Electric traveling unit and radiography system

Abstract

To provide an electric traveling unit and a radiography system that enable electric traveling of an imaging unit even in a case in which a traveling resistance of the imaging unit is large.SOLUTION: An electric traveling unit that enables electric traveling of an imaging unit that includes a traveling mechanism traveling on a floor manually and a radiation source or a radiation detector used for radiography, in which the electric traveling unit separably combines with the imaging unit, and reduces a traveling resistance of the traveling mechanism in a combined state than in a non-combined state.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an electric propulsion unit and a radiography system. [Background technology]

[0002] Patent Document 1 discloses a mobile X-ray imaging device that includes a connecting means for detachably connecting an X-ray imaging unit and a main unit, and that is configured so that the X-ray imaging unit can be separated from the main unit to perform X-ray imaging, and the X-ray imaging unit and the main unit can be connected by the connecting means to be transported as a unit. The X-ray imaging unit can be manually moved by a user, and the main unit can be electrically moved, moving along the floor electrically. The main unit pulls the X-ray imaging unit while connected to the X-ray imaging unit by the connecting means. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5211405 Summary of the Invention [Problem to be solved by the invention]

[0004] An imaging unit such as the X-ray imaging unit described in Patent Document 1 is more user-friendly if it can be driven both manually and electrically.

[0005] However, the technology described in Patent Document 1 has the following problems. Specifically, the traveling mechanism for manually traveling the camera unit is often equipped with a brake to prevent inadvertent movement. When activated, the brake contacts the floor or restricts the rotation of the wheels, thereby increasing traveling resistance, such as friction between the traveling mechanism and the floor, and thereby restricting the movement of the camera unit. With this brake applied, high traveling resistance makes towing impossible. Furthermore, if the camera unit is heavy, traveling resistance, such as friction between the floor and wheels, also increases, and towing may not be possible if the driving force of the main unit is weak.

[0006] The technology disclosed herein provides an electric propulsion unit and a radiation imaging system that enable the imaging unit to travel electrically even when the imaging unit experiences high travel resistance. [Means for solving the problem]

[0007] The electric propulsion unit according to the technology of the present disclosure is an electric propulsion unit that enables electric propulsion of an imaging unit having a traveling mechanism that manually travels on the floor and a radiation source or radiation detector used for radiography, and is separably combined with the imaging unit, and in the combined state, reduces the running resistance of the traveling mechanism compared to the uncombined state.

[0008] In the above aspect, in the combined state, a load may be generated in the vertically upward direction on the photographing unit.

[0009] In the above aspect, a load generating mechanism for generating a load may be provided.

[0010] In the above aspect, the load generating mechanism may have a support part that supports the photographing unit while maintaining the orientation of the photographing unit in the uncombined state, and may generate the load by raising and lowering the support part.

[0011] In the above aspect, the load may be a load that lifts at least a portion of the photographing unit off the floor.

[0012] In the above aspect, the photographing unit may be provided with a brake that increases running resistance, and the load may be a load that reduces the running resistance caused by the brake.

[0013] In the above aspect, the portion of the photographing unit that is in contact with the floor when not combined may remain in contact with the floor even when a load is being applied.

[0014] In the above embodiment, the imaging unit may be mechanically or magnetically coupled.

[0015] In the above aspect, in the combined state, at least a part of the photographing unit may enter a projection area when the floor is used as a projection surface.

[0016] In the above aspect, the vehicle may have a plurality of wheels, at least one of which is a drive wheel that rotates electrically, and the wheel spacing between the plurality of wheels may be narrower than the wheel spacing between the photographing units.

[0017] In the above aspect, in the combined state, the entire camera unit may enter within the projection area of ​​the camera unit when the floor is used as the projection surface.

[0018] In the above aspect, the camera may have a function of automatically combining with the camera unit in response to a combining instruction when the camera is separated from the camera unit.

[0019] In the above aspect, the position of the photographing unit may be detected and the photographing unit may be moved to the detected position.

