Lifting control method and device, storage medium and scanning bed system

Abstract

The embodiment of the invention discloses a lifting control method and device, a storage medium and a scanning bed system, and relates to the technical field of motor control. The invention provides a processor suitable for a scanning bed system, the scanning bed system further comprises a scanning bed, a fork arm which is used for supporting the scanning bed and is fixed in length, a lead screw and a lifting servo motor, and the method comprises the steps that in response to a lifting control instruction, the vertical height of the scanning bed is obtained in real time; calculating the horizontal movement speed of the fork arm in the horizontal direction according to the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed and the length of the fork arm; and according to the horizontal moving speed of the fork arm, the rotating speed of the lifting servo motor for driving the lead screw to rotate is calculated and adjusted in real time. By means of the lifting control method, it can be guaranteed that the speed of the scanning bed is constant in the lifting process.

Description

Technical Field

[0001] This application relates to the field of motor control, and more particularly to a lifting control method, device, storage medium, and scanning bed system. Background Technology

[0002] During a CT scan, the patient lies flat on the scanning bed. To accommodate different scanning areas, the operator needs to adjust the vertical height of the scanning bed; therefore, the scanning bed must have the ability to rise and fall within its permissible range of motion. For example, the scanning bed should be lowered to its lowest position before and after each scan to facilitate easy getting on and off the patient.

[0003] In existing technologies, scanning beds commonly employ a scissor-arm lifting structure, where a horizontal drive mechanism propels the fork arm to achieve the lifting and lowering motion of the bed. However, this structure suffers from uneven lifting speeds due to the continuous change in the scissor arm angle during the lifting process—especially at the highest and lowest points of the stroke, where the speed difference is significant, affecting operational stability and patient comfort. Therefore, a more stable and controllable lifting control method is urgently needed to control the lifting and lowering of the scanning bed. Summary of the Invention

[0004] This application provides a lifting control method, device, storage medium, and scanning bed system to solve the above-mentioned problems. The technical solution is as follows: In a first aspect, embodiments of this application provide a lifting control method applicable to a processor of a scanning bed system. The scanning bed system further includes a scanning bed, a fork arm for supporting the scanning bed and having a fixed length, a lead screw, and a lifting servo motor. The lifting servo motor drives the lead screw to rotate, thereby changing the unfolding angle of the fork arm and causing a change in the vertical height of the scanning bed. The method includes: In response to lifting control commands, the vertical height of the scanning bed is acquired in real time; The horizontal movement speed of the fork arm in the horizontal direction is calculated based on the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm. Based on the horizontal movement speed of the fork arm, the rotational speed of the lead screw driven by the lifting servo motor is calculated and adjusted in real time.

[0005] In conjunction with the first aspect, in some possible implementations, the step of calculating and adjusting the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm includes: Based on the horizontal movement speed of the fork arm, the rotational speed of the lead screw driven by the lifting servo motor is calculated and adjusted in real time through curve fitting.

[0006] In conjunction with the first aspect, in some possible implementations, the scanning bed system further includes a wire encoder; The step of responding to a lifting control command and acquiring the vertical height of the scanning bed in real time includes: In response to lifting control commands, the vertical height of the scanning bed is acquired in real time via the wire encoder.

[0007] In conjunction with the first aspect, in some possible implementations, calculating the horizontal movement speed of the fork arm in the horizontal direction based on a preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm includes: Based on a preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm, the horizontal moving speed of the fork arm in the horizontal direction is calculated using a preset formula; wherein, the preset formula indicates that the horizontal moving speed of the fork arm is negatively correlated with the vertical height of the scanning bed.

[0008] In conjunction with the first aspect, in some possible implementations, after calculating and adjusting the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm, the method further includes: When the vertical height of the scanning bed is detected to decrease to a first preset height or increase to a second preset height, the driving of the lifting servo motor is stopped.

[0009] In conjunction with the first aspect, in some possible implementations, the scanning bed system further includes a lead screw end brake; Before responding to the lifting control command and acquiring the vertical height of the scanning bed in real time, the following steps are included: In response to the lifting control command, the brake at the end of the lead screw is released, and the vertical height of the scanning bed is obtained in real time.

[0010] In conjunction with the first aspect, in some possible implementations, after calculating and adjusting the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm, the method further includes: When the vertical height of the scanning bed stops changing, the brake at the end of the lead screw is engaged.

[0011] Secondly, embodiments of this application provide a lifting control device. The lifting control method is applicable to the processor of a scanning bed system. The scanning bed system further includes a scanning bed, a fork arm for supporting the scanning bed and having a fixed length, a lead screw, and a lifting servo motor. The lifting servo motor is used to drive the lead screw to rotate, thereby changing the unfolding angle of the fork arm and causing a change in the vertical height of the scanning bed. The device includes: The instruction acquisition module is used to acquire the vertical height of the scanning bed in real time in response to the lifting control instruction; The speed calculation module is used to calculate the horizontal movement speed of the fork arm in the horizontal direction based on the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm. The speed adjustment module is used to calculate and adjust the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm.

[0012] Thirdly, embodiments of this application provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the above-described method steps.

[0013] Fourthly, embodiments of this application provide an electronic device that may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the above-described method steps.

