Ray imaging device and positioning method thereof

Abstract

According to the ray imaging device and the positioning method thereof, by introducing the free detector, the free detector can be placed without being limited to a specific position, so that the detector can carry out shooting work at multiple positions, and the application scene of the ray imaging device is effectively expanded; furthermore, the free detector is positioned by introducing a base station and a label, for example, the spatial position and even attitude information of the detector are acquired, so that a basis is provided for the ray imaging device to complete position matching of the machine head and the free detector (for example, the machine head and the free detector meet a preset position relationship); further, preliminary positioning is performed through the first base station, so that the problem of positioning failure caused by signal coverage of the second base station can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of ray imaging, and particularly to a ray imaging device and a positioning method thereof. Background Art

[0002] As a common imaging system in medical digital imaging, the device for radioactive ray imaging is widely used in the fields of physical examination and routine medical imaging diagnosis. The device for radioactive ray imaging is a device that uses radioactive rays (such as X-rays) to penetrate the subject to perform imaging.

[0003] Taking the Digital Radiography (DR) device as an example, due to its advantages such as fast imaging speed, low radiation dose, clear and delicate images, and the ability to examine the whole body, it has a wide range of applications in clinical examinations and has become one of the main auxiliary means for doctors to diagnose diseases. Generally, a DR device has a gantry and a detector. The gantry is a component for emitting X-rays, and the detector is a component for receiving the X-rays that have penetrated the subject. The detector converts the received X-rays into electrical signals to form an image. Therefore, during imaging, the detector needs to be located on the "optical path" of the X-rays emitted by the gantry, and in order to avoid image distortion, etc., it is generally also required that the gantry and the detector be aligned.

[0004] How to make the relative positions of the gantry and the detector in a desired state is a problem to be solved. Summary of the Invention

[0005] In view of the above problems, the present application provides a ray imaging device and a positioning method thereof, which will be specifically described below.

[0006] According to a first aspect, in one embodiment, a ray imaging device is provided, including: a driving component, a supporting component, a gantry, a controller, a free detector, a plurality of base stations, and at least one positioning tag;

[0007] The gantry is used for emitting rays;

[0008] The detector is used for receiving the rays to perform imaging;

[0009] The supporting main group includes a first supporting structure, which is connected to the gantry and is used for supporting the gantry;

[0010] The driving component is used for driving the gantry to move through the first supporting structure;

[0011] The plurality of base stations at least include a first base station and a second base station;

[0012] At least one of the positioning tags is arranged on the detector;

[0013] The base station is used to transmit signals to the positioning tag and receive the signals returned by the positioning tag;

[0014] The controller is used to:

[0015] Calculate the relative position information between the first base station and the positioning tag based on the signals transmitted and received by the first base station, and at least based on the relative position information between the first base station and the positioning tag, control the driving component to drive the nose to move so that the nose and the detector satisfy a first positional relationship;

[0016] After the nose and the detector satisfy the first positional relationship, calculate the relative position information between the second base station and the positioning tag based on the signals transmitted and received by the second base station, and at least based on the relative position information between the second base station and the positioning tag, control the driving component to drive the nose to move so that the nose and the detector satisfy a second positional relationship.

[0017] In one embodiment, the controller controls the driving component to drive the nose to move so that the nose and the detector satisfy the first positional relationship at least based on the relative position information between the first base station and the positioning tag, including:

[0018] The controller calculates at least the spatial position information of the detector based on the relative position information between the first base station and the positioning tag; the controller controls the driving component to drive the nose to move so that the nose and the detector satisfy the first positional relationship at least based on the spatial position information of the detector.

[0019] In one embodiment, the controller further calculates the attitude information of the detector based on the relative position information between the first base station and the positioning tag; alternatively, the detector is provided with an attitude sensor, and the controller obtains the attitude information of the detector from the attitude sensor;

[0020] The controller controls the driving component to drive the nose to move so that the nose and the detector satisfy the first positional relationship at least based on the spatial position information of the detector, including: the controller controls the driving component to drive the nose to move so that the nose and the detector satisfy the first positional relationship based on the spatial position information and the attitude information of the detector.

[0021] In one embodiment, the controller controls the driving component to drive the nose to move so that the nose and the detector satisfy the second positional relationship at least based on the relative position information between the second base station and the positioning tag, including:

[0022] The controller calculates at least the spatial position information of the detector based on the relative position information between the second base station and the positioning tag; the controller controls the driving component to drive the nose to move based at least on the spatial position information of the detector so that the nose and the detector satisfy the second position relationship.

[0023] In one embodiment, the controller further calculates the attitude information of the detector based on the relative position information between the second base station and the positioning tag; alternatively, the detector is provided with an attitude sensor, and the controller obtains the attitude information of the detector from the attitude sensor;

[0024] The controller controls the driving component to drive the nose to move based at least on the spatial position information of the detector so that the nose and the detector satisfy the second position relationship, including: the controller controls the driving component to drive the nose to move based on the spatial position information and attitude information of the detector so that the nose and the detector satisfy the second position relationship.

[0025] In one embodiment, the first position relationship includes: the distance between the nose and the positioning tag on the detector is less than a first distance, and / or, the angle formed by the irradiation surface of the nose and the imaging surface of the detector is less than a first angle.

[0026] In one embodiment, the second position relationship includes: the distance between the nose and the imaging surface of the detector is less than a second distance, and / or, the distance between the nose and a first straight line is less than a third distance, the first straight line is a straight line perpendicular to and passing through the center of the imaging surface of the detector, and / or, the angle formed by the irradiation surface of the nose and the imaging surface of the detector is less than a second angle.

[0027] In one embodiment, the controller can calculate the relative position information between the base station and the positioning tag based on the signals transmitted and received by one base station, and the relative position information includes relative distance and relative angle.

[0028] In one embodiment, the base station has at least two antennas for transmitting and receiving signals;

[0029] The controller calculates a first relative distance between the first antenna and the tag based on the signals transmitted and received by the first antenna, calculates a first signal arrival phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the second antenna, and calculates the relative position information between the first base station and the tag based on at least the first relative distance and the first signal arrival phase difference, where the first signal arrival phase difference is the phase difference between the signal received by the first antenna and the signal received by the second antenna.

[0030] In one embodiment, the base station has three antennas for transmitting and receiving signals;

[0031] The controller calculates a second signal arrival phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the third antenna, and calculates the relative position information between the first base station and the tag based on the first relative distance, the first signal arrival phase difference, and the second signal arrival phase difference, where the second signal arrival phase difference is the phase difference between the signal received by the first antenna and the signal received by the third antenna.

[0032] In one embodiment, the three antennas are respectively arranged at three positions of the first base station, and the three positions are arranged according to the three vertices of a right triangle.

[0033] In one embodiment, the detector is provided with at least three of the positioning tags.

[0034] In one embodiment, the three positioning tags are respectively arranged at three positions of the detector, and the three positions are not on a straight line.

[0035] In one embodiment, the detector includes a flat panel detector, and the three positions are respectively located at three corners of the flat panel detector.

[0036] In one embodiment, the free-standing detector can be placed at a first shooting position separated from the cassette assembly that houses the detector for shooting.

[0037] In one embodiment, the free-standing detector includes a communication module; the detector receives the rays and converts them into image data, and the communication module is used to transmit the image data.

[0038] In one embodiment, the installation height of the first base station is greater than a first height; and / or, the second base station is arranged on the nose.

[0039] In one embodiment, the head includes a beam limiter, the beam limiter has an outlet for defining the range of the rays emitted by the head; the second base station is disposed close to the outlet.

[0040] In one embodiment, the value range of the first height is greater than or equal to 2.5 meters; alternatively, the value range of the first height is greater than or equal to 3 meters.

[0041] In one embodiment, the base station is a UWB type base station, and the positioning tag is a UWB type positioning tag.

[0042] According to a second aspect, an embodiment provides a ray imaging device, including: a head, a controller, a free detector, a plurality of base stations, and at least one positioning tag;

[0043] The head is configured to emit rays;

[0044] The detector is configured to receive the rays for imaging;

[0045] The plurality of base stations at least includes a first base station and a second base station;

[0046] At least one of the positioning tags is disposed on the detector;

[0047] The base station is configured to transmit a signal to the positioning tag and receive a signal returned by the positioning tag;

[0048] The controller is configured to:

[0049] Calculate the relative position information between the first base station and the positioning tag based on the signals transmitted and received by the first base station, and generate first prompt information based at least on the relative position information between the first base station and the positioning tag;

[0050] Calculate the relative position information between the second base station and the positioning tag based on the signals transmitted and received by the second base station, and generate second prompt information based at least on the relative position information between the second base station and the positioning tag.

[0051] In one embodiment, the first prompt information is used to control the movement of the head so that the head and the detector satisfy a first positional relationship.

[0052] In one embodiment, the first prompt information includes prompt information on whether the head and the detector satisfy the first positional relationship.

[0053] In one embodiment, the second prompt information is used to control the movement of the head so that the head and the detector satisfy a second positional relationship.

[0054] In one embodiment, the second prompt information includes prompt information on whether the head and the detector satisfy a second positional relationship.

[0055] In one embodiment, the ray imaging device further includes a support assembly, and the support assembly includes a first support structure that is connected to the head and is used to support the head.

[0056] In one embodiment, the ray imaging device further includes a driving assembly, and the driving assembly is used to drive the head to move through the first support structure.

[0057] In one embodiment, the controller is configured to:

[0058] calculate the relative position information between the first base station and the positioning tag based on the signals transmitted and received by the first base station, and at least based on the relative position information between the first base station and the positioning tag, control the driving assembly to drive the head to move so that the head and the detector satisfy a first positional relationship; and / or,

[0059] after the head and the detector satisfy the first positional relationship, calculate the relative position information between the second base station and the positioning tag based on the signals transmitted and received by the second base station, and at least based on the relative position information between the second base station and the positioning tag, control the driving assembly to drive the head to move so that the head and the detector satisfy a second positional relationship.

[0060] In one embodiment, the controller controls the driving assembly to drive the head to move so that the head and the detector satisfy a first positional relationship, at least based on the relative position information between the first base station and the positioning tag, including:

[0061] The controller calculates at least the spatial position information of the detector based on the relative position information between the first base station and the positioning tag; the controller controls the driving assembly to drive the head to move so that the head and the detector satisfy the first positional relationship at least based on the spatial position information of the detector.

[0062] In one embodiment, the controller further calculates the attitude information of the detector based on the relative position information between the first base station and the positioning tag; alternatively, the detector is provided with an attitude sensor, and the controller obtains the attitude information of the detector from the attitude sensor;

[0063] The controller controls the driving assembly to drive the nose to move so that the nose and the detector satisfy the first positional relationship based at least on the spatial position information of the detector, including: The controller controls the driving assembly to drive the nose to move so that the nose and the detector satisfy the first positional relationship based on the spatial position information and the attitude information of the detector.

[0064] In one embodiment, the controller controls the driving assembly to drive the nose to move so that the nose and the detector satisfy a second positional relationship based at least on the relative position information between the second base station and the positioning tag, including:

[0065] The controller calculates at least the spatial position information of the detector based on the relative position information between the second base station and the positioning tag; The controller controls the driving assembly to drive the nose to move so that the nose and the detector satisfy the second positional relationship based at least on the spatial position information of the detector.

[0066] In one embodiment, the controller further calculates the attitude information of the detector based on the relative position information between the second base station and the positioning tag; alternatively, the detector is provided with an attitude sensor, and the controller obtains the attitude information of the detector from the attitude sensor;

[0067] The controller controls the driving assembly to drive the nose to move so that the nose and the detector satisfy the second positional relationship based at least on the spatial position information of the detector, including: The controller controls the driving assembly to drive the nose to move so that the nose and the detector satisfy the second positional relationship based on the spatial position information and the attitude information of the detector.

[0068] In one embodiment, the first positional relationship includes: the distance between the positioning tags on the nose and the detector is less than a first distance, and / or, the angle formed by the illumination surface of the nose and the imaging surface of the detector is less than a first angle.

[0069] In one embodiment, the second positional relationship includes: the distance between the nose and the imaging surface of the detector is less than a second distance, and / or, the distance between the nose and a first straight line is less than a third distance, the first straight line being a straight line perpendicular to and passing through the center of the imaging surface of the detector, and / or, the angle formed by the illumination surface of the nose and the imaging surface of the detector is less than a second angle.

[0070] In one embodiment, the controller can calculate the relative position information between the base station and the positioning tag based on the signals transmitted and received by one base station, and the relative position information includes a relative distance and a relative angle.