[0020] In the above aspect, the device may have a function of automatically moving to a designated position.

[0021] In the above aspect, the operation instruction including the movement instruction may be received indirectly via the photographing unit.

[0022] In the above aspect, the image capturing device may further include a wireless communication unit that performs wireless communication with the photographing unit.

[0023] In the above aspect, a movement instruction may be received as an operation instruction through an operation unit that continues to output an operation signal while the operation unit is being operated and stops outputting the operation signal when the operation is stopped.

[0024] In the above aspect, the camera may have a battery that functions as an auxiliary battery for the photographing unit in the combined state.

[0025] The radiography system according to the disclosed technology includes at least one radiography unit having a traveling mechanism that is manually driven to travel on the floor and a radiation source or a radiation detector used for radiography, and an electric traveling unit that enables the radiography unit to travel electrically, is separably combined with the radiography unit, and reduces the traveling resistance of the traveling mechanism in the combined state compared to the non-combined state. [Effects of the Invention]

[0026] According to the technology of the present disclosure, even if the running resistance of the photographing unit is large, the photographing unit can be driven electrically. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a radiation imaging system. [Figure 2] 10A and 10B are diagrams illustrating an example of a procedure for combining the photographing unit and the electric traveling unit. [Figure 3] FIG. 2 is a diagram illustrating an example of a load generating mechanism. [Figure 4] FIG. 4 is a diagram showing an example of the size of an electric traveling unit. [Figure 5] FIG. 2 is a block diagram showing an example of the functional configuration of an electric traveling unit. [Figure 6] FIG. 2 illustrates an example of a controller. [Figure 7] FIG. 4 is a diagram illustrating an example of travel control of an electric travel unit. [Figure 8]10 is a flowchart illustrating an example of a processing procedure of an electric traveling unit. [Figure 9] FIG. 10 is a diagram illustrating an example of use of the electric traveling unit. [Figure 10] FIG. 10 is a diagram illustrating another example of the use of the electric traveling unit. [Figure 11] FIG. 10 is a diagram showing an example of associating a shooting menu with a registration position. [Figure 12] FIG. 10 is a diagram showing a combined state in which the electric traveling unit is partially exposed. [Figure 13] FIG. 10 is a diagram illustrating an example of detecting an electric propulsion unit. [Figure 14] 10A and 10B are diagrams illustrating an example in which the ground contact state is maintained in the combined state. [Figure 15] 10A and 10B are diagrams illustrating an example in which a load is generated without using a mechanism. [Figure 16] FIG. 10 is a diagram illustrating an example of a guide portion. [Figure 17] FIG. 2 is a diagram illustrating an example of an auxiliary battery. DETAILED DESCRIPTION OF THE INVENTION

[0028] FIG. 1 is a schematic diagram showing an example of the configuration of a radiography system 10 that performs radiography on a subject H. The radiography system 10 includes a radiation source unit 11S and a panel unit 11D. These are arranged, for example, in a radiography room and operated by an operator OP such as a diagnostic radiologist. The radiation source unit 11S includes an irradiation section 12. The irradiation section 12 is an example of a "radiation source" according to the technology of the present disclosure. The irradiation section 12 includes an X-ray tube that generates X-rays and an irradiation field limiter that limits the irradiation range of the X-rays. The radiation source unit 11S also includes a high-voltage generator that generates a high voltage to be supplied to the X-ray tube.

[0029] The panel unit 11D has a detection panel 13, which is an example of a radiation detection panel. The detection panel 13 is, for example, a flat panel detector having a detection surface on which pixels are arranged two-dimensionally, which detect X-rays and output electrical signals according to the amount of incident X-rays. The detection panel 13 is an example of a "radiation detector" according to the technology of the present disclosure.

