A CT scanning bed control method and system based on EtherCAT motion control

Abstract

The application discloses a CT scanning bed control method and system based on EtherCAT motion control, which comprises the following steps: selecting a scanning mode according to scanning requirements and calculating motion parameters corresponding to the scanning mode; receiving the scanning mode and motion parameter information and converting the scanning mode and motion parameter information into a motion mode instruction of a scanning bed through TCP protocol processing; receiving the motion mode instruction and converting the motion mode instruction into an EtherCAT protocol format; receiving the motion mode instruction in the EtherCAT protocol format and controlling the motion of the scanning bed based on the motion mode instruction in the EtherCAT protocol format through a servo driver to complete a scanning task. The application adopts EtherCAT full-duplex communication, and data transmission is more timely and accurate, so that high-speed and stable information interaction is realized; a sine line planning model is introduced, so that the motion trajectory of the scanning bed can be accurately planned according to different scanning modes, motion errors and shaking are reduced, and the CT scanning precision is improved.

Description

Technical Field

[0001] This invention relates to the field of motion control technology, and in particular to a CT scanning bed control method and system based on EtherCAT motion control. Background Technology

[0002] In the field of CT medical equipment, precise motion control of the scanning bed is crucial for acquiring high-quality scan images, improving diagnostic accuracy, and enhancing patient experience. With the continuous development of medical technology, higher demands are placed on the accuracy, speed, and stability of CT scans. However, traditional CT scanning bed motion control technology has revealed numerous problems in practical applications. For example, there are deficiencies in the communication methods and control architecture. Previously, CT scanning bed motion control mostly used CAN or RS485 communication methods to control servo drives. This communication method is half-duplex, with a communication rate of only 1 Mbps, resulting in significant data transmission delays, communication times in the millisecond range, and poor synchronization. When the scanning bed performs complex motion control, the various components cannot transmit information in a timely and accurate manner, leading to poor motion coordination and affecting scanning accuracy. Furthermore, its control method often uses parallel wiring, resulting in complex wiring, which not only increases the equipment's wiring costs and failure risks but also limits the number of expansion nodes. CAN or RS485 has a maximum of 127 or 255 expansion nodes, respectively, which is insufficient to meet the increasingly complex CT systems' need for more functional nodes. At the same time, the short communication distance between the master station and slave stations limits the flexibility of equipment layout. Building upon this, the traditional 7-segment constant Jerk control method, when used for scanning bed motion planning, suffers from discontinuous Jerk during acceleration and deceleration periods. This necessitates piecewise integration and complex logical judgments in constructing the motion curve. This not only increases the computational burden on the control system and prolongs motion planning time but also easily introduces errors during calculation, leading to deviations between the actual and ideal scanning bed trajectories, thus affecting image quality. For example, insufficient scanning bed motion precision can result in blurred lesion images, impacting the doctor's assessment of the condition. These shortcomings in communication and motion control directly extend scan preparation time, increase patient waiting time on the scanning bed, reduce patient turnover, and affect hospital examination efficiency. Furthermore, complex wiring and unstable motion control challenge the reliability and stability of the entire CT system, increasing the probability of equipment failure, raising maintenance costs, and making it difficult to meet the needs of long-term stable clinical use. Summary of the Invention

[0003] In view of this, the present invention proposes a CT scanning bed control method and system based on EtherCAT motion control, which can achieve high-speed communication, simplified wiring, precise motion control, efficient scanning, and stable and reliable system operation. The present invention provides the following technical solution:

[0004] A CT scanning bed control method based on EtherCAT motion control includes: selecting a scanning mode according to scanning requirements and calculating motion parameters corresponding to the scanning mode; receiving the scanning mode and motion parameter information and converting it into a scanning bed motion mode command via TCP protocol; receiving the motion mode command and converting it into EtherCAT protocol format; receiving the EtherCAT protocol format motion mode command and controlling the scanning bed movement via a servo driver based on the EtherCAT protocol format motion mode command to complete the scanning task.

[0005] Optionally, the method further includes: receiving an IO input signal; if the input signal is an emergency stop signal and a brake signal, then outputting a brake feedback signal.