[0014] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following: In this application, in response to a lifting control command for the scanning bed, the vertical height of the scanning bed is acquired in real time. Based on a preset and fixed lifting speed, vertical height, and fork arm length, the horizontal movement speed of the fork arm is calculated. Based on this horizontal movement speed, the rotational speed of the lifting servo motor driving the lead screw is calculated and adjusted in real time. This rotation of the lead screw changes the unfolding angle of the fork arm, thereby altering the vertical height of the scanning bed. In other words, this application achieves consistent lifting speed throughout the entire lifting process by dynamically adjusting the speed of the lifting servo motor, avoiding discomfort caused by excessive speed differences between high and low positions, improving user comfort. Furthermore, the lifting control method provided in this application does not require changes to the structure of the scanning bed system, is easy to promote, has strong compatibility, and supports personalized lifting speed configuration to meet user operational needs. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a scanning bed system provided in an embodiment of this application; Figure 2This is a schematic diagram of a scanning bed system provided in an embodiment of this application; Figure 3 This is a schematic flowchart of a lifting control method provided in an embodiment of this application; Figure 4 This is a simplified schematic diagram of a scanning bed system provided in an embodiment of this application; Figure 5 This is a fitting curve between the rotational speed of a lifting servo motor and the height of a scanning bed, provided in an embodiment of this application. Figure 6 This is a schematic diagram of the structure of a scanning bed system provided in an embodiment of this application; Figure 7 This is a schematic diagram of a scanning bed system provided in an embodiment of this application; Figure 8 This is a schematic flowchart of a lifting control method provided in an embodiment of this application; Figure 9 This is a schematic diagram of a scanning bed system provided in an embodiment of this application; Figure 10 This is a schematic diagram of a scanning bed system provided in an embodiment of this application; Figure 11 This is a schematic flowchart of a lifting control method provided in an embodiment of this application; Figure 12 This is a schematic diagram of the structure of a lifting control device provided in an embodiment of this application; Figure 13 This is a schematic diagram of the structure of a scanning bed system provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this application, it should be noted that, unless otherwise expressly specified and limited, "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0019] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the features, information, and data involved in this application were all obtained under full authorization.

[0020] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0021] In the description of this specification, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] The present application will now be described in detail with reference to specific embodiments. In existing technologies, scanning beds commonly employ a scissor-arm lifting structure, where a horizontal drive mechanism propels the fork arm to achieve the lifting and lowering motion of the bed. However, this structure suffers from uneven lifting speeds due to the continuous change in the scissor arm angle during the lifting process—especially at the highest and lowest points of the stroke, where the speed difference is significant, affecting operational stability and patient comfort. Therefore, a more stable and controllable lifting control method is urgently needed to control the lifting and lowering of the scanning bed.

[0023] like Figure 1 As shown, Figure 1 This is a schematic diagram of a scanning bed system provided in an embodiment of this application. The scanning bed system includes a scanning bed 101, a fork arm 102 for supporting the scanning bed 101 and having a fixed length, a lead screw 103, and a lifting servo motor 104. The lifting servo motor 104 is used to drive the lead screw 103 to rotate, thereby changing the unfolding angle of the fork arm 102 and causing the vertical height of the scanning bed 101 to change.

[0024] Specifically, the scanning bed 101 is connected to the upper end of the fork arm 102 via a hinged or sliding connection, enabling the scanning bed 101 to rise and fall smoothly during the unfolding or retraction of the fork arm 102. The lower end of the fork arm 102 is connected to the base or frame of the scanning bed system via a hinged or sliding joint, forming a linkage mechanism with the lead screw 103. One end of the lead screw 103 is driven by the output shaft of the lifting servo motor 104 (e.g., through a coupling, gear pair, or synchronous belt transmission structure), while the other end is rotatably supported on the frame. The lead screw 103 is provided with a nut seat that is threaded into the lead screw 103. This nut seat is connected to at least one link portion of the fork arm 102 in a sliding or hinged connection in the horizontal direction, thereby converting the rotational motion of the lead screw 103 into the horizontal displacement of the fork arm 102, thus changing the unfolding angle of the fork arm 102 and adjusting the vertical height of the scanning bed 101.

[0025] The connection structure between the above components may include, but is not limited to, hinges, sliding pairs, rolling guides, threaded pairs or combinations thereof. The specific configuration can be determined according to the actual mechanical design requirements, ensuring both structural compactness and smooth operation while ensuring motion reliability.

[0026] In this embodiment, as Figure 2 As shown, Figure 2 This is a schematic diagram of a scanning bed system provided in an embodiment of this application. The scanning bed system includes at least the following modules: a scanning bed processor 105, a lifting servo driver 106, a lifting servo motor 104, and a lead screw 103. The modules are electrically or communicatively connected to form a closed-loop control system, which works together to achieve precise adjustment of the vertical height of the scanning bed 101.

[0027] The scanning bed processor 105 is used to receive lifting control commands from the operation interface of the scanning bed system or the host computer, execute the lifting control method, and calculate and adjust the rotation speed of the lifting servo motor 104 driving the lead screw 103 in real time.

[0028] The scanning bed processor 105 is connected to the lifting servo driver 106 via a communication interface (such as RS-485, CAN, EtherCAT or analog / pulse signal) to send the calculated motor control commands (such as speed commands, position commands or torque commands) to the lifting servo driver 106.

[0029] The lifting servo driver 106 drives the lifting servo motor 104 to rotate at a specified speed and direction according to the received motor control command. The lifting servo driver 106 can also collect the operating status of the lifting servo motor 104 (such as actual speed, current, position, etc.) in real time and feed it back to the scanning bed processor 105 to form an inner loop or outer loop control feedback.