[0071] In one embodiment, the base station has at least two antennas for transmitting and receiving signals;

[0072] The controller calculates a first relative distance between the first antenna and the tag based on the signals transmitted and received by the first antenna, calculates a first signal arrival phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the second antenna, and calculates the relative position information between the first base station and the tag based on at least the first relative distance and the first signal arrival phase difference, where the first signal arrival phase difference is the phase difference between the signal received by the first antenna and the signal received by the second antenna.

[0073] In one embodiment, the base station has three antennas for transmitting and receiving signals;

[0074] The controller calculates a second signal arrival phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the third antenna, and calculates the relative position information between the first base station and the tag based on the first relative distance, the first signal arrival phase difference, and the second signal arrival phase difference, where the second signal arrival phase difference is the phase difference between the signal received by the first antenna and the signal received by the third antenna.

[0075] In one embodiment, the three antennas are respectively disposed at three positions of the first base station, and the three positions are arranged according to the three vertices of a right triangle.

[0076] In one embodiment, the detector is provided with at least three of the positioning tags.

[0077] In one embodiment, the three positioning tags are respectively disposed at three positions of the detector, and the three positions are not on a straight line.

[0078] In one embodiment, the detector includes a flat panel detector, and the three positions are respectively located at three corners of the flat panel detector.

[0079] In one embodiment, the free-standing detector can be placed at a first imaging position separated from the cassette assembly that houses the detector for imaging.

[0080] In one embodiment, the free-standing detector includes a communication module; the detector receives the radiation and converts it into image data, and the communication module is used to transmit the image data.

[0081] In one embodiment, the installation height of the first base station is greater than a first height; and / or, the second base station is disposed on the nose of the device.

[0082] In one embodiment, the nose of the device includes a beam limiter having an outlet for defining the range of the radiation emitted by the nose of the device; the second base station is disposed near the outlet.

[0083] In one embodiment, the value range of the first height is greater than or equal to 2.5 meters; alternatively, the value range of the first height is greater than or equal to 3 meters.

[0084] In one embodiment, the base station is a UWB type base station, and the positioning tag is a UWB type positioning tag.

[0085] According to a third aspect, an embodiment provides a positioning method for a radiation imaging device, the radiation imaging device including a nose, a free detector, at least one first base station, at least one second base station, and at least one positioning tag; the positioning method includes:

[0086] Calculating relative position information between the first base station and the positioning tag based on signals transmitted and received by the first base station, and controlling movement of the nose based on at least the relative position information between the first base station and the positioning tag so that the nose and the detector satisfy a first positional relationship;

[0087] After the nose and the detector satisfy the first positional relationship, calculating relative position information between the second base station and the positioning tag based on signals transmitted and received by the second base station, and controlling movement of the nose based on at least the relative position information between the second base station and the positioning tag so that the nose and the detector satisfy a second positional relationship.

[0088] In one embodiment, the controlling movement of the nose based on at least the relative position information between the first base station and the positioning tag so that the nose and the detector satisfy a first positional relationship includes:

[0089] The controller calculates at least spatial position information of the detector based on the relative position information between the first base station and the positioning tag; the controller controls movement of the nose based on at least the spatial position information of the detector so that the nose and the detector satisfy the first positional relationship.

[0090] In one embodiment, the positioning method further includes: calculating attitude information of the detector based on the relative position information between the first base station and the positioning tag; or obtaining attitude information of the detector through an attitude sensor disposed on the detector;

[0091] Based on at least the spatial position information of the detector, controlling the movement of the nose so that the nose and the detector satisfy the first positional relationship includes: based on the spatial position information and attitude information of the detector, controlling the movement of the nose so that the nose and the detector satisfy the first positional relationship.

[0092] In one embodiment, based on at least the relative position information between the second base station and the positioning tag, controlling the movement of the nose so that the nose and the detector satisfy the second positional relationship includes:

[0093] Based on the relative position information between the second base station and the positioning tag, at least calculating the spatial position information of the detector;

[0094] Based on at least the spatial position information of the detector, controlling the movement of the nose so that the nose and the detector satisfy the second positional relationship.

[0095] In one embodiment, the positioning method further includes: based on the relative position information between the second base station and the positioning tag, further calculating the attitude information of the detector; or, obtaining the attitude information of the detector through an attitude sensor disposed on the detector;

[0096] Based on at least the spatial position information of the detector, controlling the movement of the nose so that the nose and the detector satisfy the second positional relationship includes: based on the spatial position information and attitude information of the detector, controlling the movement of the nose so that the nose and the detector satisfy the second positional relationship.

[0097] In one embodiment, the first positional relationship includes: the distance between the nose and the positioning tag on the detector is less than a first distance, and / or, the angle formed by the irradiation surface of the nose and the imaging surface of the detector is less than a first angle.

[0098] In one embodiment, the second positional relationship includes: the distance between the nose and the imaging surface of the detector is less than a second distance, and / or, the distance between the nose and a first straight line is less than a third distance, the first straight line is a straight line perpendicular to and passing through the center of the imaging surface of the detector, and / or, the angle formed by the irradiation surface of the nose and the imaging surface of the detector is less than a second angle.

[0099] According to a fourth aspect, an embodiment provides a positioning method for a ray imaging device, the ray imaging device including a nose, a free detector, a first positioning component, and a second positioning component; the positioning method includes:

[0100] Obtain the first positioning information of the detector through the first positioning component, and based on the first positioning information of the detector obtained by the first positioning component, control the movement of the head so that the head and the detector satisfy a first positional relationship; the first positioning information includes spatial position information and / or attitude information;

[0101] After the head and the detector satisfy the first positional relationship, obtain the second positioning information of the detector through the second positioning component, and based on the second positioning information of the detector obtained by the second positioning component, control the movement of the head so that the head and the detector satisfy a second positional relationship.

[0102] In one embodiment, the first positional relationship includes: the distance between the positioning labels on the head and the detector is less than a first distance, and / or, the angle formed by the irradiation surface of the head and the imaging surface of the detector is less than a first angle;

[0103] and / or,

[0104] The second positional relationship includes: the distance between the head and the imaging surface of the detector is less than a second distance, and / or, the distance between the head and a first straight line is less than a third distance, the first straight line is a straight line perpendicular to and passing through the center of the imaging surface of the detector, and / or, the angle formed by the irradiation surface of the head and the imaging surface of the detector is less than a second angle.

[0105] According to the fifth aspect, an embodiment provides a ray imaging device, including a controller, and the controller is configured to execute the method described in any one of the embodiments herein.

[0106] According to the ray imaging device and its positioning method of the above embodiments, by introducing a free detector, the free detector can be placed without being limited to a specific position, enabling the detector to perform shooting work at multiple positions, effectively expanding the application scenarios of the ray imaging device; further, by introducing a base station and tags to position the free detector, such as obtaining the spatial position and even attitude information of the detector, this provides a basis for the ray imaging device to complete the position matching between the head and the free detector (for example, making the two satisfy a preset positional relationship); further, by using the first base station for preliminary positioning, the problem of positioning failure caused by the signal coverage of the second base station can be effectively solved. Description of the Drawings

[0107] Figure 1 It is a schematic structural diagram of a ray imaging device according to an embodiment;

[0108] Figure 2 It is a schematic structural diagram of a ray imaging device according to an embodiment;

[0109] Figure 3 Schematic structural diagram of a ray imaging device according to an embodiment;

[0110] FIG. 4(1) is a schematic structural diagram of a detector according to an embodiment;

[0111] FIG. 4(2) is a schematic structural diagram of a ray imaging device according to an embodiment;

[0112] FIG. 5(1) is a schematic structural diagram of a ray imaging device according to an embodiment; FIG. 5(2) is a schematic structural diagram of a ray imaging device according to an embodiment;

[0113] Figure 6 Schematic structural diagram of a ray imaging device according to an embodiment;

[0114] FIG. 7(1) is a schematic structural diagram of a ray imaging device according to an embodiment; FIG. 7(2) is a schematic structural diagram of a ray imaging device according to an embodiment; FIG. 7(3) is a schematic structural diagram of a ray imaging device according to an embodiment;

[0115] FIG. 8(1) is a schematic structural diagram of a ray imaging device according to an embodiment; FIG. 8(2) is a schematic structural diagram of a ray imaging device according to an embodiment;

[0116] FIG. 9(1) is a schematic structural diagram of a detector according to an embodiment; FIG. 9(2) is a schematic structural diagram of a detector according to an embodiment;

[0117] FIG. 10(1) is a schematic structural diagram of a ray imaging device according to an embodiment; FIG. 10(2) is a schematic structural diagram of a ray imaging device according to an embodiment;

[0118] Figure 11 Schematic structural diagram of a base station according to an embodiment;

[0119] FIG. 12(1) is a schematic structural diagram of an auxiliary device according to an embodiment; FIG. 12(2) is a schematic structural diagram of an auxiliary device according to an embodiment;

[0120] Figure 13 Flow chart of a positioning method for a ray imaging device according to an embodiment;

[0121] Figure 14 Schematic structural diagram of a ray imaging device according to an embodiment;

[0122] Figure 15 Flow chart of a positioning method for a ray imaging device according to an embodiment. Detailed implementation manners

[0123] The present invention will be further described in detail below in conjunction with the accompanying drawings through specific embodiments. Similar elements in different embodiments are labeled with related similar element numbers. In the following embodiments, many details are described to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by excessive description. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0124] In addition, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can also be reordered or adjusted in a manner obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for clearly describing a certain embodiment, and do not mean that they are the necessary sequences, unless it is stated that a certain sequence must be followed.

[0125] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meaning. And the "connection" and "coupling" mentioned in the present application, unless otherwise specified, both include direct and indirect connection (coupling).

[0126] In most existing ray imaging devices, the detectors are mostly placed for use in the cassette assembly, that is, the detectors cannot be used independently of the cassette assembly. The device can control the movement of the gantry through a driving component such as a robotic arm - the cassette assembly is a component including a cassette and a bracket. The cassette can hold components such as flat panel detectors, and the bracket can support the cassette and even drive the cassette to move; therefore, the device can easily obtain the positional relationship between the gantry and the detector through the cassette assembly and the driving component, including spatial position information and attitude information of both, so as to be able to conveniently achieve alignment or centering of the two. For this type of device, since the detector cannot be used independently of the cassette assembly, the device can only be applicable to shooting in specific body positions and cannot perform shooting in special body positions or multiple different body positions.

[0127] The free - type detector can meet the shooting requirements of different body positions. However, since the free - type controller can be located at a position other than the cassette assembly during use, the device cannot position the detector through the cassette assembly, thus affecting the position matching between the gantry and the detector.

[0128] In some solutions, the positioning of a detector, for example, is achieved through a base station and a positioning tag. The base station can send signals to the positioning tag and receive the signals returned by the positioning tag. Based on the signals transmitted and received by the base station, the positioning of the positioning tag can be completed. When the positioning tag is set on the detector, the positioning of the detector can be completed by positioning the positioning tag. In some cases, the distance between the base station and the positioning tag is relatively far, which may cause the signal strength to be too weak to perform positioning. In some cases, if the positioning tag is not within the signal transmission coverage range of the base station, positioning cannot be performed either. For example, when the signal transmission of the base station is directional, the signal coverage range of the base station is a cone angle. If the detector with the positioning tag is not within this range, positioning cannot be performed.

[0129] Considering the above problems, in some embodiments, two-positioning is proposed. First, a rough positioning is performed through a base station, and then a secondary positioning is performed through another base station. Further, the base station for rough positioning can make its signal coverage range as large as possible through its installation position, so as to minimize the situation where the detector with the positioning tag is outside the signal coverage range of the base station. In addition, during the radiography process of the ray imaging device, generally, the gantry and the detector need to satisfy a certain positional relationship to ensure the imaging quality and effect. Therefore, the other base station for secondary positioning can be considered to be set on the gantry, for example. In this way, a rough positioning is first performed through a base station, and then the gantry is moved to make the other base station close to the detector with the positioning tag, and then a more refined positioning is performed through this second base station.

[0130] Please refer to Figure 1 , in some embodiments of the present application, a ray imaging device 100 is proposed. The ray imaging device 100 includes a gantry 10, a free detector 20, and a controller 90. The gantry 10 is used to emit radioactive rays, such as X-rays, to the subject to be examined. The free detector 20 is used to receive the radioactive rays passing through the subject to be examined for imaging. In some embodiments, the free detector 20 may be a free flat panel detector 20. The following will be described in detail.