[0006] Optionally, the step of controlling the scanning bed movement via motion mode commands based on the EtherCAT protocol format from a servo driver includes:

[0007] The scanning bed is controlled by motion mode commands based on the EtherCAT protocol format from the EtherCAT_X servo driver, and its status is fed back.

[0008] The scanning bed is controlled by motion mode commands based on the EtherCAT protocol format from the EtherCAT_Y servo drive, and its status is fed back.

[0009] The scanning bed is controlled by motion mode commands based on the EtherCAT protocol format from the EtherCAT_Z servo drive, and its status is fed back.

[0010] Optionally, the scanning method includes stationary scanning, positioning scanning, spiral scanning, and axial scanning;

[0011] If spiral scan is selected, the scan mode information includes: target velocity. V t Maximum Jerk value J m Maximum acceleration limit A l and scan length L ;

[0012] If axis scan is selected, the scan mode information includes: step distance D and maximum Jerk value. J m Maximum acceleration limit A l and speed limit V l .

[0013] Optionally, the method for calculating the motion parameters corresponding to the scanning mode includes:

[0014] If the current scanning method is identified as a spiral scan, the maximum acceleration is calculated using a sine curve programming model: ;

[0015] when When determining the acceleration time Uniform time ;

[0016] The motion parameters for the acceleration and deceleration phases are calculated based on the model formula. Specifically: the velocity function for the acceleration phase is: ,in , The velocity function during the deceleration phase is: (The initial moment of motion is shown). ,in Acceleration function of the acceleration segment: Acceleration function of the deceleration phase: Position function of the acceleration segment: ,in ,and Position function of the deceleration segment: ,in ,and Jerk function for acceleration segment: Jerk function for the deceleration phase: .

[0017] Optionally, if the current scanning mode is detected as axis scanning, the maximum speed is determined first. ;

[0018] Compare Vm and Vl, if ,but ,otherwise ,and ,in, This is the maximum acceleration;

[0019] Calculate the total displacement during the acceleration phase , , ,Compare and The size, when hour, , ,when hour, , , , ;

[0020] The motion parameters for the acceleration and deceleration phases are calculated based on the model formula. Specifically: the velocity function for the acceleration phase is: ,in , The velocity function during the deceleration phase is: (The initial moment of motion is shown). ,in Acceleration function of the acceleration segment: Acceleration function of the deceleration phase: Position function of the acceleration segment: ,in ,and Position function of the deceleration segment: ,in ,and Jerk function for acceleration segment: Jerk function for the deceleration phase: .

[0021] This invention further discloses a CT scanning bed control system based on EtherCAT motion control, comprising:

[0022] The parameter calculation module is used to select the scanning method according to the scanning requirements and calculate the motion parameters corresponding to the scanning method;

[0023] The protocol conversion module is used to receive the scanning mode and motion parameter information, and convert it into motion mode instructions for the scanning bed via TCP protocol processing; it is also used to...

[0024] Receive the motion mode command and convert it into EtherCAT protocol format;

[0025] The motion control module receives motion mode commands in EtherCAT protocol format and controls the scanning bed movement based on these commands via a servo driver to complete the scanning task.

[0026] Optionally, it also includes: an IO control module, used to receive IO input signals; if the input signals are emergency stop signals and brake signals, then output brake feedback signals.

[0027] The present invention further discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0028] The present invention further discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method.

