends the swing source instruction to the computer device; or the computer device may send the swing source instruction to the PET device at the same time as sending the transport instruction to the robot.

[0061] In addition, after receiving the source swing instruction sent by the computer device, the above-mentioned PET device can first place the radiation source at the initial position in the PET device according to the source swing instruction, and then adjust the position of the radiation source to place the radiation source at the target position in the PET device (the target position can be, for example, sent to the PET device by the computer device in the source swing instruction). After the PET device places the radiation source, the PET device can continue to calibrate the PET device. During the specific calibration, for example, the source swing instruction can carry the correction items for calibrating the PET device, and then the PET device can calibrate the PET device in turn according to these correction items to complete the calibration of the PET device.

[0062] Of course, the source swing instruction may also only carry the target position where the radiation source needs to be placed. After the source swing is completed, the PET device can feedback the source swing completion instruction to the computer device. After receiving the source swing completion instruction, the computer device sends the specific correction item to the PET device, and the PET device continues to calibrate the PET device according to the correction item.

[0063] In the above-mentioned equipment calibration method, a transport instruction including a target transport path is sent to the robot to instruct the robot to transport the radioactive source to the PET device according to the target transport path, and then a source swing instruction is sent to the PET device to instruct the PET device to place the radioactive source at the target position and then perform equipment calibration. In this method, since the robot can be controlled to transport the radioactive source to the PET device by sending a transport instruction to the robot, and the position placement and equipment calibration process of the radioactive source transported by the robot can be realized by sending a source swing instruction to the PET device, the service engineer does not need to transport and place the radioactive source, but can automatically realize the transportation, source swing and equipment calibration process of the radioactive source, thereby avoiding radiation damage to the service engineer in the source swing and calibration process, and also improving the efficiency of equipment calibration.

[0064] The above embodiment mentioned that a target transport path for transporting a radioactive source can be sent to the robot. The following embodiment describes the process of determining the target transport path.

[0065] In another embodiment, another device calibration method is provided. Based on the above embodiment, Figure 3 As shown, before the above S202 sends the transport instruction to the robot, the above method may further include the following steps:

[0066] S302: Acquire a first position of a radiation source and a second position of a PET device input by a user.

[0067] In this step, when determining the target transport path for the robot to transport the radioactive source to the PET device, the placement position of the radioactive source and the position of the PET device can be obtained first. The two positions can be obtained by, for example, directly inputting the placement position of the radioactive source on the display interface by the user, which is recorded as the first position, or inputting the position of the PET device, which is recorded as the second position.

[0068] Of course, the computer device can also measure the distance between itself and the radiation source through the ranging sensor on its corresponding industrial control host, and calculate the first position of the radiation source by combining its own position, or it can measure the distance between itself and the PET device through the ranging sensor, and calculate the second position of the PET device by combining its own position.

[0069] Of course, the computer device may also identify the first position of the radiation source and the second position of the PET device with the assistance of a positioning device, or there may be other ways of obtaining the positions, which are not specifically limited here.

[0070] S304, determining a target transport path according to the first position and the second position.

[0071] In this step, after obtaining the first position of the radiation source and the second position of the PET device, the computer device can plan the target transportation path between the two positions based on the first position and the second position. When planning the path specifically, the shortest path from the first position to the second position can be designed in combination with the map component, and some obstacles can be avoided in the middle of the path; or the shortest path from the first position to the second position can be designed in combination with the map component and information such as the speed of the robot; or other methods can be used, which are not specifically limited here.

[0072] In addition, since the robot is generally not necessarily at the location of the radiation source, it is necessary to plan a path from the robot to the radiation source during the process of the robot transporting the radiation source so that the robot can first drive to the location of the radiation source. Based on this, a possible implementation of the above-planned target transportation path may include the following steps:

[0073] Step A1, obtaining the third position of the robot.

[0074] In this step, the current position of the robot can be obtained by the user inputting on the display interface of the computer device, or the computer device can measure the distance between itself and the robot according to the distance measuring sensor on the industrial control host and calculate the position of the robot by combining its own position, or the position of the robot can be identified by the assistance of a positioning device, etc. The position of the robot obtained here can be recorded as the third position.

[0075] Step A2, determining a first transport path according to the third position and the first position, and determining a second transport path according to the first position and the second position.

[0076] In this step, after obtaining the third position of the robot, the first position of the radiation source and the second position of the PET device, the computer device can first plan a path from the position of the robot to the position of the radiation source, that is, generally the robot needs to be moved to the radiation source to load the radiation source; then, a path from the position of the radiation source to the position of the PET device can be planned, that is, the robot can move from the position of the radiation source to the PET device after loading the radiation source.