[0030] The output shaft of the lifting servo motor 104 is connected to the lead screw 103 via a transmission connection (e.g., direct coupling via a coupling, or indirect transmission via a reduction mechanism, synchronous belt, etc.), transmitting the rotational motion to the lead screw 103. The lead screw 103 drives the nut seat connected to the fork arm 102 to move horizontally through its threaded pair, thereby changing the unfolding angle of the fork arm 102 and ultimately achieving the adjustment of the vertical height of the scanning bed 101.

[0031] based on Figures 1-2 The illustrated embodiments are also referred to. Figure 3 As shown. Figure 3 This is a flowchart illustrating a lifting control method provided in an embodiment of this application. The method can be implemented using a computer program and can run on a lifting control device based on the von Neumann architecture. The computer program can be integrated into the application or run as a standalone utility application.

[0032] Specifically, the lifting control method includes: S101: In response to lifting control commands, the vertical height of the scanning bed is obtained in real time.

[0033] Lifting control commands are issued by operators through a human-machine interface (such as a touch screen, control panel, or remote workstation) or automatically triggered by the scanning bed processor according to the scanning process. Specific content of lifting control commands includes instructing the scanning bed to rise or fall, and may also include instructing it to rise or fall a preset height, specifying the lifting speed of the scanning bed, etc.

[0034] The vertical height of the scanning bed can be obtained in several ways. For example, the vertical height of the scanning bed can be obtained based on encoder feedback calculation of the servo motor 104. The lifting servo motor 104 has a built-in high-resolution rotary encoder, and its output pulse signal, after being processed by the lifting servo driver 106, can accurately reflect the rotation angle or number of revolutions of the lead screw 103. The scanning bed processor 105 combines the lead screw lead, fork arm geometry parameters, and kinematic model to deduce the current vertical height of the scanning bed 101. Another example is acquisition through direct position sensing. Linear displacement sensors (such as wire encoders), ultrasonic / laser rangefinders, or tilt sensors are installed on the bed plate or support structure of the scanning bed 10 to measure the height or attitude of the scanning bed relative to a reference plane and transmit the measured value back to the scanning bed processor 105.

[0035] S102. Calculate the horizontal movement speed of the fork arm in the horizontal direction based on the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm.

[0036] The lifting speed of the scanning bed 101 can be manually set by the operator through the human-machine interface of the scanning bed system, or the scanning bed processor can automatically select a default value based on the patient type (e.g., adult / child) and scanning protocol. Alternatively, it can be fixed to a standard value (e.g., 30 mm / s) at the factory. The lifting speed of the scanning bed 101 remains constant during the lifting process.

[0037] The horizontal movement speed of the fork arm 102 in the horizontal direction refers to the instantaneous movement speed of the slider (or nut seat) connected to the lower end of the fork arm 102 in the horizontal direction, that is, the linear velocity of the lead screw drive point. When the fork arm 102 has a horizontal movement speed in the horizontal direction, the unfolding angle of the fork arm 102 changes, and the vertical height of the scanning bed 101 changes.

[0038] like Figure 4 As shown, Figure 4 This is a simplified schematic diagram of a scanning bed system provided in an embodiment of this application. There is a correlation between the fixed length c of the fork arm 102, the vertical height b of the scanning bed 101, and the unfolding angle of the fork arm 101. When the lead screw 103 rotates, driving the unfolding angle of the fork arm 101 to change, the projected length a of the fork arm 101 in the horizontal direction changes, resulting in a change in the vertical height of the scanning bed 101. The speed at which the projected length of the fork arm 102 in the horizontal direction changes is the horizontal moving speed of the fork arm 102. Therefore, the horizontal moving speed of the fork arm 102 is related to the lifting speed of the scanning bed 101, the vertical height of the scanning bed 101, and the length of the fork arm 102. By controlling the horizontal moving speed of the fork arm 102, the lifting speed of the scanning bed 101 can be kept constant.

[0039] In one embodiment, the horizontal movement speed of the fork arm is calculated based on a preset formula, taking into account the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm. The preset formula indicates that the horizontal movement speed of the fork arm is negatively correlated with the vertical height of the scanning bed.

[0040] like Figure 4 As shown, according to the Pythagorean theorem: ; Calculate the length of a: ; Differentiating both sides of the Pythagorean theorem with respect to time yields: ; After simplification, the horizontal moving speed Va of the fork arm 101 in the horizontal direction is: ; Combining the above formulas, we can obtain: ; Wherein, Vb is the lifting speed of the scanning bed 101. Based on the above formula, the horizontal movement speed Vb of the fork arm 102 in the horizontal direction is calculated according to the lifting speed Vb of the scanning bed 101, the vertical height b of the scanning bed 101, and the length c of the fork arm 102.

[0041] S103. Calculate and adjust the rotational speed of the lifting servo motor-driven lead screw in real time based on the horizontal movement speed of the fork arm.

[0042] The lead screw 103 and its nut seat form a standard helical transmission pair. When the lead screw 102 rotates, the nut seat moves linearly along the axis of the lead screw 103 (i.e., horizontally). This motion directly drives the slider at the lower end of the fork arm 102, thereby changing the fork arm angle. In other words, the horizontal movement speed Vb of the fork arm 102 is proportional to the rotational speed of the lead screw 103.

[0043] The lifting servo motor 104 and the lead screw 103 are connected by direct or indirect mechanical transmission, and their rotational movements are synchronized. When the lifting servo motor 104 and the lead screw 103 are directly connected, the rotational speed of the lifting servo motor 104 is the same as the rotational speed of the lead screw 103. When the lifting servo motor 104 and the lead screw 103 are indirectly connected, the rotational speed of the lifting servo motor 104 can be obtained from the rotational speed of the lead screw 103 based on the transmission ratio.