[0029] According to the technical solution of this invention, the scanning method is first determined based on the patient's examination needs. During helical scanning, parameters such as target speed and maximum Jerk value are acquired; during AxialStep scanning, parameters such as step distance are acquired. Next, a sinusoidal planning model is used to calculate motion trajectory parameters, such as speed, acceleration, position, and Jerk function, based on the parameters of different scanning methods. Then, the CT scan control system transmits the scanning method information to the ARM+FPGA control unit, which, combined with the model parameters, generates scanning bed motion commands via TCP protocol. During this process, the IO interface board processes relevant signals to ensure system safety and stability. Subsequently, the ARM+EtherCAT control unit converts the commands into EtherCAT protocol format, sends them to each servo driver via the network, and monitors their status. Finally, each servo driver drives the servo motor, causing the scanning bed to move precisely according to the planned motion curve, completing the scanning task. Employing EtherCAT full-duplex communication, compared to traditional CAN or RS485 half-duplex communication, communication time is improved from milliseconds to microseconds, and the data rate is increased from 1M to 100M, resulting in better synchronization, more timely and accurate data transmission, and achieving high-speed and stable information interaction. The control method was changed from parallel to daisy-chain serial, significantly reducing wiring and facilitating system expansion and flexible layout, enabling distributed real-time control. A sinusoidal planning model was introduced, simplifying the complex 7-segment planning to 3 segments. The motion curve is n-order differentiable, and the speed control segment is Jerk continuous, enabling precise planning of the scanning bed motion trajectory according to different scanning modes, reducing motion errors and jitter, and improving scanning accuracy. Attached Figure Description

[0030] For illustrative and not limiting purposes, the present invention will now be described in conjunction with embodiments and accompanying drawings, wherein:

[0031] Figure 1 This is a flowchart illustrating the CT scanning bed control method based on EtherCAT motion control in an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of the CT scanning bed control system based on EtherCAT motion control in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the electronic device in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the control device structure of an exemplary CT scanning bed in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the control device for an exemplary CT scanning bed in an embodiment of the present invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.

[0037] It should be noted that, where there is no conflict, the embodiments and features of the embodiments in this application can be combined with each other. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0038] refer to Figure 1 This embodiment discloses a CT scanning bed control method based on EtherCAT motion control. This method is applied to a CT scanning bed control device, which, executively, includes a control layer, a network layer, a driver layer, and an execution layer. The control layer includes a CT scanning control system for executing scanning modes and an ARM+FPGA control unit for receiving the selected scanning mode via TCP. The network layer includes an ARM+EtherCAT control unit, which includes an EtherCAT master station for sending information received from the ARM+FPGA control unit to the corresponding EtherCAT servo drivers via EtherCAT protocol to achieve motion and monitor their status. The driver layer includes multiple servo drivers for executing the actions of the servo drivers according to the control information of the EtherCAT protocol.

[0039] Specifically, the method includes:

[0040] S100: Select the scanning method according to the scanning requirements and calculate the motion parameters corresponding to the scanning method.

[0041] Before performing a scan, the operator selects the appropriate scanning method based on the patient's specific condition, the area to be examined, and the clinical diagnostic purpose. Available scanning methods include stationary scanning, localization scanning, spiral scanning, and axial scanning. Spiral and axial scanning require precise control of the CT scan's motion path.

[0042] Traditionally, a constant Jerk control method with 7 segments is used for spiral scanning and axis scanning. The Jerk is discontinuous during acceleration and deceleration, and the construction of the motion curve depends on piecewise integration and complex logic judgment.

[0043] Based on this, this implementation uses a sinusoidal programming model to construct motion curves, enabling precise planning of the scanning bed's motion trajectory according to different scanning modes, reducing motion errors and jitter, and improving scanning accuracy. By introducing an nth-order differentiable motion equation through the sinusoidal programming model to describe the trajectory of velocity change segments, the relationship between Jerk, acceleration, velocity, and position can be directly calculated based on specific parameter inputs without integration, making the interdependencies and constraints more intuitive. This reduces the motion curve planning from 7 segments to 3 segments, significantly reducing the complexity of the theoretical model, decreasing computational load, and improving motion planning efficiency.

[0044] This embodiment takes helical scanning and axial scanning as examples. When the scanning mode is selected as helical scanning, the scanning mode information includes: target speed. V t Maximum Jerk value J m Maximum acceleration limit A l and scan length L Furthermore, methods for calculating the motion parameters corresponding to the scanning mode include: calculating the maximum acceleration using a sinusoidal programming model. ;when When determining the acceleration time Uniform time ; Calculate the motion parameters for the acceleration and deceleration phases based on the model formula. Specifically: the velocity function for the acceleration phase: ,in , The velocity function during the deceleration phase is: (The initial moment of motion is shown). ,in Acceleration function of the acceleration segment: Acceleration function of the deceleration phase: Position function of the acceleration segment: ,in ,and Position function of the deceleration segment: ,in ,and Jerk function for acceleration segment: Jerk function for the deceleration phase: .