[0077] That is, in this step, a path from the position of the robot to the position of the radiation source is planned, which is recorded as the first transport path, and a path from the position of the radiation source to the position of the PET device is also planned, which is recorded as the second transport path.

[0078] Step A3: determining a target transport path according to the first transport path and the second transport path.

[0079] In this step, after obtaining the first transport path from the position of the robot to the position of the radiation source and the second transport path from the position of the radiation source to the position of the PET device, the two paths can be combined to obtain the robot's target transport path, that is, the robot first moves to the radiation source position according to the first target transport path to load the radiation source, and then moves the loaded radiation source to the PET device according to the second target transport path.

[0080] For example, see Figure 1 As shown, the computer device can send a transport instruction to the robot and a source swing instruction to the PET device (such as the two dotted lines in the figure). The robot can first move to the radiation source position according to the transport instruction and the path I in the figure. After loading the radiation source, the robot can transport the radiation source to the PET device according to the path II; then the robot can return to the radiation source position according to the path III and return to the robot's default position according to the path IV, etc.

[0081] In this embodiment, the robot's target transport path is determined according to the position of the radiation source and the position of the PET device input by the user, so that an accurate transport path can be provided to the robot, ensuring the effectiveness of the robot in transporting the radiation source. In addition, by first planning the transport path from the robot to the radiation source in combination with the position of the robot, and then planning the transport path from the radiation source to the PET device, the position of the robot is not limited, so that the robot can plan a relatively accurate transport path regardless of its position, thereby improving the efficiency and accuracy of the radiation source transport.

[0082] The above embodiments mentioned that the target delivery path of the robot can be planned according to the location of the radiation source and the location of the PET device. In the actual process of determining the path, there may be multiple paths. The following embodiments describe how to determine the target delivery path through multiple paths.

[0083] In another embodiment, another device calibration method is provided. Based on the above embodiment, Figure 4 As shown, the above S304 may include the following steps:

[0084] S402: Determine and display multiple candidate paths according to the first position and the second position.

[0085] In this step, after obtaining the first position of the radiation source and the second position of the PET device, a preset map component (such as a commonly used map, etc.) can be called up, and the two positions can be input into the map component to plan the path between the two positions. Generally, multiple paths may be planned, all of which can be recorded as candidate paths.

[0086] After obtaining multiple candidate paths, the multiple candidate paths can be directly displayed on the map component, or the multiple candidate paths can be set to corresponding labels and displayed on the display interface of the computer device, or the multiple candidate paths can be displayed on the map component and the labels of each candidate path can be displayed on the display interface, etc., or other situations can be possible, which are not specifically limited here.

[0087] S404, obtaining a target delivery route selected by the user from a plurality of candidate routes.

[0088] In this step, after multiple candidate paths are displayed, the user can intuitively see these candidate paths, and then select a path from each candidate path as the target transportation path of the radiation source based on relevant considerations. The specific selection can be that the user inputs the path to be selected on the display interface, and the candidate path selected by the user is the target transportation path.

[0089] In addition, each candidate path here may include a path from the robot to the radiation source and a path from the radiation source to the PET device. When the user selects from multiple candidate paths here, he may select one path from the path from the robot to the radiation source and the path from the radiation source to the PET device, and use the default path for the other path. Alternatively, the user may select both paths separately, or there may be other selection situations.

[0090] In this embodiment, multiple candidate paths are planned and displayed based on the location of the radiation source and the location of the PET device, and then the target transportation path selected by the user from the multiple candidate paths is obtained. In this way, through interaction with the user, the final target transportation path is determined to meet the user's needs, thereby improving the user experience.

[0091] The above embodiment mentioned that a target transport path can be selected from a plurality of displayed candidate paths. The following embodiment will describe the process of displaying the target transport path.

[0092] In another embodiment, another device calibration method is provided. Based on the above embodiment, the above method may further include the following steps:

[0093] The target delivery path is displayed on a preset map component, and the first position and the second position are displayed on the map component in a preset display manner.

[0094] Among them, as mentioned above, the map component can be a certain map. After the computer device obtains the target delivery path selected by the user from multiple candidate paths, the map component can be automatically popped out, and then the target delivery path can be displayed on the map component. The display of the target delivery path here can, for example, highlight the target delivery path on the map component and weaken the display of other unselected candidate paths; or it can also be that only the target delivery path is displayed on the map component, and other unselected candidate paths are directly hidden, etc.