[0131] The gantry 10 is used to generate rays, for example, generate rays under a high-voltage signal. In some embodiments, please refer to Figure 2 , the ray imaging device 100 includes a high-voltage generator 11, and the gantry 10 includes a ray emitter 12. The high-voltage generator 11 is electrically connected to the ray emitter 12. The high-voltage generator 11 is used to provide a high-voltage signal, such as a high voltage of hundreds of volts or thousands of volts, to the ray emitter 12. The ray emitter 12 is used to bombard electrons on the target surface under the high-voltage signal to generate radioactive rays, such as X-rays. The ray emitter 12 may be a tube, for example. The high-voltage generator 11 may be provided inside the gantry 10, or the high-voltage generator 11 may also be provided at other positions of the ray imaging device 100.

[0132] In some embodiments, please refer to Figure 3 , the gantry 10 may further include a collimator 13. In some embodiments, the collimator 13 has an outlet 13b - an example is shown in Figure 8(1) below. The outlet 13b is used to define the radiation projection area of the gantry 10, and this area can be referred to as the irradiation field or the irradiation field area.

[0133] The detachable detector 20 has an important impact on the imaging quality. In some embodiments, the detachable detector 20 is used to receive radioactive rays such as X-rays and finally convert them into electrical signals to complete image information acquisition. Please refer to Figure 4(1). In one embodiment, the detachable detector 20 includes a ray conversion layer 21 and a TFT matrix layer 22. The ray conversion layer 21 is used to convert radioactive rays such as X-rays into visible light; the ray conversion layer 21 generally includes a scintillation layer or a fluorescent layer for converting the rays into visible light. Taking the scintillation layer as an example, it can generally be made of a scintillation material. Typically, for example, it is cesium iodide (CsI) or gadolinium oxysulfide (GOS), etc. The TFT matrix layer 22 is used to sense the visible light converted by the ray conversion layer 21 and convert the visible light into an electrical signal for image information / data acquisition. In some embodiments, the detector 20 can be a flat panel detector.

[0134] Please refer to Figure 4(2). In some embodiments, the detachable detector 20 may have a communication module 23. The communication module 23 is used for communication, including data transmission; for example, the communication module 23 transmits the image data obtained by the detector 20. For example, it can be transmitted to the controller 90 of the radiographic imaging device 100, and the controller 90 can generate an image based on the received image data; for another example, it can be transmitted to the host computer of the radiographic imaging device 100, and the host computer can generate an image based on the received image data. In some embodiments, the communication module 23 can be a wireless communication module, such as a Wi-Fi communication module.

[0135] This application meets the shooting requirements for different body positions by introducing the detachable detector 20. The detachable detector 20 can be used independently of the cassette assembly for accommodating it. Therefore, in some embodiments, the detachable detector 20 can be placed at a first shooting position separated from the cassette assembly for accommodating the detector 20 for shooting. For example, when the subject is sitting in a wheelchair, the technician can place the detachable detector 20 on the backrest or under the wheelchair for free-position radiography; for another example, for a subject lying on a stretcher, the technician can place the detachable detector 20 under the subject for free-position radiography.

[0136] Therefore, in some embodiments, by introducing the freestanding detector 20, the present application allows the freestanding detector 20 to be placed without being limited to a specific position, enabling the ray imaging device 100 to perform ray shooting operations in various different positions, such as the axial position of the patella, the lateral position of the foot, the anteroposterior position of the foot, the oblique position of the foot, the lateral position of the hip joint, the anteroposterior position of the chest, the lateral position of the elbow joint, the anteroposterior position of the elbow joint, the anteroposterior position of the abdomen, the anterolateral position of the upper limb, the anteroposterior position of the cervical vertebra, the lateral position of the cervical vertebra, the lateral position of the knee joint, the tibial calcaneal position, the lateral position of the ankle joint, the lateral position of the spine, and the anteroposterior position of the lower limb. This effectively expands the application scenarios of the ray imaging device 100.

[0137] In some embodiments, the freestanding detector 20 can also be used while being accommodated in the film cassette assembly. For example, the freestanding detector 20 can also be placed at the second shooting position accommodated in the film cassette assembly for shooting.

[0138] In some embodiments, the ray imaging device 100 further includes a support assembly 30. The support assembly 30 may include a first support structure 31. The first support structure 31 is connected to the head 10 and is used to support the head 10. For example, Fig. 5(1) is an example.

[0139] In some embodiments, the ray imaging device 100 further includes a driving assembly 35. The driving assembly 35 can drive the head 10 to move. For example, the driving assembly 35 can drive the head 10 to move through the first support structure 31. In some embodiments, the driving assembly 35 can drive the head 10 to move in space through the first support structure 31, such as moving in one dimension in space, or moving in two dimensions in space, or moving in three dimensions in space. In some embodiments, the driving assembly 35 can drive the head 10 to rotate through the first support structure 31 so as to change the orientation of the head 10.

[0140] Figure 6is an example of a mobile radiographic imaging device 100. The mobile radiographic imaging device 100 may include a movable body 91, and the radiographic imaging device 100 can be driven to move through the movable body 91. The first support structure 31 may be provided on the movable body 91. The first support structure 31 may be a robotic arm structure, and the driving assembly 35 controls the movement of the robotic arm structure through a motor, thereby driving the gantry 10 to move together. In some embodiments, the freestanding detector 20 can be conveniently stored in the body 91 when not in use. Since the body 91 of the radiographic imaging device 100 is movable, it can be moved to a desired location for use, such as being pushed into an operating room, an emergency room, an ICU ward, a neonatal department, and an isolation area for critically ill patients for use. In some embodiments, the gantry 10 can be suspended and movably arranged on the movable body 91, and can be moved in one-dimensional, two-dimensional, or three-dimensional directions in space through the first support structure 31. The freestanding detector 20 can be mechanically detached from the movable body 91 for use. For example, a technician takes out the freestanding detector 20 from the storage location of the freestanding detector 20 on the movable body 91 for use. In some embodiments, after receiving an exposure request, the controller 90 controls the gantry 10 to expose, that is, to emit radioactive rays such as X-rays to the subject to be examined, and controls the freestanding detector 20 to cooperate with the gantry 10 to receive the radioactive rays such as X-rays passing through the subject to be examined for imaging. The imaged data can subsequently be further transmitted to the controller 90, such as by wireless means, for image processing and subsequent control for display.

[0141] FIG. 7(1) is an example of a stationary radiographic imaging device 100. In some embodiments, the stationary radiographic imaging device 100 may include a column 92. The first support structure 31 may include a slide rail 93 provided on the column 92, and the gantry 10 is movably arranged on the slide rail 93. The gantry 10 can at least achieve one-dimensional movement in space through the slide rail 93. In addition, the first support structure 31 may further include a one-dimensional or two-dimensional robotic arm structure 94. The gantry 10 is arranged on the slide rail 93 through the robotic arm structure 94, so that the gantry 10 can achieve two-dimensional or three-dimensional movement in space through the robotic arm structure 94 and the slide rail 93. In some embodiments, the gantry 10 can also be driven to rotate through the robotic arm structure 94. In some embodiments, the driving assembly 35 controls the movement of the first support structure 31 through a motor, thereby driving the gantry 10 to move together. In some embodiments, the radiographic imaging device 100 may further include a bed board 95 and a bed support structure 96 for supporting the bed board 95. The bed board 95 can be used to support the subject to be examined, for example, for the subject to lie flat. It should be noted that in addition to providing the freestanding detector 20 for the radiographic imaging device 100, a vertically arranged detector 97 and a horizontally arranged detector 98 can also be equipped for the radiographic imaging device 100, and both of these detectors 97 and 98 can be wired.

[0142] Figure 7(2) shows an example of the fixed-ray imaging device 100. In some embodiments, the ray imaging device 100 may include a column 92b, and the gantry 10 is movably disposed on the column 92b through a first support structure 31. For example, the first support structure 31 may include a robotic arm structure 94a, and the gantry 10 is disposed on the column 92b through the robotic arm structure 94a. In some embodiments, the gantry 10 movably disposed on the column 92b can move in one-dimensional, two-dimensional, or three-dimensional directions. In some embodiments, the gantry can also rotate. In some embodiments, the drive assembly 35 controls the movement of the first support structure 31 through a motor, thereby driving the gantry 10 to move together. For example, the drive assembly 35 controls the movement of the robotic arm structure 94a through a motor, thereby driving the gantry 10 to move together. In some embodiments, the ray imaging device 100 may further include a bed plate 95 and a bed support structure 96 for supporting the bed plate 95. The bed plate 95 can be used to support the subject to be examined, for example, for the subject to lie flat. It should be noted that in addition to providing a free-standing detector 20 for the ray imaging device 100, a vertically disposed detector 97 and a horizontally disposed detector 98 can also be equipped for the ray imaging device 100. Both of these detectors 97 and 98 can be wired, and the vertically disposed detector 97 can be disposed on the column 92a.

[0143] Figure 7(3) shows an example of the fixed-ray imaging device 100. The first support structure 31 may include a slide rail 93 disposed on the ceiling. The gantry 10 is movably disposed on the slide rail 93, and the gantry 10 can at least achieve one-dimensional movement in space through the slide rail 93. In addition, the first support structure 31 may further include a one-dimensional or two-dimensional robotic arm structure 94. The gantry 10 is disposed on the slide rail 93 through the robotic arm structure 94, so that two-dimensional or three-dimensional movement of the gantry 10 in space can be achieved through the robotic arm structure 94 and the slide rail 93. In some embodiments, the gantry 10 can also be driven to rotate through the robotic arm structure 94. In some embodiments, the drive assembly 35 controls the movement of the first support structure 31 through a motor, thereby driving the gantry 10 to move together. For example, the drive assembly 35 controls the movement of the robotic arm structure 94 through a motor, thereby driving the gantry 10 to move together. In some embodiments, the ray imaging device 100 may further include a bed plate 95 and a bed support structure 96 for supporting the bed plate 95. The bed plate 95 can be used to support the subject to be examined, for example, for the subject to lie flat. It should be noted that in addition to providing a free-standing detector 20 for the ray imaging device 100, a vertically disposed detector 97 and a horizontally disposed detector 98 can also be equipped for the ray imaging device 100. Both of these detectors 97 and 98 can be wired, and the vertically disposed detector 97 can be disposed on the column 92.

[0144] In some embodiments, the radiographic imaging device 100 herein may include a digital radiography (DR) device.

[0145] Whether it is a mobile radiographic imaging device 100 or a fixed radiographic imaging device 100, the introduction of the freestanding detector 20 can meet the shooting requirements of different body positions. However, this also poses a challenge to the position matching of the gantry 10 and the freestanding detector 20.

[0146] In some embodiments, since the controller 90 can drive the first support structure 31 through the drive assembly 35 to drive the gantry 10 to move, the controller 90 can obtain the spatial position information and even the attitude information (the orientation of the gantry 10) of the gantry 10 based on the drive assembly 35.

[0147] The spatial position information herein refers to the position of an object in a three-dimensional space. The spatial position information of an object can be described by means of a established XYZ three-dimensional space coordinate system. It can be understood that the origin of the XYZ three-dimensional space coordinate system can be set at any position based on actual needs. For example, it can be a fixed position in space, or it can be the emission point of the gantry 10 mentioned herein.

[0148] The spatial position information of the gantry 10 can be represented by any point on the gantry 10. For example, the spatial position information of the gantry 10 can be represented by the spatial position information of the emission point of the gantry 10; for another example, as described below, a second base station 01b is provided on the gantry 10, and the spatial position information of the second base station 01b on the gantry 10 can be used to represent the spatial position information of the gantry 10.

[0149] The attitude information of the gantry 10 herein refers to the attitude of the gantry 10 in space, such as one or more of its roll angle, pitch angle, and yaw angle; generally, the rays emitted by the gantry 10 are a conical (e.g., pyramidal) beam of rays, which is caused by the constraint and limitation of the collimator 13 of the gantry 10; the line defined by the vertex of the cone (i.e., the emission point of the gantry 10) and the center of the bottom surface can be called the center line of the conical rays emitted by the gantry 10 (simply referred to as the center line emitted by the gantry 10). The attitude of the gantry 10 in space can be defined by one or more of the angles between the center line emitted by the gantry 10 and the X-axis, Y-axis, and Z-axis in the XYZ three-dimensional space coordinate system; the plane parallel to the bottom surface of the cone can be called the irradiation surface of the gantry 10, and the attitude of the gantry 10 in space can also be defined by one or more of the angles between the irradiation surface of the gantry 10 and the X-axis, Y-axis, and Z-axis in the XYZ three-dimensional space coordinate system.