[0044] Based on the above, the rotational speed of the lead screw 103 is obtained according to the relationship between the horizontal movement speed Vb of the fork arm and the rotational speed of the lead screw 103. Then, based on the relationship between the rotational speed of the lead screw 103 and the rotational speed of the lifting servo motor 104, the rotational speed of the lifting servo motor 104 is obtained. Based on the currently calculated rotational speed of the lifting servo motor 104, the scanning bed processor 105 sends a control command to the lifting servo driver 106, so that the lifting servo driver 106 drives the lifting servo motor 104 to rotate at the calculated rotational speed.

[0045] During the lifting and lowering process of the scanning bed 101, the vertical height of the scanning bed 101 is obtained based on a preset frequency and the rotation speed of the lifting servo motor 104 is calculated. Based on the preset frequency, the rotation speed of the lifting servo motor 104 is adjusted to the calculated selected speed, thereby ensuring that the scanning bed 101 lifts and lowers based on a fixed lifting and lowering speed.

[0046] In one embodiment, the rotational speed of the lifting servo motor driving the lead screw is calculated and adjusted in real time based on the horizontal movement speed of the fork arm using curve fitting. Curve fitting is a mathematical modeling method that refers to finding a continuous function based on a set of known input and output data points that approximates the inherent laws reflected by these data points as closely as possible.

[0047] Based on the above formula, there is a non-linear relationship between the horizontal moving speed Va of the fork arm 102 and the vertical height b of the scanning bed 101. The horizontal moving speed Va of the fork arm 102 will be converted into the rotational speed of the lead screw 103 and further converted into the rotational speed of the lifting servo motor 104, which requires multiple calculations.

[0048] Therefore, by collecting multiple sets of data pairs (vertical height b, rotational speed of the lifting servo motor) in advance through offline simulation or experimentation, and performing curve fitting, a lightweight approximate function or lookup table model can be obtained, which can achieve high-speed, stable, and low-resource-consumption real-time control during the operation of the scanning bed system.

[0049] Specifically, during the dataset design phase, the entire travel height range of the scanning bed 101 (from h) is traversed. min to h max ), for each h i The horizontal movement speed of the fork arm 102 is calculated by calculating the lifting speed Vb of the scanning bed 101, and the rotation speed Vi of the lifting servo motor 104 corresponding to the height hi of the scanning bed 101 is calculated, resulting in a set of multiple data pairs, such as at least including (h i Vi). Further select a curve fitting model, such as a piecewise linear or polynomial model, using multiple data pairs (h). iThe fitting curves between different vertical heights and the rotational speed V of the lifting servo motor 104 are obtained by fitting Vi. Figure 5 The figure shows the curve between the rotational speed V of the lifting servo motor 104 and the height h of the scanning bed 101, obtained through fitting. The fitted curve is stored in a storage unit. During actual control, the specific value of the current vertical height h of the scanning bed 101 is collected, based on... Figure 5 The fitting curve shown can be used to quickly obtain the specific value of the rotational speed V of the lifting servo motor 104, and the rotational speed of the lifting servo motor 104 can be adjusted to that value.

[0050] In one embodiment, after calculating and adjusting the rotational speed of the lifting servo motor-driven lead screw in real time based on the horizontal movement speed of the fork arm, the method further includes: stopping the driving of the lifting servo motor when the vertical height of the scanning bed is detected to decrease to a first preset height or increase to a second preset height.

[0051] The first preset height can be the lowest safe position allowed during descent (e.g., factory setting), or a boundary value indicated in the lifting control command for the descent of the scanning bed 101. The second preset height can be the highest safe position allowed during ascent (limited by internal space or inspection requirements), or a boundary value indicated in the lifting control command for the ascent of the scanning bed 101. When the vertical height of the scanning bed is detected to have decreased to the first preset height or increased to the second preset height, the rotation of the lifting servo motor 104 is stopped to end the lifting process of the scanning bed 101.

[0052] It is understandable that when the lifting control command is an upward command or a downward command, the control screw 103 rotates in different directions based on the upward command or the downward command, thereby controlling the fork arm 102 to move in different horizontal directions, so as to control the scanning bed 101 to rise when the upward command is received, and control the scanning bed 101 to fall when the downward command is received.

[0053] In this application, in response to a lifting control command for the scanning bed, the vertical height of the scanning bed is acquired in real time. Based on a preset and fixed lifting speed, vertical height, and fork arm length, the horizontal movement speed of the fork arm is calculated. Based on this horizontal movement speed, the rotational speed of the lifting servo motor driving the lead screw is calculated and adjusted in real time. This rotation of the lead screw changes the unfolding angle of the fork arm, thereby altering the vertical height of the scanning bed. In other words, this application achieves consistent lifting speed throughout the entire lifting process by dynamically adjusting the speed of the lifting servo motor, avoiding discomfort caused by excessive speed differences between high and low positions, improving user comfort. Furthermore, the lifting control method provided in this application does not require changes to the structure of the scanning bed system, is easy to promote, has strong compatibility, and supports personalized lifting speed configuration to meet user operational needs.

[0054] In one embodiment, such as Figure 6 As shown, Figure 6 This is a schematic diagram of a scanning bed system provided in an embodiment of this application. The scanning bed system includes a scanning bed 201, a fork arm 202 for supporting the scanning bed 201 and having a fixed length, a lead screw 203, a lifting servo motor 204, and a wire encoder 207. The connection method between the scanning bed 201, the fork arm 202, the lead screw 203, and the lifting servo motor 204 is described in [reference needed]. Figure 1 As shown, it will not be described again here. The body of the wire encoder 207 is fixed to the stationary part of the scanning bed system, such as the base or bracket, and the free end of its wire (steel rope) is firmly connected to the bottom of the bed board (or support frame) of the scanning bed 201 to ensure that the wire is always taut during the lifting and lowering of the scanning bed 201, and the direction of movement is basically parallel to the vertical direction.