[0045] When the scanning mode is axis scan, the scanning mode information includes: step distance D, maximum Jerk value. J m Maximum acceleration limit A l and speed limit V l First, determine the maximum speed. Compare Vm and Vl, if ,but ,otherwise ,and ; Calculate the total displacement during the acceleration phase , , ,Compare and The size, when hour, , ,when hour, , , , ; Calculate the motion parameters for the acceleration and deceleration phases based on the model formula. Specifically: the velocity function for the acceleration phase: ,in , The velocity function during the deceleration phase is: (The initial moment of motion is shown). ,in Acceleration function of the acceleration segment: Acceleration function of the deceleration phase: Position function of the acceleration segment: ,in ,and Position function of the deceleration segment: ,in ,and Jerk function for acceleration segment: Jerk function for the deceleration phase: .

[0046] S200: Receive the scanning mode and motion parameter information, and process it through the TCP protocol to convert it into motion mode instructions for the scanning bed.

[0047] For example, after receiving the scanning method and motion parameter information, the aforementioned ARM+FPGA control unit performs deep processing using the TCP protocol. The TCP protocol, with its reliable data transmission characteristics, plays a crucial role in this process. It first verifies the received data using specific verification algorithms, such as Cyclic Redundancy Check (CRC), to check for errors during transmission. If an error is found, a retransmission mechanism is immediately initiated to ensure data accuracy. After confirming the data is error-free, the TCP protocol encapsulates the data, adding necessary transmission control information, such as source address, destination address, and port number, enabling accurate transmission over the network and correct parsing at the receiving end.

[0048] Furthermore, the ARM+FPGA control unit, based on the data processed by the TCP protocol and combined with the mechanical structure characteristics, dynamic parameters, and actual working requirements of the scanning bed, converts the scanning mode and motion parameter information into specific motion commands for the scanning bed. During the conversion process, all motion stages of the scanning bed, such as start-up, acceleration, constant speed, deceleration, and stopping, are fully considered. For example, based on the calculated acceleration and velocity parameters, the time nodes and motion state changes for each stage are determined; and the motion path of the scanning bed is precisely planned based on the displacement parameters. Simultaneously, the commands are optimized, taking into account factors such as the inertia and friction of the scanning bed, adjusting the command parameters in advance to compensate for errors during the motion process, ensuring the smoothness and accuracy of the scanning bed's motion. After the command conversion is completed, the ARM+FPGA control unit verifies the generated scanning bed motion commands. By simulating the scanning bed's motion process, the actual motion trajectory is compared with the theoretically planned trajectory to check the rationality and accuracy of the commands. If problems are found in the commands, such as motion conflicts or sudden speed changes, adjustments and corrections are made promptly. In addition, the unit establishes a feedback mechanism to feed back the results of command conversion and verification to the CT scan control system, enabling the system to monitor the status of command generation in real time, providing comprehensive information support for subsequent scanning operations, and ensuring the efficient and stable operation of the entire CT scan process.

[0049] S300: Receives the motion mode command and converts it into EtherCAT protocol format.

[0050] Using an ARM+EtherCAT control unit as the receiver of motion mode commands, the generated scanning bed motion mode commands are obtained from the ARM+FPGA control unit. During the reception process, a specific communication handshake protocol is used to ensure the accuracy and integrity of data transmission. Once a command is received, the ARM+EtherCAT control unit immediately initiates a preliminary verification procedure, performing an integrity check on the command by calculating the checksum or using a Cyclic Redundancy Check (CRC) algorithm. If an error is found in the command, the ARM+EtherCAT control unit promptly sends an error feedback message to the ARM+FPGA control unit, requesting the retransmission of the correct command, thereby ensuring the accuracy of the command data processed subsequently. After confirming the accuracy of the motion mode commands, the ARM+EtherCAT control unit first parses the various parameters in the motion mode commands, clarifying key information such as the target position, velocity, acceleration, and motion time sequence of the scanning bed. Then, according to the specifications and requirements of the EtherCAT protocol, this information is classified, organized, and formatted. For example, the velocity parameter in the motion command is re-encoded according to the data type and encoding method specified by the EtherCAT protocol so that it can be successfully embedded into the EtherCAT protocol frame later. Meanwhile, the ARM+EtherCAT control unit will also query system configuration information to obtain parameters related to the EtherCAT network, such as slave node addresses and communication rates, to provide necessary network configuration support for protocol conversion.