[0030] The radiography system 10 captures an X-ray image of the subject H by irradiating the subject H with X-rays, an example of radiation, from the irradiation unit 12 and detecting the X-rays that have passed through the subject H with the detection panel 13. The radiation source unit 11S and the panel unit 11D each have a cart unit 16 with wheels 16A. The cart unit 16, for example, has a base unit 16B, which is a main body unit having a rectangular planar shape. Wheels 16A are provided at the four corners of the base unit 16B, making the cart unit 16 a four-wheel type. For example, each wheel 16A is a swivel type that rotates around a rotation axis extending in the height direction (also referred to as the vertical direction) perpendicular to the rotation axis when traveling and rotating. The cart unit 16 can be manually moved on a floor FL (see FIG. 2, etc.). Therefore, an operator OP can manually move the cart unit 16 to move the installation locations of the radiation source unit 11S and the panel unit 11D. The cart unit 16 is an example of a "traveling mechanism" that is manually driven to travel on the floor FL.

[0031] The radiation source unit 11S has a main body 17 and a movable mechanism that changes the height of the irradiation unit 12. The movable mechanism is composed of a movable unit 18 whose height changes relative to the main body 17, and an arm 19 whose height changes relative to the movable unit 18. The irradiation unit 12 is provided at the tip of the arm 19. The irradiation unit 12 is provided at the free end of the arm 19. In addition, although not shown, the arm 19 is provided with a swing mechanism that changes the irradiation direction by tilting the irradiation unit 12. The main body 17 has various built-in electrical components, and an operation panel 43 is provided on the top surface.

[0032] Like the radiation source unit 11S, the panel unit 11D also has a main body 17 and a movable mechanism that changes the height of the detection panel 13. The movable mechanism of the panel unit 11D is also composed of a movable part 18 whose height changes relative to the main body 17 and an arm (not shown) whose height changes relative to the movable part 18, similar to the movable mechanism of the radiation source unit 11S. The detection panel 13 is provided at the free end of the arm. Like the main body 17 of the radiation source unit 11S, the main body 17 also has various built-in electrical components and further has an operation panel 43 on its top surface.

[0033] The radiation source unit 11S and the panel unit 11D have different main bodies 17, movable parts 18, and arms 19, of course, in terms of the components and shapes they contain, but these differences are not essential to the technology of the present disclosure, and so both are denoted by the same reference numerals. Both the radiation source unit 11S and the panel unit 11D are examples of "photography units" according to the technology of the present disclosure. Hereinafter, when there is no need to distinguish between the radiation source unit 11S and the panel unit 11D, they will both be referred to as the photography unit 11.

[0034] 1, for example, when imaging subject H in an upright position, radiation source unit 11S and panel unit 11D are arranged opposite each other with subject H in between. When imaging is performed using a supine position imaging table 22 on which subject H can be placed in a supine position, for example, a portable detection panel (not shown) called an electronic cassette or the like is used in combination with radiation source unit 11S. Of course, a detection panel may be built into the supine position imaging table 22, in which case the built-in detection panel may be used.

[0035] Furthermore, the radiation imaging system 10 includes an electric propulsion unit 30 in addition to the radiation source unit 11S and the panel unit 11D. The electric propulsion unit 30 is separably combined with the manually propelled imaging unit 11, enabling the imaging unit 11 to be propelled electrically.

[0036] The electric propulsion unit 30 has a main body 30B and wheels 30A that function as a propulsion mechanism for traveling on the floor FL. The main body 30B houses electrical components such as an electric circuit for electric propulsion and an actuator 53 (see FIG. 5). As an example, the main body 30B has a rectangular planar shape similar to the bogie unit 16. The wheels 30A are provided at the four corners of the main body 30B, and the electric propulsion unit 30 is a four-wheel type. As an example, each wheel 30A is a swivel type that swivels around a swivel axis extending in the height direction (also referred to as the vertical direction) perpendicular to the rotation axis when traveling and rotating, and all of the wheels 30A function as steering wheels. Also, as an example, all of the wheels 30A are drive wheels that rotate electrically. Of course, two of the four wheels 30A may be steering wheels and the remaining two may be drive wheels.