[0095] Of course, other contents related to the target transport path may also be displayed on the map component, for example, the first position of the radiation source and the second position of the PET device in the target transport path may be displayed on the map component in a preset display mode, and the third position of the robot may also be displayed on the map component in a preset display mode. The preset display mode here may be, for example, a highlight display mode or a display mode using a specific color mark, etc.

[0096] In this embodiment, by displaying the target transportation path on the map component and displaying the first position and the second position in a preset display mode on the map component, the user can intuitively see the respective locations and transportation paths of the radiation source and the PET device, which facilitates the user to make subsequent decisions in a timely manner, thereby improving the user experience.

[0097] In the process of the robot loading the radioactive source and transporting the radioactive source to the PET device, the robot may deviate. In order to avoid this and ensure the accuracy of the robot's transportation, it is proposed that the robot can be positioned. The following embodiment illustrates this process.

[0098] In another embodiment, another device calibration method is provided. Based on the above embodiment, the above method may further include the following steps:

[0099] The driving process of the robot is subjected to navigation processing based on the target transport path; the above-mentioned navigation processing includes at least one of local navigation processing and global navigation processing.

[0100] In this step, global navigation processing refers to the process of coarse positioning of the robot during the transportation process, for example, all nodes involved in the transportation process (including the robot) are positioned to achieve coarse positioning of the robot; local navigation processing can be considered as the process of fine positioning of the robot during the transportation process, for example, the fine positioning of the robot can be achieved by combining several nodes that interact or are associated with the robot.

[0101] Specifically, in this step, after obtaining the target delivery path of the robot, a navigation path can be generated according to the target delivery path, and the robot can be controlled to deliver the radioactive source according to the navigation path. During the driving process of the target robot delivering the radioactive source, the robot can be precisely positioned continuously by using global navigation + local navigation, and then the navigation path is continuously adjusted according to the positioning result, so that the robot can deliver the radioactive source to the PET device, ensuring that the robot will not deviate from the delivery path.

[0102] In the above-mentioned robot positioning process, one possible positioning method may be to use the laser radar device on the industrial control host corresponding to the computer device for positioning, for example, the computer device may control the laser radar device to receive the echo signal sent by the robot; and the robot is positioned according to the echo signal. Here, the laser radar may be used to periodically receive the echo signal returned by the robot, and the current location of the robot may be calculated according to different echo signals, thereby realizing accurate and rapid positioning of the robot.

[0103] In this embodiment, global navigation plus local navigation is used to navigate the robot's driving process of transporting the radioactive source along the target transport path. Such precise positioning and navigation processing can prevent the robot from deviating from the transport path, thereby ensuring that the robot can accurately and efficiently transport the radioactive source to the PET device.

[0104] A detailed embodiment is given below to illustrate the technical solution of the present application. Based on the above embodiment, the method may include the following contents:

[0105] S1, obtaining a first position of a radiation source and a second position of a PET device input by a user;

[0106] S2, obtain the third position of the robot;

[0107] S3, determining and displaying a plurality of first candidate paths according to the third position and the first position;

[0108] S4, obtaining a first delivery route selected by a user from a plurality of first candidate routes;

[0109] S5, determining and displaying a plurality of second candidate paths according to the first position and the second position;

[0110] S6, obtaining a second delivery route selected by the user from a plurality of second candidate routes;

[0111] S7, combining the first transport path and the second transport path to obtain a target transport path;

[0112] S8, sending a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radioactive source to the PET device according to the target transport path;

[0113] S9, displaying the target transportation path on a preset map component, and displaying the first position and the second position on the map component in a preset display manner;

[0114] S10, performing navigation processing on the driving process of the robot based on the target transport path; the navigation processing includes at least one of local navigation processing and global navigation processing;

[0115] S11, after the robot transports the radiation source to the PET device, a source placement instruction is sent to the PET device; the source placement instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0116] See also Figure 5 As shown in the overall framework schematic diagram, the framework includes a user interaction layer, a software system, a circuit system and a robot body.

[0117] Among them, the interactive layer is mainly used to provide users with the settings of the robot's transportation path on the computer device, that is, users can set the path target, that is, users can set where to transport the radiation source.