[0150] In some embodiments, referring to FIG. 8(1) or FIG. 8(2), the ray imaging device 100 includes a plurality of base stations 01 and at least one positioning tag 03. The base station 01 is configured to transmit a signal to the positioning tag 03 and receive the signal returned by the positioning tag 03. In some embodiments, the plurality of base stations 01 includes at least a first base station 01a and a second base station 01b.

[0151] In some embodiments, the relationship between the base station 01 (such as the first base station 01a or the second base station 01b) and the positioning tag 03 can be one-to-one and one-to-many.

[0152] In some embodiments, the controller 90 is capable of calculating the relative position information between the base station 01 (such as the first base station 01a or the second base station 01b) and the positioning tag 03 based on the signals transmitted and received by one base station 01 (such as the first base station 01a or the second base station 01b); in some embodiments, the relative position information includes relative distance and relative angle.

[0153] For example, for one base station 01 (such as the first base station 01a or the second base station 01b), by transmitting a signal from this base station 01 to a positioning tag 03 and receiving the signal returned by this positioning tag 03, the controller 90 can calculate the relative position information between this base station 01 and this positioning tag 03. In this way, when the spatial position information of either the base station 01 or the positioning tag 03 is known, the spatial position information of the other can be obtained through the above relative position information. The spatial position information herein refers to the position of an object in a three-dimensional space, and the spatial position information of an object can be described by means of an established XYZ three-dimensional space coordinate system. It can be understood that the origin of the XYZ three-dimensional space coordinate system can be set at any position according to actual needs, for example, it can be a fixed position in space, or it can be the emission point of the nose 10 mentioned in this article.

[0154] In some embodiments, the relative position information between object A and object B includes relative distance and relative angle. Specifically, the relative distance between object A and object B refers to the distance between two points considering object A and object B as two points; the relative angle between object A and object B refers to the angle in space of the line determined by these two points considering object A and object B as two points, such as the angle with the X-axis, Y-axis, and / or Z-axis in the XYZ three-dimensional space coordinate system. In this way, knowing the relative position information between object A and object B and the spatial position information of any one of object A and object B, the spatial position information of the other can be determined. Therefore, it can be understood that the relative position information between base station 01 and positioning tag 03 includes relative distance and relative angle; specifically, the relative distance between base station 01 and positioning tag 03 refers to the distance between two points considering base station 01 and positioning tag 03 as two points; the relative angle between base station 01 and positioning tag 03 refers to the angle in space of the line determined by these two points considering base station 01 and positioning tag 03 as two points, such as the angle with the X-axis, Y-axis, and / or Z-axis in the XYZ three-dimensional space coordinate system. In this way, knowing the relative position information between base station 01 and positioning tag 03 and the spatial position information of any one of base station 01 and positioning tag 03, the spatial position information of the other can be determined.

[0155] In some embodiments, the installation height of the first base station 01a is greater than the first height. In some embodiments, the value range of the first height is greater than or equal to 2.5 meters. In some embodiments, the value range of the first height is greater than or equal to 3 meters.

[0156] For example, the first base station 01a can be installed on the ceiling, and FIGS. 8(1) and 8(2) are both such examples. For the mobile radiographic imaging device 100, the first base station 01a can be installed through a mounting rod 92c. Figure 6 This is such an example. The mounting rod 92c is disposed on the movable fuselage 91, and the first base station 01a is installed on the mounting rod 92c such that the installation height of the first base station 01a is greater than the first height.

[0157] In some embodiments, the second base station 01b is disposed on the gantry 10. For example, the second base station 01b is disposed near the outlet 13a of the collimator 13, so that when the position of the gantry 10 is matched with the position of the free detector 20, the second base station 01b can be relatively close to the free detector 20 and is not blocked by the free detector 20.

[0158] In some embodiments, the first base station 01a transmits a signal to the positioning tag 03 disposed on the detector 20 and receives the signal returned by the positioning tag 03 disposed on the detector 20. The controller 90 can calculate the relative position information between the first base station 01a and the positioning tag 03 disposed on the detector 20 based on the signals transmitted and received by the first base station 01a. In some embodiments, the relative position information between the first base station 01a and the positioning tag 03 disposed on the detector 20 includes the relative distance and relative angle between the first base station 01a and the positioning tag 03 disposed on the detector 20. The specific meanings of the relative distance and relative angle are as explained above and will not be elaborated here.

[0159] In some embodiments, the controller 90 can calculate at least the spatial position information of the detector 20 based on the relative position information between the first base station 01a and the positioning tag 03 disposed on the detector 20.

[0160] For example, the spatial position information of the first base station 01a can be known. For example, when the first base station 01a is installed at a fixed position in space such as the ceiling or on the mounting rod 92c, the spatial position information of the first base station 01a can be known. Combining with the relative position information between the first base station 01a and the positioning tag 03 disposed on the detector 20, the spatial position information of the positioning tag 03 disposed on the detector 20 can be calculated. Therefore, the spatial position information of the detector 20 can be obtained. For example, the spatial position information of the detector 20 can be represented by the spatial position information of the positioning tag 03 disposed on the detector 20. For another example, since the position of the positioning tag 03 disposed on the detector 20 on the detector 20 can be known, the spatial position information of any position on the detector 20, such as the center of the imaging surface, can be obtained based on the spatial position information of the positioning tag 03 disposed on the detector 20. The spatial position information of the detector 20 can be represented by the spatial position information of the center of the imaging surface of the detector 20.

[0161] FIG. 8(1) is an example in which the free-type detector 20 is provided with a positioning tag 03. The gray dashed lines in the figure represent the transceiver signals between the first base station 01a and the positioning tag 03, and the gray solid lines in the figure represent the transceiver signals between the second base station 01b and the positioning tag 03.

[0162] In some embodiments, the free-type detector 20 is provided with a plurality of positioning tags 03, such as two or at least three, etc.

[0163] The spatial position information of the free detector 20 can be represented by the spatial position information of any one of the positioning tags 03; or the spatial position information of the center of the imaging surface of the detector 20, such as the detector 20, can be further calculated based on the spatial position information of any one of the positioning tags 03, and the spatial position information of the center of the imaging surface of the detector 20 is used to represent the spatial position information of the detector 20; or the spatial position information of the free detector 20 can be calculated based on the spatial position information of these positioning tags 03. For example, the spatial position information of the center of the imaging surface of the free detector 20 is calculated to represent the spatial position information of the free detector 20. These calculations can be completed by the controller 90.

[0164] The attitude information of the free detector 20 can be obtained by a plurality of positioning tags 03 provided on the free detector 20.

[0165] The attitude information of the free detector 20 refers to the attitude of the detector 20 in space, such as one or more of its roll angle, pitch angle, and heading angle; the attitude of the free detector 20 in space can be defined by one or more of the roll angle, pitch angle, and heading angle of the imaging surface of the free detector 20, or by one or more of the angles between the imaging surface of the free detector 20 and the X-axis, Y-axis, and Z-axis in the XYZ three-dimensional space coordinate system. Among them, the side of the free detector 20 that is used to face the person to be detected or the nose 10 during use is the front, and the front of the detector 20 has an area for receiving rays, and this area can be called the imaging surface of the detector 20 (or the imaging surface area). For example, the area 20a defined by the dotted line in Figure 9(1) below is an example of the imaging surface area.

[0166] The attitude information of the free detector 20 can be obtained by a plurality of positioning tags 03 provided on the free detector 20, such as three or more positioning tags 03.

[0167] In some embodiments, the free detector 20 is provided with a plurality of positioning tags 03, and the controller 90 calculates the attitude information of the free detector 20 based on the spatial position information of these plurality of positioning tags 03. In some embodiments, the free detector 20 is provided with at least three positioning tags 03; in some embodiments, the three positioning tags 03 are arranged at three positions of the free detector 20, and these three positions are not on a straight line. For example, these three positions are located at three corners of the free flat panel detector 20. For example, Fig. 8(2) is an example. In Fig. 8(2), 03a, 03b, and 03c represent three positioning tags arranged on the free detector 20; the gray dotted lines in the figure represent the transceiver signals between the first base station 01a and the three positioning tags 03a, 03b, and 03c, and the gray solid lines in the figure represent the transceiver signals between the second base station 01b and the three positioning tags 03a, 03b, and 03c; for Fig. 8(2), the spatial position information of the positioning tag 03a can be calculated through the relative position information between the first base station 01a and the positioning tag 03a, the spatial position information of the positioning tag 03b can be calculated through the relative position information between the first base station 01a and the positioning tag 03b, and the spatial position information of the positioning tag 03c can be calculated through the relative position information between the first base station 01a and the positioning tag 03c; therefore, if the free detector 20 is provided with at least three positioning tags 03, the spatial position information of each positioning tag 03 can be calculated, and a plane can be determined by three non-collinear points, for example, the plane where the imaging surface of the detector 20 is located, so the controller 90 can calculate the attitude information of the free detector 20.

[0168] In some embodiments, the detector 20 and the positioning tag 03 arranged on the detector 20 are assembled into one body, thus forming the overall contour structure of the detector 20. Fig. 9(1) and Fig. 9(2) are two examples. The detector 20 has a front side, a back side, and a side; as described above, the side of the free detector 20 facing the subject or the nose 10 during use is the front side, and the front side of the detector 20 has an area for receiving rays, and this area can be called the imaging surface (or imaging surface area) of the detector 20. The area 20a defined by the dotted line in the figure is an example of the imaging surface area; the back side of the detector 20 is the side opposite to the front side of the detector 20 in the front-rear direction of the detector 20 in the figure, and the side of the detector 20 refers to the surface connecting the front side and the back side of the detector 20. The positioning tag 03 can be arranged on the side at the corner of the detector 20. For example, Fig. 9(1) is an example; the positioning tag 03 can also be arranged on the front side at the corner. For example, Fig. 9(2) is an example.

[0169] In some embodiments, the positioning tag 03 arranged on the detector 20 can be arranged outside the imaging surface area of the detector 20.

[0170] The above is the description of obtaining the attitude information of the detector 20 through the first base station 01a and multiple positioning tags 03 arranged on the detector 20.

[0171] In some embodiments, the second base station 01b transmits a signal to the positioning tag 03 arranged on the detector 20 and receives the signal returned by the positioning tag 03 arranged on the detector 20. The controller 90 can calculate the relative position information between the second base station 01b and the positioning tag 03 arranged on the detector 20 based on the signals transmitted and received by the second base station 01b. In some embodiments, the relative position information between the second base station 01b and the positioning tag 03 arranged on the detector 20 includes the relative distance and relative angle between the second base station 01b and the positioning tag 03 arranged on the detector 20. The specific meanings of the relative distance and relative angle are as explained above and will not be elaborated here.

[0172] In some embodiments, the controller 90 can calculate at least the spatial position information of the detector 20 based on the relative position information between the second base station 01b and the positioning tag 03 arranged on the detector 20.

[0173] For example, since the controller 90 can drive the first support structure 31 through the driving component 35 to drive the nose 10 to move, the controller 90 can know the spatial position information of the nose 10. Also, since the second base station 01b is arranged on the nose 10, the spatial position information of the second base station 01b can be known. Combining with the relative position information between the second base station 01b arranged on the nose 10 and the positioning tag 03 arranged on the detector 20, the spatial position information of the positioning tag 03 arranged on the detector 20 can be calculated. Therefore, the spatial position information of the detector 20 can be obtained. For example, the spatial position information of the detector 20 can be represented by the spatial position information of the positioning tag 03 arranged on the detector 20. Also, for example, since the position of the positioning tag 03 arranged on the detector 20 on the detector 20 can be known, the spatial position information of any position on the detector 20, such as the center of the imaging surface, can be obtained based on the spatial position information of the positioning tag 03 arranged on the detector 20. The spatial position information of the detector 20 can be represented by the spatial position information of the center of the imaging surface of the detector 20.

[0174] In some embodiments, the free - type detector 20 is provided with multiple positioning tags 03, such as two or at least three, etc.

[0175] The spatial position information of any one of the positioning tags 03 can be used to represent the spatial position information of the free detector 20; alternatively, the spatial position information of any one of the positioning tags 03 can be further used to calculate the spatial position information of, for example, the center of the imaging surface of the detector 20, and the spatial position information of the center of the imaging surface of the detector 20 can be used to represent the spatial position information of the detector 20; alternatively, based on the spatial position information of these positioning tags 03, the spatial position information of the free detector 20 can be calculated, for example, by calculating the spatial position information of the center of the imaging surface of the free detector 20 to represent the spatial position information of the free detector 20. These calculations can be performed by the controller 90.