[0055] Figure 7 This is a schematic diagram of a scanning bed system provided in an embodiment of this application. A bidirectional communication connection is established between the wire encoder 207 and the scanning bed processing 205 to receive the current vertical height of the scanning bed 201 collected by the wire encoder 207.

[0056] based on Figures 6-7 The illustrated embodiments are also referred to. Figure 8 As shown. Figure 8 This is a flowchart illustrating a lifting control method provided in an embodiment of this application. The method can be implemented using a computer program and can run on a lifting control device based on the von Neumann architecture. The computer program can be integrated into the application or run as a standalone utility application.

[0057] Specifically, the lifting control method includes: S201: In response to lifting control commands, the vertical height of the scanning bed is obtained in real time through a wire encoder.

[0058] When the scanning bed 201 rises, the cable of the pull encoder 207 is pulled out, and the internal coil spring drives the rotary encoder to rotate. When the scanning bed 201 descends, the coil spring automatically retracts the cable. The pull encoder 207 converts the rotation angle into an electrical pulse signal or a digital position value, which is proportional to the pulled-out length (i.e., the displacement of the bed relative to the zero point).

[0059] In response to the lifting control command, the scanning bed processor 205 drives the lifting servo motor 204 to rotate, thereby controlling the lifting of the scanning bed 201. The scanning bed processor 205 also receives the electrical pulse signal or digital position value sent by the wire encoder 207 to directly obtain the current vertical height of the scanning bed 207.

[0060] In this embodiment, the vertical height of the scanning bed is obtained in real time by a wire encoder. It does not rely on complex kinematic models or intermediate transmission links. The wire encoder directly reflects the actual position of the bed, avoiding height calculation deviations caused by mechanical errors such as fork arm clearance, lead screw wear, and slippage. In addition, the wire encoder is flexible to install, highly adaptable, and does not require modification of the existing fork arm or lead screw structure, making it easy to promote.

[0061] S202. Calculate the horizontal movement speed of the fork arm in the horizontal direction based on the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm.

[0062] See section 102 above; it will not be repeated here.

[0063] S203. Calculate and adjust the rotational speed of the lifting servo motor-driven lead screw in real time based on the horizontal movement speed of the fork arm.

[0064] See 103 above; it will not be repeated here.

[0065] In this application, in response to a lifting control command for the scanning bed, the vertical height of the scanning bed is acquired in real time. Based on a preset and fixed lifting speed, vertical height, and fork arm length, the horizontal movement speed of the fork arm is calculated. Based on this horizontal movement speed, the rotational speed of the lifting servo motor driving the lead screw is calculated and adjusted in real time. This rotation of the lead screw changes the unfolding angle of the fork arm, thereby altering the vertical height of the scanning bed. In other words, this application achieves consistent lifting speed throughout the entire lifting process by dynamically adjusting the speed of the lifting servo motor, avoiding discomfort caused by excessive speed differences between high and low positions, improving user comfort. Furthermore, the lifting control method provided in this application does not require changes to the structure of the scanning bed system, is easy to promote, has strong compatibility, and supports personalized lifting speed configuration to meet user operational needs.

[0066] In one embodiment, such as Figure 9 As shown, Figure 9 This is a schematic diagram of a scanning bed system provided in an embodiment of this application. The scanning bed system includes a scanning bed 301, a fork arm 302 for supporting the scanning bed 301 and having a fixed length, a lead screw 303, a lifting servo motor 304, and a brake 307 at the end of the lead screw. The connection method between the scanning bed 301, the fork arm 302, the lead screw 303, and the lifting servo motor 304 is described in [reference needed]. Figure 1 As shown, it will not be elaborated further here.

[0067] The lead screw end brake 307 (also known as a lead screw brake or mechanical brake) is a safety device used to lock the rotational position of the lead screw 303 after power failure, emergency stop, or lifting to the correct position, to prevent the scanning bed 301 from accidentally sliding down due to gravity or external force.

[0068] The lead screw end brake 307 is a stationary structure fixed to the equipment frame or base, specifically located near one end (usually the non-driving end) of the lead screw 303. This location must meet the following requirements: the lead screw end brake 307 does not rotate with the lead screw 303 and remains stationary; the brake disc or brake ring of the lead screw end brake 307 can be coaxially fitted onto the end shaft section of the lead screw 303, forming a releasable friction pair with the lead screw; the installation space should facilitate maintenance and not affect the movement of the fork arm 302. For example... Figure 9 As shown, the lifting servo motor 304 is installed at one end (driving end) of the lead screw 303, while the other end (i.e., the free end or non-driving end) of the lead screw 303 is supported on the frame by bearings, and the lead screw end brake 307 is integrated here.

[0069] Figure 10 This is a schematic diagram of a scanning bed system provided in an embodiment of this application. The scanning bed processor 305 establishes a communication connection with the lead screw end brake 307, and sends a release command to the lead screw end brake 307 to release the lead screw end brake 307, or sends a pull-in command to the lead screw end brake 307 to pull in the lead screw end brake 307.