[0051] Furthermore, the ARM+EtherCAT control unit encapsulates the processed motion mode command information into EtherCAT protocol frames according to the EtherCAT protocol standard. During encapsulation, necessary EtherCAT header information is added to the commands, including a frame start flag, frame length, command type, source address, and destination address. This header information not only ensures the correct transmission and recognition of the protocol frame in the EtherCAT network but also provides crucial information for subsequent command parsing by slave nodes. Simultaneously, the data fields of the protocol frame are filled according to the data content in the motion mode command. For example, if the motion mode command contains the speed and position information of the scanning bed at different times, this information will be accurately filled into the data fields and arranged according to the format specified by the EtherCAT protocol. In addition, to ensure data reliability, the ARM+EtherCAT control unit also adds a check field to the protocol frame. A specific check algorithm is used to perform check calculations on the entire protocol frame, generating a check value which is then filled into the check field.

[0052] After completing the protocol conversion, the ARM+EtherCAT control unit optimizes the generated EtherCAT protocol format commands. Specifically, it adjusts the transmission order and time interval of protocol frames based on the real-time load of the EtherCAT network and the priority requirements of the scanning bed movement. For example, when the network load is high, the transmission interval of command frames is appropriately adjusted to avoid network congestion and ensure stable command transmission; for commands related to emergency braking or critical movement phases of the scanning bed, their transmission priority is increased to ensure timely response from the scanning bed. The optimized EtherCAT protocol format commands are temporarily stored in the buffer of the ARM+EtherCAT control unit, awaiting transmission to the servo drives in the EtherCAT network.

[0053] S400: Receives motion mode commands in EtherCAT protocol format and controls the scanning bed movement based on the motion mode commands in EtherCAT protocol format via servo drive to complete the scanning task.

[0054] In this embodiment, the servo drivers include EtherCAT_X servo drivers, EtherCAT_Y servo drivers, and EtherCAT_Z servo drivers to achieve multi-directional control of the CT scanning bed. Upon receiving motion mode commands in EtherCAT protocol format, the EtherCAT_X, EtherCAT_Y, and EtherCAT_Z servo drivers control the scanning bed's movements based on the EtherCAT protocol format motion mode commands and provide feedback on its status.

[0055] Specifically, the EtherCAT X, Y, and Z servo drives, acting as the receiving terminals for motion mode commands, continuously monitor the EtherCAT network, waiting to receive motion mode commands in the protocol format sent by the ARM + EtherCAT control unit. Upon receiving a command, the servo drive immediately initiates a command reception verification mechanism, using a verification algorithm consistent with the sender, such as Cyclic Redundancy Check (CRC), to perform an integrity check on the command. If the verification passes, the servo drive performs deep parsing of the command according to the EtherCAT protocol specification. During parsing, key information related to the X, Y, and Z direction motion of the scanning bed is extracted, including target position, velocity, acceleration, motion time sequence, and various control flags. This information directly determines the motion state of the scanning bed in each direction.