[0037] The electric propulsion unit 30 enters the gap between the floor FL and the bottom of the base 16B of the photographing unit 11 and combines with the photographing unit 11. The base 16B of the photographing unit 11 has an entrance 16C between the two wheels 16A for receiving the electric propulsion unit 30. The main body 30B of the electric propulsion unit 30 also has an engagement part 30C that can be raised and lowered in the vertical direction. The engagement part 30C is normally in a lowered position, and in this position does not protrude from the top surface of the main body 30B. When the engagement part 30C rises from the lowered position, as shown by the dotted line, it partially protrudes from the top surface of the main body 30B. For example, the engagement part 30C has a rectangular flat plate shape in plan view, and its top surface contacts the bottom of the base 16B.

[0038] As shown as an example in FIG. 2, when the photographing unit 11 is not combined with the electric traveling unit 30 (hereinafter referred to as the non-combined state), there is a space between the base part 16B and the floor that can accommodate the electric traveling unit 30. The electric traveling unit 30 enters below the base part 16B of the photographing unit 11 in the non-combined state through the entrance 16C. In the entered state, the engaging part 30C of the electric traveling unit 30 is still in the lowered position. In the entered state, when the engaging part 30C rises, a part of the engaging part 30C enters a recess 16D formed in the bottom of the base part 16B of the photographing unit 11, and the recess 16D and the engaging part 30C engage. This engagement mechanically couples the electric traveling unit 30 and the photographing unit 11, and the electric traveling unit 30 and the photographing unit 11 enter a combined state (hereinafter referred to as the combined state). In the combined state, the photographing unit 11 is integrated with the electric propulsion unit 30, so when the electric propulsion unit 30 moves, the photographing unit 11 also moves together with the electric propulsion unit 30. This allows the photographing unit 11 to travel electrically.

[0039] In addition, in the combined state, the engagement portion 30C presses the bottom of the base portion 16B from below, thereby generating a load in the vertically upward direction on the photographing unit 11. The engagement portion 30C is an example of a "load generating mechanism" according to the technology of the present disclosure. In this example, as shown in FIG. 2 , in the combined state, the engagement portion 30C lifts the photographing unit 11 to such an extent that the wheels 16A are lifted off the floor FL. When the wheels 16A are in contact with the floor FL, a frictional force corresponding to the weight of the photographing unit 11 is generated between the wheels 16A of the photographing unit 11 and the floor FL. Because the engagement portion 30C generates a load in the vertically upward direction, at least a portion of the weight of the photographing unit 11 is offset, thereby reducing the frictional force between the wheels 16A and the floor FL. In this way, in the combined state, the electric propulsion unit 30 reduces the running resistance of the running mechanism, including the wheels 16A of the photographing unit 11, compared to the uncombined state.

[0040] 2 shows the electric propulsion unit 30 entering through the entrance 16C on the side of the photographing unit 11. Therefore, the orientation of the wheels 30A is tilted by 90 degrees relative to the orientation of the wheels 16A of the photographing unit 11. On the other hand, in the combined state, the wheels 30A are rotated by 90 degrees and are facing in the same direction as the orientation of the wheels 16A of the photographing unit 11.

[0041] The photographing unit 11 is often provided with a brake that increases the rolling resistance of the wheel 16A, for example, to prevent the photographing unit 11 from accidentally moving around at the installation location. In FIG. 2, the symbol "B" shown on a part of the wheel 16A of the photographing unit 11 indicates that the brake is applied to the wheel 16A, restricting its rotation. The brake in this example increases the rolling resistance of the wheel 16A as a rolling resistance. In the combined state, the wheel 16A is raised above the floor FL, so even if the brake is applied to the wheel 16A, the brake does not create a rolling resistance. Note that some brakes are provided independently of the wheel 16A and generate frictional force by contacting the floor FL, thereby increasing the rolling resistance. Even in this case, the engaging portion 30C generates a load in the vertical upward direction, thereby reducing the frictional force between the brake and the floor FL and thereby reducing the rolling resistance.