[0070] based on Figures 9-10 The illustrated embodiments are also referred to. Figure 11 As shown. Figure 11 This is a flowchart illustrating a lifting control method provided in an embodiment of this application. The method can be implemented using a computer program and can run on a lifting control device based on the von Neumann architecture. The computer program can be integrated into the application or run as a standalone utility application.

[0071] Specifically, the lifting control method includes: S301, in response to the lifting control command, releases the brake at the end of the lead screw and obtains the vertical height of the scanning bed in real time.

[0072] Releasing the lead screw end brake means applying a control signal (usually energizing) to the lead screw end brake 307, causing the braking mechanism (such as friction plates, electromagnetic armature, etc.) inside the lead screw end brake 307 to disengage from the contact or clamping state with the lead screw 303, thereby releasing the constraint on the rotation of the lead screw. The brake is usually a normally closed type (fail-safe design): that is, it automatically clamps when the power is off and releases only when the power is applied.

[0073] After being released, the brake 307 at the end of the lead screw is in a non-braking (released) state. The brake disc or friction pair inside the brake has no contact or clamping force with the shaft end of the lead screw 303. The lead screw 303 can rotate freely under the drive of the lifting servo motor 304. At this time, the fork arm 302 can be extended or retracted as the nut seat of the lead screw 303 moves horizontally, realizing the lifting movement of the scanning bed 301.

[0074] S302. Calculate the horizontal movement speed of the fork arm in the horizontal direction based on the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm.

[0075] See section 102 above; it will not be repeated here.

[0076] S303. Based on the horizontal movement speed of the fork arm, calculate and adjust the rotation speed of the lifting servo motor driving the lead screw in real time.

[0077] See 103 above; it will not be repeated here.

[0078] S304. When the vertical height of the scanning bed stops changing, the brake at the end of the lead screw is engaged.

[0079] When the vertical height of the scanning bed 301 stops changing, indicating that the scanning bed 301 has stopped rising and falling, the lead screw end brake 307 is engaged. Engaging the lead screw end brake 307 refers to the process in which, under the action of a control signal (usually a power outage or a specific trigger signal), the internal braking mechanism of the lead screw end brake 307 actively presses the shaft end of the lead screw 303, forming a mechanical locking state. After the lead screw end brake 307 is engaged, the friction pair inside the brake (such as the brake disc and armature) is tightly pressed against the end shaft section of the lead screw 303, preventing the rotation of the lead screw 303 through static friction. Even if the lifting servo motor 304 is de-energized and the fork arm 302 bears the weight of the scanning bed 301 and the patient, the lead screw 303 cannot rotate, thus maintaining the height of the scanning bed 301 unchanged.

[0080] For example, for a normally closed (fail-safe) electromagnetic brake, when energized, the electromagnetic force overcomes the spring force (unlocks the brake 307 at the end of the lead screw), releasing the lead screw 303. When de-energized, the spring force pushes the friction plate to press against the brake disc (engages the brake 307 at the end of the lead screw), automatically engaging and locking the lead screw 303.

[0081] In this embodiment, the scanning bed system is equipped with a lead screw end brake to enable the scanning bed system to have a self-locking capability. When the lifting and lowering is completed, the scanning bed is locked by engaging the lead screw end brake to prevent it from moving again, thus preventing the scanning bed from accidentally sliding down and causing injury to the patient. In addition, the lead screw end brake eliminates bed surface shaking caused by small backlash or vibration of the lead screw, thereby improving patient comfort and imaging stability during the examination.

[0082] In this application, in response to a lifting control command for the scanning bed, the vertical height of the scanning bed is acquired in real time. Based on a preset and fixed lifting speed, vertical height, and fork arm length, the horizontal movement speed of the fork arm is calculated. Based on this horizontal movement speed, the rotational speed of the lifting servo motor driving the lead screw is calculated and adjusted in real time. This rotation of the lead screw changes the unfolding angle of the fork arm, thereby altering the vertical height of the scanning bed. In other words, this application achieves consistent lifting speed throughout the entire lifting process by dynamically adjusting the speed of the lifting servo motor, avoiding discomfort caused by excessive speed differences between high and low positions, improving user comfort. Furthermore, the lifting control method provided in this application does not require changes to the structure of the scanning bed system, is easy to promote, has strong compatibility, and supports personalized lifting speed configuration to meet user operational needs.

[0083] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0084] Please see Figure 12 This illustration shows a schematic diagram of a lifting control device provided in an exemplary embodiment of this application. The lifting control device can be implemented as all or part of a device through software, hardware, or a combination of both. The lifting control device is applicable to the processor of a scanning bed system, which also includes a scanning bed, a fixed-length fork arm for supporting the scanning bed, a lead screw, and a lifting servo motor. The lifting servo motor drives the lead screw to rotate, thereby changing the unfolding angle of the fork arm and thus changing the vertical height of the scanning bed. The lifting control device includes an instruction acquisition module 401, a speed calculation module 402, and a speed adjustment module 403.

[0085] The instruction acquisition module 401 is used to acquire the vertical height of the scanning bed in real time in response to the lifting control instruction; The speed calculation module 402 is used to calculate the horizontal movement speed of the fork arm in the horizontal direction based on the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm. The speed adjustment module 403 is used to calculate and adjust the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm.

[0086] In one embodiment, the speed adjustment module 403 includes: The fitting calculation unit is used to calculate and adjust the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm through curve fitting.

[0087] In one embodiment, the scanning bed system further includes a wire encoder; Instruction acquisition module 401 includes: A height acquisition unit is used to acquire the vertical height of the scanning bed in real time via the wire encoder in response to lifting control commands.