[0176] The attitude information of the free detector 20 can be obtained by means of a plurality of positioning tags 03 provided on the free detector 20, such as three or more positioning tags 03.

[0177] In some embodiments, the free detector 20 is provided with a plurality of positioning tags 03, and the controller 90 calculates the attitude information of the free detector 20 based on the spatial position information of these plurality of positioning tags 03. In some embodiments, the free detector 20 is provided with at least three positioning tags 03; in some embodiments, the three positioning tags 03 are provided at three sites of the free detector 20, and these three sites are not on a straight line. For example, these three sites are located at three corners of the free flat panel detector 20. For example, Fig. 8(2) is an example. In Fig. 8(2), 03a, 03b, and 03c represent three positioning tags provided on the free detector 20; the gray dashed lines in the figure represent the transceiver signals between the first base station 01a and the three positioning tags 03a, 03b, and 03c, and the gray solid lines in the figure represent the transceiver signals between the second base station 01b and the three positioning tags 03a, 03b, and 03c; for Fig. 8(2), the spatial position information of the positioning tag 03a can be calculated based on the relative position information between the second base station 01b and the positioning tag 03a, the spatial position information of the positioning tag 03b can be calculated based on the relative position information between the second base station 01b and the positioning tag 03b, and the spatial position information of the positioning tag 03c can be calculated based on the relative position information between the second base station 01b and the positioning tag 03c; therefore, if the free detector 20 is provided with at least three positioning tags 03, the spatial position information of each positioning tag 03 can be calculated, and a plane, for example, the plane where the imaging surface of the detector 20 is located, can be determined by three non-collinear points. Therefore, the controller 90 can calculate the attitude information of the free detector 20.

[0178] For the positions where the positioning tags 03 are provided on the detector 20, reference can be made to the above description, and details are not repeated here.

[0179] The above is the description of obtaining the attitude information of the detector 20 through the second base station 01b and multiple positioning tags 03 provided on the detector 20.

[0180] In some embodiments, the free detector 20 is provided with an attitude sensor 05, and the attitude sensor 05 is used to measure the attitude information of the free detector 20; Figure 8(1) is an example.

[0181] In some embodiments, the data of the attitude sensor 05 can be transmitted to the controller 90 through a communication module 23 such as.

[0182] In some embodiments, the attitude sensor 05 is provided on the back of the detector 20.

[0183] The attitude sensor 05 can also be provided at other positions that do not affect the detector 20 from receiving rays.

[0184] In some embodiments, the attitude sensor 05 can be a three-axis attitude sensor, a six-axis attitude sensor or a nine-axis attitude sensor.

[0185] In some embodiments, the attitude sensor 05 is a three-dimensional motion attitude measurement component based on MEMS technology (Micro-Electro-Mechanical System).

[0186] In some embodiments, the first attitude sensor 05 can include motion sensors such as a three-axis gyroscope, a three-axis accelerometer and a three-axis electronic compass, and obtain temperature-compensated three-dimensional attitude and azimuth data through an embedded ARM processor.

[0187] In some embodiments, the attitude sensor 05 uses a three-dimensional algorithm based on quaternions and data fusion technology to output zero-drift three-dimensional attitude azimuth data represented by quaternions and Euler angles in real time, and can also output nine-axis data of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetic field.

[0188] In some embodiments, the attitude information of the detector 20, such as roll angle, pitch angle and heading angle, can be obtained through the nine-axis attitude sensor 05.

[0189] In some embodiments, two second base stations 01b can be provided on the nose 10, for example, Figure 10(1) and Figure 10(2) are two examples.

[0190] In the example of FIG. 10(1), the controller 90 can calculate the spatial position information of a free-type detector 20, such as, based on the relative position information between the first second base station 01b and the positioning tag 03; the controller 90 can calculate the spatial position information of a free-type detector 20, such as, based on the relative position information between the second second base station 01b and the positioning tag 03; the controller 90 can calibrate the spatial position information of the free-type detector 20 calculated by the first second base station 01b with the spatial position information of the free-type detector 20 calculated by the second second base station 01b.

[0191] In the example of FIG. 10(2), the controller 90 can calculate the spatial position information and / or attitude information of a free-type detector 20, such as, based on the relative position information between the first second base station 01b and three positioning tags 03; the controller 90 can calculate the spatial position information and / or attitude information of a free-type detector 20, such as, based on the relative position information between the second second base station 01b and three positioning tags 03; thus, the controller 90 can calibrate the spatial position information of the free-type detector 20 calculated by the first second base station 01b with the spatial position information of the free-type detector 20 calculated by the second second base station 01b, and the controller 90 can calibrate the attitude information of the free-type detector 20 calculated by the first second base station 01b with the attitude information of the free-type detector 20 calculated by the second second base station 01b.

[0192] In Fig. 10(2), 03a, 03b, and 03c represent three positioning tags disposed on the free detector 20; the relative position information between the first second base station 01b and the positioning tag 03a can be calculated through the signals transmitted and received by the first second base station 01b to the positioning tag 03a, the relative position information between the first second base station 01b and the positioning tag 03b can be calculated through the signals transmitted and received by the first second base station 01b to the positioning tag 03b, and the relative position information between the first second base station 01b and the positioning tag 03c can be calculated through the signals transmitted and received by the first second base station 01b to the positioning tag 03c. Therefore, the spatial position information of the free detector 20 (which may be called the spatial position information of the free detector 20 calculated by the first second base station 01b) can be calculated based on these three relative position information, and the attitude information of the free detector 20 (which may be called the attitude information of the free detector 20 calculated by the first second base station 01b) can also be calculated. Similarly, the relative position information between the second second base station 01b and the positioning tag 03a can be calculated through the signals transmitted and received by the second second base station 01b to the positioning tag 03a, the relative position information between the second second base station 01b and the positioning tag 03b can be calculated through the signals transmitted and received by the second second base station 01b to the positioning tag 03b, and the relative position information between the second second base station 01b and the positioning tag 03c can be calculated through the signals transmitted and received by the second second base station 01b to the positioning tag 03c. Therefore, the spatial position information of the free detector 20 (which may be called the spatial position information of the free detector 20 calculated by the second second base station 01b) can be calculated based on these three relative position information, and the attitude information of the free detector 20 (which may be called the attitude information of the free detector 20 calculated by the second second base station 01b) can also be calculated. Further, the spatial position information of the free detector 20 calculated by the first second base station 01b can be calibrated by the spatial position information of the free detector 20 calculated by the second second base station 01b, and the attitude information of the free detector 20 calculated by the first second base station 01b can also be calibrated by the attitude information of the free detector 20 calculated by the second second base station 01b.

[0193] It should be noted that the position of the controller 90 can be designed based on the user's needs. This application does not limit the specific setting and installation position of the controller 90. In addition, the controller 90 in this article has a control function to control other components to perform corresponding operations. For example, the controller 90 can be used to control the driving component 35 to drive the machine head 10 to move. For another example, it controls the display to perform a display operation. For another example, it controls components with data processing and calculation functions such as a processor to perform data processing and calculation; the controller 90 in this article itself can also have data calculation and processing functions, such as calculating relative position information based on the signals transmitted and received by the base station 01 mentioned below.

[0194] The following will describe Figure 11 the base station 01 in some detail.

[0195] In some embodiments, the base station 01 (such as the first base station 01a or the second base station 01b) transmits signals to the positioning tag 03 through its antenna 01d and receives the signals returned by the positioning tag 03. The controller 90 can complete the positioning of the positioning tag 03 based on the Phase Difference of Arrival (PDOA) algorithm, and obtain the relative position information between the base station 01 and the positioning tag 03 through one base station 01.

[0196] In some embodiments, the base station 01 (such as the first base station 01a or the second base station 01b) has at least two antennas 01d for transmitting and receiving signals. In some embodiments, the controller 90 calculates the first relative distance between the first antenna 01d and the positioning tag 03 based on the signals transmitted and received by the first antenna 01d - this can be obtained by notifying the flight time of the signal. In some embodiments, the controller 90 calculates the first signal arrival phase difference based on the signals transmitted and received by the first antenna 01d and the signals transmitted and received by the second antenna 01d, where the first signal arrival phase difference is the phase difference between the signal received by the first antenna 01d and the signal received by the second antenna 01d. In some embodiments, the controller 90 calculates the relative position information between the base station 01 and the positioning tag 03 at least based on the first relative distance and the first signal arrival phase difference; for example, the controller 90 calculates the first azimuth angle of the positioning tag 03 based on the first signal arrival phase difference and the distance between the two antennas 01d (referring to the first antenna 01d and the second antenna 01d). The first azimuth angle belongs to the relative angle between the base station 01 and the positioning tag 03, and the first relative distance can be used as the relative distance between the base station 01 and the positioning tag 03.

[0197] In some embodiments, the base station 01 (such as the first base station 01a, or the second base station 01b for another example) has three antennas 01d for transmitting and receiving signals. In some embodiments, the controller 90 calculates a first relative distance between the first antenna 01d and the positioning tag 03 based on the signals transmitted and received by the first antenna 01d - this can be obtained by informing the flight time of the signal. In some embodiments, the controller 90 calculates a first signal arrival phase difference based on the signals transmitted and received by the first antenna 01d and the signals transmitted and received by the second antenna 01d, where the first signal arrival phase difference is the phase difference between the received signal arriving at the first antenna 01d and the received signal arriving at the second antenna 01d. In some embodiments, the controller 90 calculates a second signal arrival phase difference based on the signals transmitted and received by the first antenna 01d and the signals transmitted and received by the third antenna 01d, where the second signal arrival phase difference is the phase difference between the received signal arriving at the first antenna 01d and the received signal arriving at the third antenna 01d. In some embodiments, the controller 90 calculates the relative position information between the base station 01 and the positioning tag 03 at least based on the first relative distance, the first signal arrival phase difference, and the third signal arrival phase difference. For example, the controller 90 calculates a first azimuth angle of the positioning tag 03 based on the first signal arrival phase difference and the distance between two antennas 01d (referring to the first antenna 01d and the second antenna 01d), and the controller 90 calculates a second azimuth angle of the positioning tag 03 based on the first signal arrival phase difference and the distance between two antennas 01d (referring to the first antenna 01d and the third antenna 01d); the first azimuth angle and the second azimuth angle belong to the relative angles between the base station 01 and the positioning tag 03, and the first relative distance can be used as the relative distance between the base station 01 and the positioning tag 03.

[0198] In some embodiments, the first azimuth angle is the angle between the line connecting the base station 01 and the positioning tag 03 and the XOY plane. In some embodiments, the second azimuth angle is the horizontal azimuth angle of the line connecting the base station 01 and the positioning tag 03, that is, the angle between the projection of this line on the XOY plane and the Y axis.

[0199] In some embodiments, the three antennas 01d for transmitting and receiving signals of the base station 01 (such as the first base station 01a, or the second base station 01b for another example) are arranged at three sites of the base station 01, and these three sites are not on a straight line; further, these three sites are arranged according to the three vertices of a right triangle.

[0200] In some embodiments, the above-mentioned first antenna 01d may be located at the vertex where the right angle of the right triangle is located.

[0201] Figure 11This is an example. The base station 01 includes a base station body 01f and three antennas 01d disposed on the same side of the base station body 01f.

[0202] In some embodiments, the base station 01 (such as the first base station 01a or the second base station 01b) is a base station of the UWB (Ultra Wide Band) type, and the positioning tag 03 is a positioning tag of the UWB (Ultra Wide Band) type.

[0203] Ultra-wideband technology is a wireless personal area network communication technology with low power consumption and high-speed transmission. It is suitable for wireless communication applications that require high-quality services and can be used in fields such as wireless personal area networks (WPANs), home network connections, and short-range radars. It does not use continuous sine waves but uses pulse signals to transmit. Ultra-wideband refers to ultra-wideband pulses, which are pulses with pulse widths in the nanosecond to picosecond range. Different from the common continuous carrier method used in communication, UWB uses extremely short pulse signals to transmit data. The bandwidth occupied by these pulses can even reach several GHz, so the maximum data transmission rate can reach several hundred Mbps. Because extremely short pulses are used, while enabling high-speed communication, the transmission power of UWB devices is very small, only one-hundredth to one-thousandth of the current continuous carrier system. Therefore, ultra-wideband has the characteristics of high spatial resolution, strong anti-interference ability, fast transmission speed, low cost, and low power consumption. By using a base station of the ultra-wideband type and a positioning tag of the ultra-wideband type for short-distance communication, the relative position information between the two can be accurately obtained, thereby obtaining the spatial position information and attitude information of a free-type detector 20, for example.