[0042] FIG. 3 shows a specific example of a load generating mechanism including the engagement portion 30C. The engagement portion 30C is attached to the main body 30B via lift guides 36 fixed to the main body 30B so that it can move up and down freely. The lift guides 36 are rod-shaped and extend vertically, and are provided at the four corners of the engagement portion 30C when viewed from above. The lift guides 36 guide the engagement portion 30C so that the engagement portion 30C moves up and down while maintaining its posture. The engagement portion 30C is moved up and down by a ball screw 37. One end of the ball screw 37 is fixed to the main body 30B. A slider 38 is fixed to the engagement portion 30C, sliding in the axial direction of the ball screw 37. The ball screw 37 is driven by a motor M. When the ball screw 37 rotates around its axis, the slider 38 moves up and down, and the engagement portion 30C moves up and down accordingly. The load generating mechanism in this embodiment is merely an example, and in addition to using the ball screw 37, an elevator mechanism having a pantograph-type link mechanism may also be used.

[0043] Furthermore, the engagement portion 30C in this example supports the photographing unit 11 by contacting its upper surface with the bottom of the base portion 16B. The engagement portion 30C is an example of a "support portion" according to the technology of the present disclosure. As shown in FIG. 3 as an example, the engagement portion 30C moves up and down vertically while maintaining its posture. Therefore, the photographing unit 11 supported by the engagement portion 30C also moves up and down while maintaining its posture. This stabilizes the posture of the photographing unit 11 even when moving up and down.

[0044] Furthermore, as shown in FIG. 4, in the combined state, at least a portion of the electric propulsion unit 30 enters the projection area of ​​the photographing unit 11 when the floor FL is used as the projection surface. In FIG. 4, the hatched area is the projection area when the floor FL of the cart part 16 of the photographing unit 11 is used as the projection surface. The symbol CP indicates the combined position when the electric propulsion unit 30 is combined with the photographing unit 11. In this example, the entire electric propulsion unit 30 enters the projection area shown by the hatching. This prevents the increase in the space occupied by the photographing unit 11 in the combined state compared to the non-combined state. In this example, the entire electric propulsion unit 30 enters, so the occupied space does not increase.

[0045] Furthermore, the wheel spacing W2 between the multiple wheels 30A of the electric traveling unit 30 is narrower than the wheel spacing W1 between the wheels 16A that form the traveling mechanism of the photographing unit 11. This makes it easier to make the electric traveling unit 30 smaller.

[0046] 5 is a block diagram showing the electrical configuration of the imaging unit 11 and the electric traveling unit 30. The radiation source unit 11S, which is an example of the imaging unit 11, includes a processor 40, a storage 41, a communication I / F (Interface) 42, an operation panel 43, and a battery 44.

[0047] The processor 40 comprehensively controls the entire radiation source unit 11S and also functions as an irradiation control unit that executes irradiation control of the irradiation unit 12. The processor 40 is composed of, for example, a CPU (Central Processing Unit) and a memory such as a RAM (Random Access Memory), and functions as various control units by executing programs loaded into the memory.

[0048] The storage 41 is composed of a hard disk drive, a solid state drive, a nonvolatile memory, etc., and is a data storage that stores programs as well as various setting information data.

[0049] The communication I / F 42 is, for example, a wireless communication unit, and performs wireless communication with other photographing units 11 such as the panel unit 11D, and wireless communication with the electric traveling unit 30.

[0050] The operation panel 43 is an operation unit for inputting operation instructions, and is configured by, for example, a touch panel display. The battery 44 is a rechargeable battery, and supplies power to each component of the radiation source unit 11S.

[0051] The electric traveling unit 30 includes a processor 50 , a storage 51 , a communication I / F (Interface) 52 , an actuator 53 , a camera 54 , and a battery 55 .