[0088] In one embodiment, the speed calculation module 402 includes: The formula calculation unit is used to calculate the horizontal movement speed of the fork arm in the horizontal direction based on a preset formula, according to the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm; wherein the preset formula indicates that the horizontal movement speed of the fork arm is negatively correlated with the vertical height of the scanning bed.

[0089] In one embodiment, the lifting control device further includes: The stop drive module is used to stop driving the lifting servo motor when it detects that the vertical height of the scanning bed has decreased to a first preset height or increased to a second preset height.

[0090] In one embodiment, the scanning bed system further includes a lead screw end brake; Instruction acquisition module 401 includes: The brake release unit is used to release the brake at the end of the lead screw in response to the lifting control command, and to obtain the vertical height of the scanning bed in real time.

[0091] In one embodiment, the lifting control device further includes: The brake engagement module is used to engage the brake at the end of the lead screw when it detects that the vertical height of the scanning bed has stopped changing.

[0092] In this application, in response to a lifting control command for the scanning bed, the vertical height of the scanning bed is acquired in real time. Based on a preset and fixed lifting speed, vertical height, and fork arm length, the horizontal movement speed of the fork arm is calculated. Based on this horizontal movement speed, the rotational speed of the lifting servo motor driving the lead screw is calculated and adjusted in real time. This rotation of the lead screw changes the unfolding angle of the fork arm, thereby altering the vertical height of the scanning bed. In other words, this application achieves consistent lifting speed throughout the entire lifting process by dynamically adjusting the speed of the lifting servo motor, avoiding discomfort caused by excessive speed differences between high and low positions, improving user comfort. Furthermore, the lifting control method provided in this application does not require changes to the structure of the scanning bed system, is easy to promote, has strong compatibility, and supports personalized lifting speed configuration to meet user operational needs.

[0093] It should be noted that the lifting control device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the lifting control method. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the lifting control device and the lifting control method embodiments provided in the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiments, which will not be repeated here.

[0094] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0095] This application also provides a computer storage medium that can store multiple instructions, which are adapted to be loaded and executed by a processor as described above. Figure 1 - Figure 11 The lifting control method of the illustrated embodiment can be found in the following document for a detailed execution process: Figure 1 - Figure 11 The specific details of the illustrated embodiments will not be elaborated here.

[0096] This application also provides a computer program product that stores at least one instruction, which is loaded and executed by a processor as described above. Figure 1 - Figure 11 The lifting control method of the illustrated embodiment can be found in the following document for a detailed execution process: Figure 1 - Figure 11 The specific details of the illustrated embodiments will not be elaborated here.

[0097] Please see Figure 13 The diagram below provides a schematic representation of a scanning bed system according to an embodiment of this application. Figure 13As shown, the scanning bed system 500 may include: at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502. The scanning bed system 500 also includes a scanning bed, a fork arm of fixed length for supporting the scanning bed, a lead screw, and a lifting servo motor. The lifting servo motor drives the lead screw to rotate, thereby changing the unfolding angle of the fork arm and causing a change in the vertical height of the scanning bed.

[0098] The communication bus 502 is used to enable communication between these components.

[0099] The user interface 503 may include a display screen and a camera. Optionally, the user interface 503 may also include a standard wired interface and a wireless interface.

[0100] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0101] The processor 501 may include one or more processing cores. The processor 501 connects to various parts of the scanning bed system 500 using various interfaces and lines. It executes various functions and processes data of the scanning bed system 500 by running or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and by calling data stored in the memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 501 may integrate one or more of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.

[0102] The memory 505 may include random access memory (RAM) or read-only memory. Optionally, the memory 505 may include a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 505 may also be at least one storage device located remotely from the aforementioned processor 501. Figure 13 As shown, the memory 505, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a lifting control application.

[0103] exist Figure 13 In the scanning bed system 500 shown, the user interface 503 is mainly used to provide an input interface for the user and to acquire user input data; while the processor 501 can be used to call the lifting control application stored in the memory 505 and specifically perform the following operations: In response to lifting control commands, the vertical height of the scanning bed is acquired in real time; The horizontal movement speed of the fork arm in the horizontal direction is calculated based on the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm. Based on the horizontal movement speed of the fork arm, the rotational speed of the lead screw driven by the lifting servo motor is calculated and adjusted in real time.

[0104] In one embodiment, the processor 501 executes the step of calculating and adjusting the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm, specifically: Based on the horizontal movement speed of the fork arm, the rotational speed of the lead screw driven by the lifting servo motor is calculated and adjusted in real time through curve fitting.

[0105] In one embodiment, the scanning bed system further includes a wire encoder; The processor 501 executes the lifting control command in response to obtain the vertical height of the scanning bed in real time, specifically by performing the following: In response to lifting control commands, the vertical height of the scanning bed is acquired in real time via the wire encoder.

[0106] In one embodiment, the processor 501 executes the step of calculating the horizontal movement speed of the fork arm in the horizontal direction based on a preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm. Specifically, the following steps are performed: Based on a preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm, the horizontal moving speed of the fork arm in the horizontal direction is calculated using a preset formula; wherein, the preset formula indicates that the horizontal moving speed of the fork arm is negatively correlated with the vertical height of the scanning bed.

[0107] In one embodiment, after the processor 501 performs the step of calculating and adjusting the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm, it further performs the following: When the vertical height of the scanning bed is detected to decrease to a first preset height or increase to a second preset height, the driving of the lifting servo motor is stopped.

[0108] In one embodiment, the scanning bed system further includes a lead screw end brake; Before the processor 501 executes the lifting control command and obtains the vertical height of the scanning bed in real time, it specifically performs the following: In response to the lifting control command, the brake at the end of the lead screw is released, and the vertical height of the scanning bed is obtained in real time.