[0204] In addition, since the space of the free-type detector 20 itself is relatively precious, a free-type auxiliary device 25 can be equipped for the free-type detector 20. FIGS. 12(1) and 12(2) are two examples. The auxiliary device 25 is used to place the detector 20 during the process of the detector 20 receiving radiation. Since the auxiliary device 25 is also free-type and can place the detector 20, after the detector 20 is placed on the auxiliary device 25, the overall component is still free-type, that is, it can be placed at the position desired by the technician without being limited to a specific position. For example, when the subject is sitting in a wheelchair, the technician can place the auxiliary device 25 (with the detector 20 placed on it) on the backrest of the wheelchair or under the wheelchair for free-position radiography; for another example, for a subject lying on a stretcher, the technician can place the auxiliary device 25 (with the detector 20 placed on it) under the subject for free-position radiography. The effect of the detector 20 being used separately from the film cassette assembly is also achieved.

[0205] In an example where the freestanding detector 20 is equipped with the freestanding auxiliary device 25, when the detector 20 is used separately from the film cassette assembly, the detector 20 is placed on the auxiliary device 25 for freestanding shooting and imaging. Therefore, the spatial position information of the auxiliary device 25 can represent the spatial position information of the detector 20, and the pose information of the auxiliary device 25 can represent the pose information of the detector 20. Therefore, in the example where the freestanding detector 20 is equipped with the freestanding auxiliary device 25, setting the positioning tag 03 on the detector 20 can achieve the purpose of indirectly setting the positioning tag 03 on the detector 20 by setting the positioning tag 03 on the auxiliary device 25; similarly, setting the attitude sensor 05 on the detector 20 can achieve the purpose of indirectly setting the attitude sensor 05 on the detector 20 by setting the attitude sensor 05 on the auxiliary device 25.

[0206] The structure of the freestanding auxiliary device 25 will be described below with reference to FIG. 12(1) or FIG. 12(2).

[0207] In some embodiments, the freestanding auxiliary device 25 includes a structural body 26 that defines a space capable of placing or accommodating the freestanding detector 20; wherein, the structural body 26 has an opening 28, and the opening 28 can be provided on the upper side of the structural body 26, and the freestanding auxiliary device 25 can be placed into the freestanding auxiliary device 25 from top to bottom through the opening 28; in some embodiments, the front surface of the structural body 26 has a hollowed-out area 27, and the area of the hollowed-out area 27 is at least not less than the imaging surface area of the detector 20, so that when the front surface of the detector 20 faces forward and the back surface faces backward and is placed in the auxiliary device 25, the structural body 26 does not block the imaging surface area of the detector 20, and thus the imaging surface area of the detector 20 can receive rays through the hollowed-out area 27.

[0208] In the example of FIG. 12(1), the freestanding auxiliary device 25 is provided with a positioning tag 03 and an attitude sensor 05. In the example of FIG. 12(2), the freestanding auxiliary device 25 is provided with three positioning tags 03.

[0209] In some embodiments, the auxiliary device 25 further includes a communication module 25a for communication, including data transmission; for example, the communication module 25a transmits the data of the attitude sensor 05, for example, to the controller 90 of the ray imaging device 100. In some embodiments, the communication module 25a can be a wireless communication module, such as a Wi-Fi communication module.

[0210] The above has described how the ray imaging device 100 obtains the spatial position information of the head 10, the attitude information of the head 10, the spatial position information of the freestanding detector 20, and the attitude information of the freestanding detector 20.

[0211] In some embodiments, the controller 90 generates first prompt information at least based on the relative position information of the first base station 01a and the tag 03. The first prompt information can be used to prompt the user to control the movement of the nose 10 (for example, the user controls it manually), such as to prompt the user to control the movement of the nose 10 so that the nose 10 and the detector 20 satisfy a first positional relationship.

[0212] Therefore, in some embodiments, the first prompt information is used to control the movement of the nose 10 so that the nose 10 and the detector 20 satisfy a first positional relationship. For example, it can be used to prompt the user to control the movement of the nose 10 (for example, the user controls it manually). For another example, the controller 90 controls the movement of the nose 10 based on the first prompt information so that the nose and the detector satisfy the first positional relationship.

[0213] In some embodiments, the first prompt information includes prompt information on whether the nose 10 and the detector 20 satisfy a first positional relationship.

[0214] For example, the controller 90 prompts the user by generating information for display and / or audio playback. These prompt information can be one or more of the following: the spatial position of the detector 20, the attitude information of the detector 20, the distance between the detector 20 and the nose 10, the distance between the imaging surface of the nose 10 and the detector 20, the distance between the nose 10 and the first straight line, the angle between the illumination surface of the nose 10 and the imaging surface of the detector 20, the direction and / or distance indication for instructing the user to move the nose 10, the angle or orientation for instructing the user to rotate the nose 10, etc.; through these prompts, the user controls the movement of the nose 10 so that the nose 10 and the detector 20 satisfy a first positional relationship.

[0215] The first positional relationship will be described in detail later.

[0216] In some embodiments, the controller 90 generates second prompt information at least based on the relative position information of the second base station 01b and the tag 03. The second prompt information can be used to prompt the user to control the movement of the nose 10 (for example, the user controls it manually), such as to prompt the user to control the movement of the nose 10 so that the nose 10 and the detector 20 satisfy a second positional relationship.

[0217] Therefore, in some embodiments, the second prompt information is used to control the movement of the nose 10 so that the nose 10 and the detector 20 satisfy the second positional relationship. For example, it can be used to prompt the user to control the movement of the nose 10 (for example, the user controls it manually). For another example, the controller 90 controls the movement of the nose 10 based on the second prompt information so that the nose and the detector satisfy the second positional relationship.

[0218] In some embodiments, the second prompt information includes the prompt information on whether the nose 10 and the detector 20 satisfy the second positional relationship.

[0219] For example, the controller 90 prompts the user by generating information for display and / or audio playback. These prompt information can be one or more of the following: the spatial position of the detector 20, the attitude information of the detector 20, the distance between the detector 20 and the nose 10, the distance between the imaging surface of the nose 10 and the detector 20, the distance between the nose 10 and the first straight line, the angle between the irradiation surface of the nose 10 and the imaging surface of the detector 20, the direction and / or distance indication for instructing the user to move the nose 10, the angle or orientation for instructing the user to rotate the nose 10, and so on, one or more of these information; through these prompts, the user is enabled to control the movement of the nose 10 so that the nose 10 and the detector 20 satisfy the second positional relationship.

[0220] The second positional relationship will be described in detail later.

[0221] In some embodiments, the controller 90 calculates the relative position information between the first base station 01a and the positioning tag 03 based on the signals transmitted and received by the first base station 01a, and at least based on the relative position information between the first base station 01a and the positioning tag 03, controls the drive assembly 35 to drive the nose 10 to move so that the nose 10 and the detector 20 satisfy the first positional relationship; after the nose 10 and the detector 20 satisfy the first positional relationship, the controller 90 calculates the relative position information between the second base station 01b and the positioning tag 03 based on the signals transmitted and received by the second base station 01b, and at least based on the relative position information between the second base station 01b and the positioning tag 03, controls the drive assembly 35 to drive the nose 10 to move so that the nose 10 and the detector 20 satisfy the second positional relationship.

[0222] For example, first, the first base station 01a installed at a height higher than the first height (such as the ceiling) to achieve a larger signal coverage range is used to search for the positioning tag 03 of the free detector 20, and preliminary positioning is performed based on the first base station 01a, so as to guide the nose 10 to move towards the free detector 20. Then, the second base station 01b of the nose 10 transmits and receives signals to the positioning tag 03 of the free detector 20 for a second more accurate positioning, thereby providing more accurate spatial position information and / or attitude information, etc. for the position matching of the nose 10 and the free detector 20.

[0223] In some embodiments, the controller 90 calculates the spatial position information of the detector 20 based on the relative position information between the first base station 01a and the positioning tag 03; the controller 90 controls the drive assembly 35 to drive the nose 10 to move so that the nose 10 and the detector 20 satisfy the first position relationship based on the spatial position information of the detector 20; for example, the controller 90 controls the drive assembly 35 to drive the nose 10 to move so that the nose 10 and the detector 20 satisfy the first position relationship according to the spatial position information of the detector 20 and the spatial position information of the nose 10. In some embodiments, the first position relationship includes: the distance between the nose 10 and the detector 20, such as the positioning tag thereon, is less than the first distance. In some embodiments, the first distance can be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter.

[0224] In some embodiments, the controller 90 obtains the attitude information of the detector 20 and controls the drive assembly 35 to drive the nose 10 to move so that the nose 10 and the detector 20 satisfy the first position relationship; for example, the controller 90 controls the drive assembly 35 to drive the nose 10 to move so that the nose 10 and the detector 20 satisfy the first position relationship according to the attitude information of the detector 20 and the attitude information of the nose 10. In some embodiments, the angle formed by the irradiation surface of the nose 10 and the imaging surface of the detector 20 is less than the first angle. In some embodiments, the first angle can be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0225] In some embodiments, the controller 90 calculates the spatial position information of the detector 20 based on the relative position information between the first base station 01a and the positioning tag 03, obtains the attitude information of the detector 20, and controls the driving component 35 to drive the nose 10 to move based on the spatial position information and attitude information of the detector 20 so that the nose 10 and the detector 20 satisfy a first positional relationship; for example, the controller 90 controls the driving component 35 to drive the nose 10 to move based on the spatial position information and attitude information of the detector 20 and the spatial position information and attitude information of the nose 10 so that the nose 10 and the detector 20 satisfy the first positional relationship. In some embodiments, the first positional relationship includes: the distance between the nose 10 and the detector 20, such as the positioning tag thereon, is less than a first distance, and the angle formed by the illumination surface of the nose 10 and the imaging surface of the detector 20 is less than a first angle. In some embodiments, the first distance may be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter. In some embodiments, the first angle may be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0226] It should be noted that the controller 90 obtains the attitude information of the detector 20, which can be calculated through the relative position information between the first base station 01a and multiple positioning tags 03, or can be obtained through the attitude sensor 05.

[0227] In some embodiments, the controller 90 calculates the spatial position information of the detector 20 based on the relative position information between the second base station 01b and the positioning tag 03; the controller 90 controls the driving component 35 to drive the nose 10 to move based on the spatial position information of the detector 20 so that the nose 10 and the detector 20 satisfy a second positional relationship; for example, the controller 90 controls the driving component 35 to drive the nose 10 to move based on the spatial position information of the detector 20 and the spatial position information of the nose 10 so that the nose 10 and the detector 20 satisfy the second positional relationship.

[0228] In some embodiments, the controller 90 obtains the attitude information of the detector 20 and controls the driving component 35 to drive the nose 10 to move so that the nose 10 and the detector 20 satisfy a second positional relationship; for example, the controller 90 controls the driving component 35 to drive the nose 10 to move based on the attitude information of the detector 20 and the attitude information of the nose 10 so that the nose 10 and the detector 20 satisfy the second positional relationship. It should be noted that the controller 90 obtains the attitude information of the detector 20, which can be calculated through the relative position information between the second base station 01a and multiple positioning tags 03, or can be obtained through the attitude sensor 05.

[0229] In some embodiments, the controller 90 calculates the spatial position information of the detector 20 based on the relative position information between the second base station 01b and the positioning tag 03, obtains the attitude information of the detector 20, and controls the driving component 35 to drive the nose 10 to move based on the spatial position information and attitude information of the detector 20 so that the nose 10 and the detector 20 satisfy the second position relationship; for example, the controller 90 controls the driving component 35 to drive the nose 10 to move based on the spatial position information and attitude information of the detector 20, and the spatial position information and attitude information of the nose 10 so that the nose 10 and the detector 20 satisfy the second position relationship. It should be noted that the controller 90 obtains the attitude information of the detector 20, which can be calculated through the relative position information between the second base station 01a and multiple positioning tags 03, or obtained through the attitude sensor 05.

[0230] In some embodiments, the second position relationship includes: the distance between the nose 10 and the imaging surface of the detector 20 is less than the second distance, and / or, the distance between the nose 10 and the first straight line is less than the third distance, the first straight line is a straight line perpendicular to and passing through the center of the imaging surface of the detector 20, and / or, the angle formed by the irradiation surface of the nose 10 and the imaging surface of the detector 20 is less than the second angle.

[0231] In some embodiments, the distance between the nose 10 and the imaging surface of the detector 20 is less than the second distance, and the second distance can be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter.

[0232] In some embodiments, the distance between the nose 10 and the first straight line is less than the third distance, and the third distance can be, for example, 0.3 meters, 0.2 meters, 0.1 meters, 0.05 meters, and so on.