[0052] The processor 50 performs overall control of the electric traveling unit 30, and functions as a traveling control unit that mainly executes traveling control related to electric traveling. In addition, the processor 50 controls the combined position of the electric traveling unit 30 when combined with the photography unit 11, and controls the elevation of the engagement part 30C. Like the processor 40, the processor 50 is composed of, for example, a CPU and memory such as RAM, and functions as various control units by executing programs loaded into the memory.

[0053] Like the storage 41, the storage 51 is also composed of a hard disk drive, a solid state drive, a nonvolatile memory, etc., and is a data storage that stores programs as well as various setting information data.

[0054] Like the communication I / F 42, the communication I / F 52 is, for example, a wireless communication unit, and executes wireless communication with the photographing unit 11. The setting information includes a home position and a registered position used for travel control, which will be described later.

[0055] The actuator 53 has a motor M that drives the wheel 30A. The motor M includes a motor for rotating the wheel 30A to travel and a motor for turning. The measurement sensor MS measures the direction and amount of movement of the electric traveling unit 30, such as the amount of rotation, direction of rotation, direction of turning, and angle of turning of the wheel 30A. The measurement values ​​measured by the measurement sensor MS are input to the processor 50. The measurement sensor MS is composed of, for example, a rotary encoder and an acceleration sensor. The processor 50 performs driving control such as self-position estimation of the electric traveling unit 30 based on the received measurement values.

[0056] The camera 54 functions as a sensor used to execute control for automatic combination with the photographing unit 11. The camera 54 is, for example, an optical camera, which captures images of the environment around the electric traveling unit 30 and inputs the captured camera images to the processor 50. For example, a plurality of cameras 54 are provided on the side surfaces of the main body 30B, and another camera 54 is provided on the top surface. As will be described later, the processor 50 executes control for automatic combination with the photographing unit 11 based on the camera images from these plurality of cameras 54.

[0057] 6 is an example of a screen of the controller 56 for operating the electric traveling unit 30, displayed on the operation panel 43. Operational instructions, including movement instructions, for the electric traveling unit 30 are input via the controller 56. The operation instructions input from the controller 56 are wirelessly transmitted from the communication I / F 42 to the communication I / F 52. In this way, the electric traveling unit 30 indirectly receives operation instructions, including movement instructions, via the photographing unit 11.

[0058] The controller 56 is provided with a combination button 56A, a separation button 56B, a return button 56C, and a direction key 56D. The combination button 56A is an operation button used to input a combination command to automatically combine the electric propulsion unit 30 with the photographing unit 11 when the electric propulsion unit 30 is separated from the photographing unit 11. The separation button 56B is an operation button used to input a separation command to separate the electric propulsion unit 30 from the photographing unit 11 when the electric propulsion unit 30 is in the combined state. The return button 56C is an operation button used to input a return command to return the electric propulsion unit 30 to a home position HP, which is preset as the initial position of the electric propulsion unit 30. The direction key 56D is an operation button used to input a movement command to move the electric propulsion unit 30 in one of four directions.

[0059] The combination button 56A, separation button 56B, and return button 56C are operation buttons that cause the electric propulsion unit 30 to autonomously execute preset driving controls. In contrast, the direction keys 56D are operation buttons that only specify a direction and execute simple driving controls that move the electric propulsion unit 30 in the specified direction according to the amount of operation. The direction keys 56D are a so-called deadman's system that continues to output operation signals while the keys are being operated and stops outputting operation signals when the operation is stopped. This provides safety compared to cases where operation signals are output even when the direction keys 56D are released.

[0060] 7, the driving control of the electric traveling unit 30 executed by the processor 50 will be described. The autonomous driving control executed by the electric traveling unit 30 can be broadly divided into automatic combination control and self-position estimation. Automatic combination control is a series of controls that detect the position of the photographing unit 11, detect the combination position CP, and combine with the photographing unit 11.