[0118] The software system mainly refers to the actions performed at the software level in the computer device, which may include a map generation module, an autonomous positioning module, a global navigation module and a local navigation module, and the modules may be interconnected; the map generation module may provide map elements when the computer device generates a target delivery path for the robot, so as to generate a more accurate delivery path; the autonomous positioning module may be implemented, for example, by using a ranging sensor or a positioning sensor, and is mainly used to locate the position of the robot; the global navigation module and the local navigation module may provide precise positioning and path navigation when the robot is transporting the radioactive source along the target delivery path, to ensure that the robot can accurately drive to the PET device and prevent the robot from running off track.

[0119] The circuit system includes the circuit system corresponding to the computer device and the circuit system corresponding to the robot; wherein the circuit system corresponding to the computer device can mainly be the circuit system in the industrial control host, and the industrial control host can also include a laser radar device, and the laser radar device can be connected to the above-mentioned map generation module and the autonomous positioning module to provide a positioning data source for the map generation module and the autonomous positioning module. The circuit system corresponding to the robot can include a hardware driver, which is connected to the motor, gyroscope, infrared rangefinder and gyroscope and other hardware in the robot to drive these hardware to work.

[0120] The robot body may include a base, a battery, a robotic arm, a driving wheel and a driven wheel, etc., wherein the battery can provide power to the robot, the driving wheel and the driven wheel are used to assist the robot body in movement, and the robotic arm is used to grab the radiation source and place the radiation source at a specific location.

[0121] It should be noted that Figure 5 The font form in the embodiment does not affect the essential content of the embodiment.

[0122] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0123] Based on the same inventive concept, the embodiment of the present application also provides a device calibration device for implementing the device calibration method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more device calibration device embodiments provided below can refer to the limitations on the device calibration method above, and will not be repeated here.

[0124] In one embodiment, Figure 6 As shown, a device calibration device is provided, comprising: a first sending module and a second sending module, wherein:

[0125] A first sending module is used to send a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radioactive source to the PET device according to the target transport path;

[0126] The second sending module is used to send a source swing instruction to the PET device; the above-mentioned source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

[0127] In another embodiment, another device calibration device is provided. Based on the above embodiment, before the first sending module sends a transport instruction to the robot, the device may further include:

[0128] An acquisition module, used for acquiring a first position of a radiation source and a second position of a PET device input by a user;

[0129] The path determination module is used to determine the target transportation path according to the first position and the second position.

[0130] Optionally, the path determination module may include:

[0131] A position acquisition unit, used for acquiring a third position of the robot;

[0132] a first path determining unit, configured to determine a first transport path according to the third position and the first position, and to determine a second transport path according to the first position and the second position;

[0133] The second path determining unit is used to determine a target transport path according to the first transport path and the second transport path.

[0134] In another embodiment, another device calibration apparatus is provided. Based on the above embodiment, the path determination module may include:

[0135] a determination and display unit, configured to determine and display a plurality of candidate paths according to the first position and the second position;

[0136] The selection unit is used to obtain a target delivery route selected by a user from a plurality of candidate routes.

[0137] In another embodiment, another device calibration apparatus is provided. Based on the above embodiment, the above apparatus may further include:

[0138] The path and position display module is used to display the target transportation path on a preset map component, and to display the first position and the second position on the map component in a preset display mode.

[0139] In another embodiment, another device calibration apparatus is provided. Based on the above embodiment, the above apparatus may further include:

[0140] The navigation module is used to perform navigation processing on the driving process of the robot based on the target transportation path; the above navigation processing includes at least one of local navigation processing and global navigation processing.

[0141] In another embodiment, another device calibration apparatus is provided. Based on the above embodiment, the above apparatus may further include:

[0142] A control module, used to control the laser radar device to receive the echo signal sent by the robot;

[0143] The positioning module is used to position the robot according to the echo signal.

[0144] Each module in the above-mentioned device calibration apparatus can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0145] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a device correction method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball or a touch pad set on the computer device housing, or an external keyboard, touch pad or mouse, etc.

[0146] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0148] Send a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radiation source to the PET device according to the target transport path; send a source placement instruction to the PET device; the source placement instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration.

[0149] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0150] The first position of the radiation source and the second position of the PET device input by the user are obtained; and the target transport path is determined according to the first position and the second position.

[0151] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0152] Acquire a third position of the robot; determine a first transport path according to the third position and the first position, and determine a second transport path according to the first position and the second position; and determine a target transport path according to the first transport path and the second transport path.

[0153] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0154] A plurality of candidate routes are determined and displayed according to the first position and the second position; and a target transport route selected by a user from the plurality of candidate routes is obtained.