[0233] In some embodiments, the angle formed by the irradiation surface of the nose 10 and the imaging surface of the detector 20 is less than the second angle, and the second angle can be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0234] In some embodiments, the nose 10 and the detector 20 satisfy the second position relationship, which is to make the nose 10 and the detector 20 closer to the centering or alignment relationship. In an ideal situation, the nose 10 and the detector 20 form a centering or alignment relationship. In the centering or alignment relationship, the distance between the nose 10 and the first straight line is as close to 0 as possible, the irradiation surface of the nose 10 and the imaging surface of the detector 20 are as parallel as possible, and the distance between the nose 10 and the imaging surface of the detector 20 can be designed according to the actual situation of the user, such as 1 meter.

[0235] Some embodiments of the present application also disclose a positioning method for a ray imaging device 100. The ray imaging device 100 includes a machine head 10, a free detector 20, at least one first base station 01a, at least one second base station 01b, and at least one positioning tag 03. In some embodiments, the ray imaging device 100 may be the ray imaging device 100 in any of the above embodiments.

[0236] Please refer to Figure 13 , and the positioning method in some embodiments includes the following steps:

[0237] Step 110: Calculate the relative position information between the first base station 01a and the positioning tag 03 based on the signals transmitted and received by the first base station 01a, and control the movement of the machine head 10 based on at least the relative position information between the first base station 01a and the positioning tag 03 so that the machine head 10 and the detector 20 satisfy a first position relationship.

[0238] In some embodiments, step 110 calculates the spatial position information of the detector 20 based on the relative position information between the first base station 01a and the positioning tag 03; step 110 controls the movement of the machine head 10 based on the spatial position information of the detector 20 so that the machine head 10 and the detector 20 satisfy a first position relationship. For example, step 110 controls the movement of the machine head 10 based on the spatial position information of the detector 20 and the spatial position information of the machine head 10 so that the machine head 10 and the detector 20 satisfy a first position relationship. In some embodiments, the first position relationship includes: the distance between the machine head 10 and the detector 20, such as the positioning tag thereon, is less than a first distance. In some embodiments, the first distance may be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter.

[0239] In some embodiments, step 110 obtains the attitude information of the detector 20 and controls the movement of the machine head 10 so that the machine head 10 and the detector 20 satisfy a first position relationship. For example, step 110 controls the movement of the machine head 10 based on the attitude information of the detector 20 and the attitude information of the machine head 10 so that the machine head 10 and the detector 20 satisfy a first position relationship. In some embodiments, the angle formed by the irradiation surface of the machine head 10 and the imaging surface of the detector 20 is less than a first angle. In some embodiments, the first angle may be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0240] In some embodiments, step 110 calculates the spatial position information of the detector 20 based on the relative position information between the first base station 01a and the positioning tag 03, obtains the attitude information of the detector 20, and controls the movement of the nose 10 based on the spatial position information and the attitude information of the detector 20 so that the nose 10 and the detector 20 satisfy a first positional relationship; for example, step 110 controls the movement of the nose 10 based on the spatial position information and the attitude information of the detector 20, and the spatial position information and the attitude information of the nose 10 so that the nose 10 and the detector 20 satisfy a first positional relationship. In some embodiments, the first positional relationship includes: the distance between the nose 10 and the detector 20, such as the positioning tag thereon, is less than a first distance, and the angle formed by the irradiation surface of the nose 10 and the imaging surface of the detector 20 is less than a first angle. In some embodiments, the first distance can be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter. In some embodiments, the first angle can be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0241] It should be noted that the attitude information of the detector 20 obtained in step 110 can be calculated through the relative position information between the first base station 01a and multiple positioning tags 03, or can be obtained through the attitude sensor 05.

[0242] Step 130: After the nose 10 and the detector 20 satisfy the first positional relationship, calculate the relative position information between the second base station 01b and the positioning tag 03 based on the signals transmitted and received by the second base station 01b, and control the movement of the nose 10 based on at least the relative position information between the second base station 01b and the positioning tag 03 so that the nose 10 and the detector 20 satisfy a second positional relationship.

[0243] In some embodiments, step 130: obtains the attitude information of the detector 20 and controls the movement of the nose 10 so that the nose 10 and the detector 20 satisfy a second positional relationship; for example, step 130: controls the movement of the nose 10 based on the attitude information of the detector 20 and the attitude information of the nose 10 so that the nose 10 and the detector 20 satisfy a second positional relationship. It should be noted that the attitude information of the detector 20 obtained in step 130 can be calculated through the relative position information between the second base station 01a and multiple positioning tags 03, or can be obtained through the attitude sensor 05.

[0244] In some embodiments, step 130: Calculate the spatial position information of the detector 20 based on the relative position information between the second base station 01b and the positioning tag 03, and obtain the attitude information of the detector 20, and control the movement of the nose 10 based on the spatial position information and the attitude information of the detector 20 so that the nose 10 and the detector 20 satisfy the second positional relationship; for example, step 130: According to the spatial position information and the attitude information of the detector 20, as well as the spatial position information and the attitude information of the nose 10, control the movement of the nose 10 so that the nose 10 and the detector 20 satisfy the second positional relationship. It should be noted that for step 130: obtaining the attitude information of the detector 20, it can be calculated through the relative position information between the second base station 01a and multiple positioning tags 03, or can be obtained through the attitude sensor 05.

[0245] [[ID=,3]]In some embodiments, the second positional relationship includes: the distance between the nose 10 and the imaging surface of the detector 20 is less than a second distance, and / or, the distance between the nose 10 and the first straight line is less than a third distance, the first straight line being a straight line perpendicular to and passing through the center of the imaging surface of the detector 20, and / or, the angle formed by the illumination surface of the nose 10 and the imaging surface of the detector 20 is less than a second angle.

[0246] In some embodiments, the distance between the nose 10 and the imaging surface of the detector 20 is less than a second distance, and the second distance can be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter.

[0247] In some embodiments, the distance between the nose 10 and the first straight line is less than a third distance, and the third distance can be, for example, 0.3 meters, 0.2 meters, 0.1 meters, 0.05 meters, and so on.

[0248] In some embodiments, the angle formed by the illumination surface of the nose 10 and the imaging surface of the detector 20 is less than a second angle, and the second angle can be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0249] In some embodiments, the nose 10 and the detector 20 satisfy the second positional relationship, which is to make the nose 10 and the detector 20 approach the centering or alignment relationship. In an ideal situation, the nose 10 and the detector 20 form a centering or alignment relationship. In the centering or alignment relationship, the distance between the nose 10 and the first straight line is as close to 0 as possible, the illumination surface of the nose 10 and the imaging surface of the detector 20 are as parallel as possible, and the distance between the nose 10 and the imaging surface of the detector 20 can be designed according to the actual situation of the user, such as 1 meter.

[0250] Please refer to Figure 14, in some embodiments, a ray imaging device 100 is also disclosed. The ray imaging device 100 includes a machine head 10, a free detector 20, a first positioning component 101, and a second positioning component 103; in some embodiments, the ray imaging device 100 further includes a controller 90; in some embodiments, the controller 90 is capable of executing a positioning method such as shown in the following figures Figure 15 as shown.

[0251] In some embodiments, the first positioning component 101 completes the positioning of the detector 20 by forming a positioning field within a certain range and through a positioning label 03 disposed on the detector 20; the fields at any point within the positioning field are different, for example, the field strengths are different, for example, the field directions are different; the positioning label 03 is located within the positioning field and gives a feedback signal so that the first positioning component 101 can complete the positioning; in some embodiments, the positioning field can be, for example, a magnetic field, an electric field, an acoustic field, or a gravitational field, etc.

[0252] In some embodiments, the second positioning component 103 completes the positioning of the detector 20 by forming a positioning field within a certain range and through a positioning label 03 disposed on the detector 20; the fields at any point within the positioning field are different, for example, the field strengths are different, for example, the field directions are different; the positioning label 03 is located within the positioning field and gives a feedback signal so that the second positioning component 103 can complete the positioning; in some embodiments, the positioning field can be, for example, a magnetic field, an electric field, an acoustic field, or a gravitational field, etc.

[0253] In some embodiments, the first positioning component 101 and the second positioning component 103 can reuse the positioning label 03 disposed on the detector 20.

[0254] An example of the first positioning component 101 is the above-mentioned first base station 01a. An example of the second positioning component 103 is the above-mentioned second base station 01b.

[0255] Please refer to Figure 15 , the positioning method of the ray imaging device 100 in some embodiments includes the following steps:

[0256] Step 210: Obtain the first positioning information of the detector 20 through the first positioning component 101, and based on the first positioning information of the detector 20 obtained by the first positioning component 101, control the movement of the machine head 10 so that the machine head 10 and the detector 20 satisfy a first positional relationship.

[0257] In some embodiments, the first positioning information includes spatial position information and / or attitude information.

[0258] In some embodiments, the first positional relationship includes: the distance between the nose 10 and the detector 20, such as the positioning label thereon, is less than a first distance. In some embodiments, the first distance may be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter.

[0259] In some embodiments, the angle formed by the irradiation surface of the nose 10 and the imaging surface of the detector 20 is less than a first angle. In some embodiments, the first angle may be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0260] Step 230: Obtain the second positioning information of the detector 20 through the second positioning member 103, and based on the second positioning information of the detector 20 obtained by the second positioning member 103, control the movement of the nose 10 so that the nose 10 and the detector 20 satisfy the second positional relationship.

[0261] In some embodiments, the second positioning information includes spatial position information and / or attitude information.

[0262] In some embodiments, the second positional relationship includes: the distance between the nose 10 and the imaging surface of the detector 20 is less than a second distance, and / or, the distance between the nose 10 and a first straight line is less than a third distance, the first straight line being a straight line perpendicular to and passing through the center of the imaging surface of the detector 20, and / or, the angle formed by the irradiation surface of the nose 10 and the imaging surface of the detector 20 is less than a second angle.

[0263] In some embodiments, the distance between the nose 10 and the imaging surface of the detector 20 is less than a second distance, and the second distance may be, for example, 1.5 meters, 1.2 meters, 1.1 meters, or 1 meter.

[0264] In some embodiments, the distance between the nose 10 and the first straight line is less than a third distance, and the third distance may be, for example, 0.3 meters, 0.2 meters, 0.1 meters, 0.05 meters, etc.

[0265] In some embodiments, the angle formed by the irradiation surface of the nose 10 and the imaging surface of the detector 20 is less than a second angle, and the second angle may be, for example, 10 degrees, 8 degrees, 5 degrees, 2 degrees, or 1 degree.

[0266] This document has been described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications can be made to the exemplary embodiments without departing from the scope of this document. For example, various operating steps and the components used to perform the operating steps can be implemented in different ways according to a particular application or any number of cost functions associated with the operation of the system (e.g., one or more steps can be deleted, modified, or incorporated into other steps).

[0267] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. Additionally, as understood by those skilled in the art, the principles herein can be embodied in a computer program product on a computer-readable storage medium, which is preloaded with computer-readable program code. Any tangible, non-transitory computer-readable storage medium can be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu-ray discs, etc.), flash memories, and / or the like. These computer program instructions can be loaded onto a general-purpose computer, a special-purpose computer, or other programmable data processing devices to form a machine, such that the instructions executed on the computer or other programmable data processing devices can generate a device for implementing the specified functions. These computer program instructions can also be stored in a computer-readable memory, which can direct the computer or other programmable data processing devices to operate in a specific manner, so that the instructions stored in the computer-readable memory can form a manufactured article, including a device for implementing the specified functions. The computer program instructions can also be loaded onto a computer or other programmable data processing devices, thereby performing a series of operation steps on the computer or other programmable devices to generate a computer-implemented process, such that the instructions executed on the computer or other programmable devices can provide steps for implementing the specified functions.

[0268] Although the principles herein have been shown in various embodiments, many modifications of the structures, arrangements, proportions, elements, materials, and components, which are particularly adapted to specific environments and operational requirements, can be used without departing from the principles and scope of this disclosure. The above modifications and other changes or revisions will be included within the scope of this disclosure.

[0269] The foregoing detailed description has been presented with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of this disclosure. Accordingly, the consideration of this disclosure will be in an illustrative rather than a restrictive sense, and all such modifications will be included within its scope. Similarly, the advantages, other advantages, and solutions to problems of the various embodiments have been described above. However, benefits, advantages, solutions to problems, and any elements that can produce these, or solutions that make them more apparent, should not be construed as critical, essential, or necessary. The term "comprising" and any other variants used herein are non-exclusive inclusions, such that a process, method, article, or device that includes a list of elements not only includes those elements but also other elements not expressly listed or belonging to the process, method, system, article, or device. Additionally, the term "coupled" and any other variants used herein refer to physical connection, electrical connection, magnetic connection, optical connection, communication connection, functional connection, and / or any other connection.