[0056] The servo driver generates corresponding drive signals based on the parsed motion command information and its own drive control algorithm. When generating drive signals, it incorporates the motion curve corresponding to the motion command information constructed using a sinusoidal programming model. This allows for full consideration of the dynamic characteristics of the scanning bed motion, such as inertia and friction, and smooths out changes in speed and acceleration in the command, preventing excessive shocks to the scanning bed motion due to sudden command changes. For example, during the scanning bed's start-up acceleration phase, the output torque of the drive motor is gradually increased according to the acceleration required by the command and a preset acceleration change curve, ensuring smooth acceleration of the scanning bed. The generated drive signals are usually in electrical signal form, but the servo motors of the scanning bed may require specific types and amplitudes of drive current or voltage to operate normally. Therefore, the servo driver also needs to convert the generated electrical signals, using power amplification and signal modulation circuit modules to convert them into current or voltage signals suitable for servo motor drive. The converted drive signals are transmitted to the corresponding X, Y, and Z servo motors, driving them to operate. During motor operation, the servo driver monitors the motor's position, speed, and other feedback information in real time through the motor's built-in encoder or external sensors. These feedback messages are compared with the target motion parameters in the command. If a deviation is found between the actual motion state and the target state, the servo driver activates a closed-loop control adjustment mechanism. Based on the magnitude and direction of the deviation, the amplitude, frequency, or phase of the drive signal is adjusted to gradually bring the motor's motion closer to the target state, ensuring the scanning bed's motion accuracy. For example, when the actual speed of the scanning bed in the X direction is lower than the speed required by the command, the servo driver increases the current to the drive motor, increasing the motor speed and accelerating the scanning bed to the target speed.

[0057] Furthermore, this CT scanning bed control method also includes an emergency stop control method, comprising: receiving an IO input signal; and if the input signal is an emergency stop signal and a brake signal, outputting a brake feedback signal. (Reference) Figure 4 and Figure 5 The corresponding brake signal is used to control the emergency stop of the EtherCAT_X servo drive, EtherCAT_Y servo drive, and EtherCAT_Z servo drive. Upon detecting the emergency stop control signal, a fault alarm message is sent to the ARM + EtherCAT control unit.

[0058] In summary, the CT scan bed control method of this embodiment achieves efficient and precise scanning operations through a series of coordinated technical means. First, based on the scanning requirements and scanning method, a sinusoidal planning model is introduced. Combined with various key parameters, motion trajectory parameters are accurately calculated, simplifying the complex 7-segment motion planning into 3 segments. This avoids the complex integral calculations and logical judgments caused by the discontinuous Jerk intervals during acceleration and deceleration in the traditional 7-segment constant Jerk control method, thus reducing the complexity of motion planning. Simultaneously, it ensures continuous Jerk during the speed control segment, reducing jitter and impact during scan bed movement and improving scanning accuracy. Furthermore, relevant information is sent to the ARM + FPGA control unit, where reliable transmission and precise processing are achieved using the TCP protocol, converting it into fine-grained motion instructions, avoiding instruction deviations, and improving scanning accuracy and stability. Then, the ARM + EtherCAT control unit converts the instructions into the EtherCAT protocol format, which offers high speed, real-time performance, and synchronization advantages, solving the drawbacks of traditional communication and enabling fast and accurate instruction transmission, ensuring coordinated operation of all components of the scan bed. Finally, the EtherCAT servo drive receives commands, generates drive signals taking into account dynamic characteristics, and uses closed-loop control to make precise adjustments based on feedback. It monitors the scanning bed status in real time, responds promptly to abnormalities, and comprehensively ensures that the scanning bed moves accurately as required to complete the scanning task, effectively improving scanning accuracy, reliability, safety, and the stability of the entire system.

[0059] refer to Figure 2 This embodiment further discloses a CT scanning bed control system based on EtherCAT motion control, including:

[0060] The parameter calculation module 21 is used to select a scanning method according to scanning requirements and calculate the motion parameters corresponding to the scanning method; wherein, the scanning methods include stationary scanning, positioning scanning, spiral scanning, and axis scanning; if spiral scanning is selected, the scanning method information includes: target velocity. V t Maximum Jerk value J m Maximum acceleration limit A l and scan length L The method for calculating the motion parameters corresponding to the scanning mode includes: calculating the maximum acceleration using a sinusoidal programming model. ;when When determining the acceleration time Uniform time ; Calculate the motion parameters for the acceleration and deceleration phases based on the model formula. Specifically: the velocity function for the acceleration phase: ,in , The velocity function during the deceleration phase is: (The initial moment of motion is shown). ,in Acceleration function of the acceleration segment: Acceleration function of the deceleration phase: Position function of the acceleration segment: ,in ,and Position function of the deceleration segment: ,in ,and Jerk function for acceleration segment: Jerk function for the deceleration phase: If axis scan is selected, the scan mode information includes: step distance D, maximum Jerk value. J m Maximum acceleration limit A l and speed limit V l First, determine the maximum speed. Compare Vm and Vl, if ,but ,otherwise ,and ; Calculate the total displacement during the acceleration phase , , ,Compare and The size, when hour, , ,when hour, , , , ; Calculate the motion parameters for the acceleration and deceleration phases based on the model formula. Specifically: the velocity function for the acceleration phase: ,in , The velocity function during the deceleration phase is: (The initial moment of motion is shown). ,in Acceleration function of the acceleration segment: Acceleration function of the deceleration phase: Position function of the acceleration segment: ,in ,and Position function of the deceleration segment: ,in ,and Jerk function for acceleration segment: Jerk function for the deceleration phase: .