[0109] In one embodiment, after the processor 501 performs the step of calculating and adjusting the rotational speed of the lead screw driven by the lifting servo motor in real time based on the horizontal movement speed of the fork arm, it further performs the following: When the vertical height of the scanning bed stops changing, the brake at the end of the lead screw is engaged.

[0110] In this application, in response to a lifting control command for the scanning bed, the vertical height of the scanning bed is acquired in real time. Based on a preset and fixed lifting speed, vertical height, and fork arm length, the horizontal movement speed of the fork arm is calculated. Based on this horizontal movement speed, the rotational speed of the lifting servo motor driving the lead screw is calculated and adjusted in real time. This rotation of the lead screw changes the unfolding angle of the fork arm, thereby altering the vertical height of the scanning bed. In other words, this application achieves consistent lifting speed throughout the entire lifting process by dynamically adjusting the speed of the lifting servo motor, avoiding discomfort caused by excessive speed differences between high and low positions, improving user comfort. Furthermore, the lifting control method provided in this application does not require changes to the structure of the scanning bed system, is easy to promote, has strong compatibility, and supports personalized lifting speed configuration to meet user operational needs.

[0111] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented. Each of the above methods can be executed by a computer program instructing related hardware. The program corresponding to each method can be stored in a computer-readable storage medium. When executed, the program can include the processes of the embodiments of the above methods. The storage medium of the electronic device 700 can be a magnetic disk, optical disk, read-only memory, or random access memory, etc.

[0112] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0113] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A lift control method characterized by, The lifting control method is suitable for a processor of a scanning bed system, the scanning bed system further comprises a scanning bed, a fork arm for supporting the scanning bed and having a fixed length, a lead screw, and a lifting servo motor for driving the lead screw to rotate so as to change an unfolding angle of the fork arm and change a vertical height of the scanning bed, and the method comprises: in response to a lifting control instruction, acquiring the vertical height of the scanning bed in real time; according to a preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm, calculating a horizontal moving speed of the fork arm in a horizontal direction; according to the horizontal moving speed of the fork arm, calculating and adjusting a rotating speed of the lifting servo motor for driving the lead screw to rotate in real time.

2. The lift control method of claim 1, wherein, The method according to the horizontal moving speed of the fork arm, calculating and adjusting the rotating speed of the lifting servo motor for driving the lead screw to rotate in real time, comprises: according to the horizontal moving speed of the fork arm, calculating and adjusting the rotating speed of the lifting servo motor for driving the lead screw to rotate in real time through curve fitting.

3. The lift control method of claim 1, wherein The scanning bed system further comprises a pull wire encoder; The method of acquiring the vertical height of the scanning bed in real time in response to the lifting control instruction comprises: in response to the lifting control instruction, acquiring the vertical height of the scanning bed in real time through the pull wire encoder.

4. The lift control method of claim 1, wherein The method of calculating the horizontal moving speed of the fork arm in the horizontal direction according to the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm comprises: according to the preset and fixed lifting speed of the scanning bed, the vertical height of the scanning bed, and the length of the fork arm, calculating the horizontal moving speed of the fork arm in the horizontal direction based on a preset formula; wherein the preset formula represents that the horizontal moving speed of the fork arm is negatively correlated with the vertical height of the scanning bed.

5. The lift control method of claim 1, wherein After the method of calculating and adjusting the rotating speed of the lifting servo motor for driving the lead screw to rotate in real time according to the horizontal moving speed of the fork arm, the method further comprises: when detecting that the vertical height of the scanning bed is lowered to a first preset height or raised to a second preset height, stopping driving the lifting servo motor.

6. The lift control method of claim 1, wherein The scanning bed system further comprises a lead screw end brake; Before the method of acquiring the vertical height of the scanning bed in real time in response to the lifting control instruction, the method comprises: in response to the lifting control instruction, disengaging the lead screw end brake, and acquiring the vertical height of the scanning bed in real time.

7. The lift control method of claim 6, wherein, After the method of calculating and adjusting the rotating speed of the lifting servo motor for driving the lead screw to rotate in real time according to the horizontal moving speed of the fork arm, the method further comprises: when detecting that the vertical height of the scanning bed stops changing, engaging the lead screw end brake.

8. A lift control device characterized by comprising: The lifting control device is suitable for a processor of a scanning bed system, the scanning bed system further comprises a scanning bed, a fork arm for supporting the scanning bed and having a fixed length, a lead screw, and a lifting servo motor for driving the lead screw to rotate so as to change an unfolding angle of the fork arm and change a vertical height of the scanning bed, and the device comprises: An instruction obtaining module is configured to obtain the vertical height of the scanning bed in real time in response to the lifting control instruction; A speed calculating module is configured to calculate the horizontal moving speed of the fork arm in the horizontal direction according to the lifting speed of the scanning bed, the vertical height of the scanning bed and the length of the fork arm; A speed adjusting module is configured to calculate and adjust the rotating speed of the lifting servo motor driving the screw to rotate in real time according to the horizontal moving speed of the fork arm.

9. A computer storage medium, characterized in that The computer storage medium stores a plurality of instructions, which are suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7.

10. A scanning bed system characterized by, The computer storage medium stores a plurality of instructions, which are suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7. The computer storage medium stores a plurality of instructions, which are suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7. The computer storage medium stores a plurality of instructions, which are suitable for being loaded and executed by the processor to perform the method steps of any one of claims 1-7.

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