[0155] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0156] The target delivery path is displayed on a preset map component, and the first position and the second position are displayed on the map component in a preset display manner.

[0157] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0158] The driving process of the robot is subjected to navigation processing based on the target transport path; the above-mentioned navigation processing includes at least one of local navigation processing and global navigation processing.

[0159] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0160] The laser radar device is controlled to receive the echo signal sent by the robot; and the robot is positioned according to the echo signal.

[0161] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0162] Send a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radiation source to the PET device according to the target transport path; send a source placement instruction to the PET device; the source placement instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0164] The first position of the radiation source and the second position of the PET device input by the user are obtained; and the target transport path is determined according to the first position and the second position.

[0165] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0166] Acquire a third position of the robot; determine a first transport path according to the third position and the first position, and determine a second transport path according to the first position and the second position; and determine a target transport path according to the first transport path and the second transport path.

[0167] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0168] A plurality of candidate routes are determined and displayed according to the first position and the second position; and a target transport route selected by a user from the plurality of candidate routes is obtained.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0170] The target delivery path is displayed on a preset map component, and the first position and the second position are displayed on the map component in a preset display manner.

[0171] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0172] The driving process of the robot is subjected to navigation processing based on the target transport path; the above-mentioned navigation processing includes at least one of local navigation processing and global navigation processing.

[0173] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0174] The laser radar device is controlled to receive the echo signal sent by the robot; and the robot is positioned according to the echo signal.

[0175] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0176] Send a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radiation source to the PET device according to the target transport path; send a source placement instruction to the PET device; the source placement instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration.

[0177] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0178] The first position of the radiation source and the second position of the PET device input by the user are obtained; and the target transport path is determined according to the first position and the second position.

[0179] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0180] Acquire a third position of the robot; determine a first transport path according to the third position and the first position, and determine a second transport path according to the first position and the second position; and determine a target transport path according to the first transport path and the second transport path.

[0181] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0182] A plurality of candidate routes are determined and displayed according to the first position and the second position; and a target transport route selected by a user from the plurality of candidate routes is obtained.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0184] The target delivery path is displayed on a preset map component, and the first position and the second position are displayed on the map component in a preset display manner.

[0185] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0186] The driving process of the robot is subjected to navigation processing based on the target transport path; the above-mentioned navigation processing includes at least one of local navigation processing and global navigation processing.

[0187] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0188] The laser radar device is controlled to receive the echo signal sent by the robot; and the robot is positioned according to the echo signal.

[0189] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are all data fully authorized by all parties.

[0190] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0191] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A device calibration method, characterized in that: The method comprises: Sending a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radiation source to the PET device according to the target transport path; A source swing instruction is sent to the PET device; the source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

2. The method according to claim 1, characterized in that Before sending the transport instruction to the robot, the method further includes: Acquire a first position of a radiation source and a second position of the PET device input by a user; A target transport path is determined according to the first position and the second position.

3. The method according to claim 2, characterized in that The determining of the target transport path according to the first position and the second position includes: Acquire a third position of the robot; determining a first transport path according to the third position and the first position, and determining a second transport path according to the first position and the second position; A target transport path is determined based on the first transport path and the second transport path.

4. The method according to claim 2, characterized in that: The determining of the target transport path according to the first position and the second position includes: Determine and display multiple candidate paths according to the first position and the second position; The target delivery route selected by the user from among the plurality of candidate routes is obtained.

5. The method according to claim 2, characterized in that: The method further comprises: The target transport path is displayed on a preset map component, and the first position and the second position are displayed on the map component in a preset display manner.

6. The method according to claim 5, characterized in that The method further comprises: Navigation processing is performed on the driving process of the robot based on the target transport path; the navigation processing includes at least one of local navigation processing and global navigation processing.

7. An equipment calibration device, characterized in that: The device comprises: A first sending module is used to send a transport instruction to the robot; the transport instruction includes a target transport path, and the transport instruction is used to instruct the robot to transport the radiation source to the PET device according to the target transport path; The second sending module is used to send a source swing instruction to the PET device; the source swing instruction is used to instruct the PET device to place the radiation source at the target position and then perform device calibration processing.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A device calibration system, characterized in that: include: A robot, a PET device, and a computer device as claimed in claim 8; The computer device is used to send a transport instruction to the robot; the transport instruction includes a target transport path; The robot is used to transport the radioactive source to the PET device according to the target transport path; The computer device is further used to send a source swing instruction to the PET device; The PET device is used to place the radiation source at the target position according to the source placement instruction and then perform device calibration processing.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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