[0061] The protocol conversion module 22 is used to receive the scanning mode and motion parameter information and convert it into motion mode instructions for the scanning bed through TCP protocol processing; it is also used to receive the motion mode instructions and convert them into EtherCAT protocol format.

[0062] The motion control module 23 is used to receive motion mode commands in EtherCAT protocol format, and control the scanning bed movement based on the motion mode commands in EtherCAT protocol format via servo drivers to complete the scanning task; it is also used to control the scanning bed movement based on the motion mode commands in EtherCAT protocol format via EtherCAT_X servo drivers, and to provide feedback on its status; to control the scanning bed movement based on the motion mode commands in EtherCAT protocol format via EtherCAT_Y servo drivers, and to provide feedback on its status; and to control the scanning bed movement based on the motion mode commands in EtherCAT protocol format via EtherCAT_Z servo drivers, and to provide feedback on its status.

[0063] The IO control module 24 is used to receive IO input signals; if the input signal is an emergency stop signal and a brake signal, it outputs a brake feedback signal.

[0064] Figure 3 A schematic diagram of the physical structure of an electronic device provided in an embodiment of the present invention, such as... Figure 3 As shown, the electronic device 50 includes: a processor 501, a memory 502, and a bus 503;

[0065] The processor 501 and the memory 502 communicate with each other via the bus 503; the processor 501 is used to call the program instructions in the memory 502 to execute the methods provided in the above-described embodiments.

[0066] This embodiment provides a non-transitory computer-readable storage medium that stores computer instructions that cause a computer to execute the methods provided in the above-described embodiments.

[0067] Those skilled in the art will understand that all or part of the steps of the above-described method implementation can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above-described method implementation. The aforementioned storage medium includes various storage media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0068] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0069] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of each embodiment or some parts of the embodiments.

[0070] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A CT scan bed control method based on EtherCAT motion control, characterized in that, The method comprises: According to the scanning requirement, a scanning mode is selected, and motion parameters corresponding to the scanning mode are calculated, the scanning mode including static scanning, positioning scanning, spiral scanning and axial scanning; if the spiral scanning is selected, the scanning mode information includes: target speed V t , maximum jerk value J m , maximum acceleration limit value A l and scanning length L ; if the axial scanning is selected, the scanning mode information includes: step distance D, maximum jerk value J m , maximum acceleration limit value A l and limit speed V l ; If the current scanning mode is identified as a helical scan, the maximum acceleration is calculated using a sinusoidal line planning model: ; When the acceleration time is determined, where the uniform speed time ; According to the model formula, the motion parameters of the acceleration section and the deceleration section are calculated. Specifically, the velocity function of the acceleration section is: , wherein , is the starting time of the motion; the velocity function of the deceleration section is: , wherein ; the acceleration function of the acceleration section is: ; the acceleration function of the deceleration section is: ; the position function of the acceleration section is: , wherein , and ; the position function of the deceleration section is: , wherein , and ; the jerk function of the acceleration section is: ; and the jerk function of the deceleration section is: ; If it is identified that the current scanning mode is axial scanning, first determine the maximum speed ; Compare V m With V l If Then Else And ; Computing total displacement of acceleration segment , , , comparing with , when , , , when , , , , ; According to the model formula, the motion parameters of the acceleration section and the deceleration section are calculated. Specifically, the velocity function of the acceleration section is: wherein , is the starting moment of the motion; the velocity function of the deceleration section is: wherein ; the acceleration function of the acceleration section is: ; the acceleration function of the deceleration section is: ; the position function of the acceleration section is: wherein , and ; the position function of the deceleration section is: wherein , and ; the jerk function of the acceleration section is: ; the jerk function of the deceleration section is: ; receiving the scanning mode and motion parameter information, and converting the scanning bed motion mode instruction through TCP protocol processing; receiving the motion mode instruction and converting it into EtherCAT protocol format; receiving the motion mode instruction in EtherCAT protocol format, and controlling the scanning bed action based on the motion mode instruction in EtherCAT protocol format through a servo driver to complete the scanning task.