[0270] Those skilled in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the basic principles of the invention. Accordingly, the scope of the invention should be determined solely by the claims.

Claims

1. A ray imaging device, characterized in that, Comprising: A driving component, a supporting component, a machine head, a controller, a free detector, a plurality of base stations, and at least one positioning tag; The machine head is used for emitting rays; The detector is used for receiving the rays for imaging; The supporting main group includes a first supporting structure, and the first supporting structure is connected to the machine head for supporting the machine head; The driving component is used for driving the machine head to move through the first supporting structure; The plurality of base stations at least include a first base station and a second base station; At least one of the positioning tags is arranged on the detector; The base station is used for transmitting a signal to the positioning tag and receiving the signal returned by the positioning tag; The controller is used for: Calculating the relative position information between the first base station and the positioning tag based on the signals transmitted and received by the first base station, and controlling the driving component to drive the machine head to move so that the machine head and the detector satisfy a first position relationship at least based on the relative position information between the first base station and the positioning tag; After the machine head and the detector satisfy the first position relationship, calculating the relative position information between the second base station and the positioning tag based on the signals transmitted and received by the second base station, and controlling the driving component to drive the machine head to move so that the machine head and the detector satisfy a second position relationship at least based on the relative position information between the second base station and the positioning tag.

2. The radiographic imaging apparatus according to claim 1, wherein The controller controls the driving component to drive the machine head to move so that the machine head and the detector satisfy the first position relationship at least based on the relative position information between the first base station and the positioning tag, including: The controller calculates at least the spatial position information of the detector based on the relative position information between the first base station and the positioning tag; the controller controls the driving component to drive the machine head to move so that the machine head and the detector satisfy the first position relationship at least based on the spatial position information of the detector.

3. The radiographic imaging device according to claim 2, characterized in that, The controller further calculates the attitude information of the detector based on the relative position information between the first base station and the positioning tag; or, the detector is provided with an attitude sensor, and the controller obtains the attitude information of the detector from the attitude sensor; The controller controls the driving component to drive the machine head to move so that the machine head and the detector satisfy the first position relationship at least based on the spatial position information of the detector, including: The controller controls the driving component to drive the machine head to move so that the machine head and the detector satisfy the first position relationship based on the spatial position information and attitude information of the detector.

4. The radiographic imaging device according to claim 1, characterized in that, The controller controls the driving component to drive the machine head to move so that the machine head and the detector satisfy the second position relationship at least based on the relative position information between the second base station and the positioning tag, including: The controller calculates at least the spatial position information of the detector based on the relative position information between the second base station and the positioning tag; the controller controls the driving assembly to drive the head to move based at least on the spatial position information of the detector so that the head and the detector satisfy the second positional relationship.

5. The radiographic imaging device according to claim 4, characterized in that, The controller further calculates the attitude information of the detector based on the relative position information between the second base station and the positioning tag; alternatively, the detector is provided with an attitude sensor, and the controller obtains the attitude information of the detector from the attitude sensor; The controller controls the driving assembly to drive the head to move based at least on the spatial position information of the detector so that the head and the detector satisfy the second positional relationship, including: the controller controls the driving assembly to drive the head to move based on the spatial position information and attitude information of the detector so that the head and the detector satisfy the second positional relationship.

6. A ray imaging device, characterized in that, Including: A head, a controller, a free detector, a plurality of base stations, and at least one positioning tag; The head is used to emit rays; The detector is used to receive the rays for imaging; The plurality of base stations at least include a first base station and a second base station; At least one of the positioning tags is disposed on the detector; The base station is used to transmit a signal to the positioning tag and receive the signal returned by the positioning tag; The controller is used for: Calculating the relative position information between the first base station and the positioning tag based on the signals transmitted and received by the first base station, and generating at least a first prompt message based on the relative position information between the first base station and the positioning tag; Calculating the relative position information between the second base station and the positioning tag based on the signals transmitted and received by the second base station, and generating at least a second prompt message based on the relative position information between the second base station and the positioning tag.

7. The radiographic imaging apparatus according to claim 6, characterized in that, The first prompt message is used to control the movement of the head so that the head and the detector satisfy a first positional relationship; and / or, the first prompt message includes a prompt message indicating whether the head and the detector satisfy the first positional relationship; And / or, the second prompt message is used to control the movement of the head so that the head and the detector satisfy a second positional relationship; And / or, the second prompt message includes a prompt message indicating whether the head and the detector satisfy the second positional relationship.

8. The radiographic imaging apparatus according to claim 1, 2, 3, 4, 5 or 7, characterized in that, The first positional relationship includes: the distance between the head and the positioning tag on the detector is less than a first distance, and / or, the angle formed by the irradiation surface of the head and the imaging surface of the detector is less than a first angle.

9. The radiographic imaging device according to claim 1, 2, 3, 4, 5, 7 or 8, characterized in that, The second positional relationship includes: the distance between the head and the imaging surface of the detector is less than a second distance, and / or, the distance between the head and a first straight line is less than a third distance, the first straight line is a straight line perpendicular to and passing through the center of the imaging surface of the detector, and / or, the angle formed by the irradiation surface of the head and the imaging surface of the detector is less than a second angle.

10. The radiographic imaging device according to any one of claims 1 to 9, characterized in that, The controller can calculate the relative position information between the base station and the positioning tag based on the signals transmitted and received by one of the base stations, and the relative position information includes relative distance and relative angle.

11. The radiographic imaging apparatus according to claim 10, wherein The base station has at least two antennas for transmitting and receiving signals; The controller calculates the first relative distance between the first antenna and the tag based on the signals transmitted and received by the first antenna, calculates the first signal arrival phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the second antenna, and calculates the relative position information between the first base station and the tag based on at least the first relative distance and the first signal arrival phase difference, where the first signal arrival phase difference is the phase difference between the signal received by the first antenna and the signal received by the second antenna.

12. The radiographic imaging device according to claim 11, wherein The base station has three antennas for transmitting and receiving signals; The controller calculates the second signal arrival phase difference based on the signals transmitted and received by the first antenna and the signals transmitted and received by the third antenna, and calculates the relative position information between the first base station and the tag based on the first relative distance, the first signal arrival phase difference, and the second signal arrival phase difference, where the second signal arrival phase difference is the phase difference between the signal received by the first antenna and the signal received by the third antenna.

13. The radiographic imaging device according to claim 12, wherein The three antennas are respectively arranged at three positions of the first base station, and the three positions are arranged according to the three vertices of a right triangle.

14. The radiographic imaging device according to any one of claims 1 to 13, characterized in that, The detector is provided with at least three of the positioning tags.

15. The radiographic imaging device according to claim 14, characterized in that, The three positioning tags are respectively arranged at three positions of the detector, and the three positions are not on a straight line.

16. The radiographic imaging device according to claim 15, wherein, The detector includes a flat panel detector, and the three positions are respectively located at three corners of the flat panel detector.

17. The radiographic imaging device according to any one of claims 1 to 16, characterized in that, The free-standing detector can be placed at a first shooting position separated from the cassette assembly that houses the detector for shooting.

18. The radiographic imaging apparatus according to any one of claims 1 to 17, characterized in that, The free-standing detector includes a communication module; the detector receives the rays and converts them into image data, and the communication module is used to transmit the image data.

19. The radiographic imaging apparatus according to any one of claims 1 to 18, characterized in that, The installation height of the first base station is greater than a first height; and / or, the second base station is arranged on the gantry head.

20. The radiographic imaging device according to claim 19, wherein The gantry head includes a collimator, and the collimator has an outlet for defining the ray range emitted by the gantry head; the second base station is arranged near the outlet.

21. The radiographic imaging apparatus according to claim 19, wherein, The value range of the first height is greater than or equal to 2.5 meters; or, the value range of the first height is greater than or equal to 3 meters.

22. The radiographic imaging device according to any one of claims 1 to 21, characterized in that, The base station is a UWB type base station, and the positioning tag is a UWB type positioning tag.

23. A positioning method for a ray imaging device, the ray imaging device comprising a machine head, a free detector, at least one first base station, at least one second base station, and at least one positioning tag; characterized in that, The positioning method includes: Calculating the relative position information between the first base station and the positioning tag based on the signals transmitted and received by the first base station, and controlling the movement of the gantry head based on at least the relative position information between the first base station and the positioning tag so that the gantry head and the detector satisfy a first positional relationship; After the nose and the detector satisfy the first positional relationship, calculate the relative position information between the second base station and the positioning tag based on the signals transmitted and received by the second base station, and control the movement of the nose based on at least the relative position information between the second base station and the positioning tag so that the nose and the detector satisfy the second positional relationship.

24. The positioning method according to claim 23, wherein The controlling the movement of the nose based on at least the relative position information between the first base station and the positioning tag so that the nose and the detector satisfy the first positional relationship includes: The controller calculates at least the spatial position information of the detector based on the relative position information between the first base station and the positioning tag; the controller controls the movement of the nose based on at least the spatial position information of the detector so that the nose and the detector satisfy the first positional relationship.

25. The positioning method according to claim 24, wherein, It further includes: Calculate the attitude information of the detector based on the relative position information between the first base station and the positioning tag; Alternatively, obtain the attitude information of the detector through an attitude sensor provided on the detector; The controlling the movement of the nose based on at least the spatial position information of the detector so that the nose and the detector satisfy the first positional relationship includes: controlling the movement of the nose based on the spatial position information and attitude information of the detector so that the nose and the detector satisfy the first positional relationship.

26. The positioning method according to claim 23, wherein, The controlling the movement of the nose based on at least the relative position information between the second base station and the positioning tag so that the nose and the detector satisfy the second positional relationship includes: Calculate at least the spatial position information of the detector based on the relative position information between the second base station and the positioning tag; Control the movement of the nose based on at least the spatial position information of the detector so that the nose and the detector satisfy the second positional relationship.

27. The positioning method according to claim 26, wherein It further includes: Calculate the attitude information of the detector based on the relative position information between the second base station and the positioning tag; Alternatively, obtain the attitude information of the detector through an attitude sensor provided on the detector; The controlling the movement of the nose based on at least the spatial position information of the detector so that the nose and the detector satisfy the second positional relationship includes: controlling the movement of the nose based on the spatial position information and attitude information of the detector so that the nose and the detector satisfy the second positional relationship.

28. The positioning method according to any one of claims 23 to 27, characterized in that The first positional relationship includes: the distance between the positioning tags on the nose and the detector is less than a first distance, and / or, the angle formed by the illumination surface of the nose and the imaging surface of the detector is less than a first angle.

29. The positioning method according to any one of claims 23 to 28, characterized in that, The second positional relationship includes: the distance between the nose and the imaging surface of the detector is less than a second distance, and / or, the distance between the nose and a first straight line is less than a third distance, the first straight line being a straight line perpendicular to and passing through the center of the imaging surface of the detector, and / or, the angle formed by the illumination surface of the nose and the imaging surface of the detector is less than a second angle.

30. A positioning method for a ray imaging device, the ray imaging device comprising a machine head, a free detector, a first positioning member, and a second positioning member; characterized in that, The positioning method includes: Obtain the first positioning information of the detector through the first positioning component, and based on the first positioning information of the detector obtained by the first positioning component, control the movement of the nose so that the nose and the detector satisfy a first positional relationship; the first positioning information includes spatial position information and / or attitude information; After the nose and the detector satisfy the first positional relationship, obtain the second positioning information of the detector through the second positioning component, and based on the second positioning information of the detector obtained by the second positioning component, control the movement of the nose so that the nose and the detector satisfy a second positional relationship.

31. The positioning method according to claim 30, characterized in that, The first positional relationship includes: the distance between the positioning labels on the nose and the detector is less than a first distance, and / or, the angle formed by the irradiation surface of the nose and the imaging surface of the detector is less than a first angle; and / or, The second positional relationship includes: the distance between the nose and the imaging surface of the detector is less than a second distance, and / or, the distance between the nose and a first straight line is less than a third distance, the first straight line is a straight line perpendicular to and passing through the center of the imaging surface of the detector, and / or, the angle formed by the irradiation surface of the nose and the imaging surface of the detector is less than a second angle.

32. A ray imaging device, characterized in that, It includes a controller, and the controller is used to execute the method according to any one of claims 23 to 31.

Images