2. The CT scan bed control method based on EtherCAT motion control according to claim 1, wherein, The method further comprises: receiving an IO input signal; if the input signal is an emergency stop signal and a brake signal, output a brake feedback signal.

3. The CT scan bed control method based on EtherCAT motion control according to claim 1, wherein, The step of controlling the scanning bed action based on the motion mode instruction in EtherCAT protocol format through a servo driver comprises: controlling the scanning bed action based on the motion mode instruction in EtherCAT protocol format through an EtherCAT_X servo driver and feeding back its state; controlling the scanning bed action based on the motion mode instruction in EtherCAT protocol format through an EtherCAT_Y servo driver and feeding back its state; controlling the scanning bed action based on the motion mode instruction in EtherCAT protocol format through an EtherCAT_Z servo driver and feeding back its state.

4. A CT scan bed control system based on EtherCAT motion control, characterized in that, It comprises: a parameter calculation module for selecting a scanning mode according to scanning requirements and calculating motion parameters corresponding to the scanning mode, wherein the scanning mode comprises static scanning, positioning scanning, spiral scanning and axial scanning; If the spiral scanning is selected, the scanning mode information includes: target speed V t , maximum jerk value J m , maximum acceleration limit value A l and scanning length L ; if the axial scanning is selected, the scanning mode information includes: step distance D, maximum jerk value J m , maximum acceleration limit value A l and limit speed V l ; further used for calculating the maximum acceleration by using a sinusoidal line planning model if the current scanning mode is identified as the spiral scanning: ; when , the acceleration time and the constant speed time are determined; the motion parameters of the acceleration section and the deceleration section are calculated according to the model formula, specifically: the speed function of the acceleration section: , wherein , is the motion starting time; the speed function of the deceleration section: , wherein ; the acceleration function of the acceleration section: ; the acceleration function of the deceleration section: ; the position function of the acceleration section: , wherein , and ; the position function of the deceleration section: , wherein , and ; the jerk function of the acceleration section: ; the jerk function of the deceleration section: ; if the current scanning mode is identified as the axial scanning, the maximum speed is determined first; Vm and Vl are compared, if , then , otherwise , and ; the total displacement of the acceleration section is calculated , , , the size of and is compared, when , , , when , , , , ; According to the model formula, the motion parameters of the acceleration section and the deceleration section are calculated, specifically: the velocity function of the acceleration section: , wherein , is the starting moment of the motion; the velocity function of the deceleration section: , wherein ; the acceleration function of the acceleration section: ; the acceleration function of the deceleration section: ; the position function of the acceleration section: , wherein , and ; the position function of the deceleration section: , wherein , and ; the jerk function of the acceleration section: ; the jerk function of the deceleration section: ; a protocol conversion module for receiving the scanning mode and motion parameter information and converting the scanning bed motion mode instruction through TCP protocol processing; and further for, receiving the motion mode instruction and converting it into EtherCAT protocol format; a motion control module for receiving the motion mode instruction in EtherCAT protocol format and controlling the scanning bed action based on the motion mode instruction in EtherCAT protocol format through a servo driver to complete the scanning task.

5. The CT scan bed control method based on EtherCAT motion control according to claim 4, wherein, It further comprises: an IO control module for receiving an IO input signal; if the input signal is an emergency stop signal and a brake signal, output a brake feedback signal.

6. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by the processor to implement the method of any one of claims 1-3.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the method of any one of claims 1-3.

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