[0061] In the electric propulsion unit 30, the processor 50 begins detecting the photographing unit 11 when a combination command is input by operating the combination button 56A. To detect the photographing unit 11, the processor 50 acquires a first camera image from the first camera 54A located on the side of the electric propulsion unit 30. The processor 50 detects the surrounding photographing unit 11, for example, by pattern matching, which compares the first camera image with preset morphological data of the photographing unit 11. If the photographing unit 11 is not present in the first camera image, the processor 50 randomly moves the electric propulsion unit 30 to search for the photographing unit 11. Furthermore, if multiple photographing units 11 are detected in the first camera image, for example, the processor 50 displays multiple candidate photographing units 11 to be combined on the operation panel 43 and executes a process to have the operator OP select the photographing unit 11 to be combined. Furthermore, when the processor 50 detects the photographing unit 11, the detected photographing unit 11 may already be combined with another electric propulsion unit 30. In this case, the processor 50 excludes the already combined photographing units 11 from the candidates for combination.

[0062] Moreover, as an example, the first camera 54A is a stereo camera in which two optical systems are provided at an interval. The processor 50 can acquire depth information of the object to be imaged by utilizing the parallax between the two first camera images formed by the two optical systems. This allows the processor 50 to grasp the distance of the detected photographing unit 11. Note that a distance measuring sensor may be used instead of the first camera 54A to grasp the distance. Examples of distance measuring sensors include LIDAR (Laser Imaging Detection and Ranging or Light Detection and Ranging) and TOF (Time Of Flight) cameras. Alternatively, a distance measuring sensor using ultrasonic waves may be used.

[0063] In the electric traveling unit 30, when the processor 50 detects the photographing unit 11, it further detects the entrance 16C of the base part 16B using a pattern matching technique based on the first camera image. Then, the electric traveling unit 30 travels toward the entrance 16C under the control of the processor 50. When the electric traveling unit 30 reaches the entrance 16C, it enters below the base part 16B through the entrance 16C while controlling its entrance posture.

[0064] In the approaching state, the processor 50 acquires a second camera image from the second camera 54B on the top surface. The processor 50 detects the combination position CP of the electric traveling unit 30 based on the second camera image. Specifically, the processor 50 detects a marker (not shown) indicating the position of the recess 16D using a pattern matching technique based on the second camera image. Based on the position of the detected marker, the processor 50 adjusts the position of the electric traveling unit 30 in accordance with the detected combination position CP so that the engagement portion 30C and the recess 16D face each other.

[0065] The processor 50 also acquires measurement values ​​from the measurement sensor MS and determines, for example, the amount of movement of the electric propulsion unit 30 from the home position (indicated by HP in FIG. 7 ). The home position HP is a position registered as the reference position of the electric propulsion unit 30, for example, in the radiography room RM. As described above, the measurement sensor MS measures measurement values ​​such as the amount of rotation, direction of rotation, amount of turning, and turning angle of the wheels 30A. The processor 50 accumulates these measurement values ​​to perform self-position estimation, which estimates the electric propulsion unit 30's own position relative to the home position HP. This self-position estimation is based on the so-called odometry technique. By performing this self-position estimation, the electric propulsion unit 30 can automatically return to the home position HP. In addition to the home position HP, driving control is also possible, such as automatically moving the electric propulsion unit 30 to a pre-set registered position.

[0066] The operation of the above configuration will be described with reference to the flowchart shown in Fig. 8. First, when performing radiography, the operator OP aligns the radiography units 11, including the radiation source unit 11S and panel unit 11D, according to the radiography posture (standing or lying down), the region to be radiographed (chest or abdomen), and other factors. The radiography unit 11 can also be moved manually. When manually aligning the radiography unit 11, the operator OP moves the radiography unit 11 to the desired location. Once at the destination, the operator applies the brakes to prevent the radiography unit 11 from moving unintentionally.

[0067] On the other hand, when moving the photographing unit 11 using the electric traveling unit 30, the operator OP first operates the controller 56 on the operation panel 43 of the photographing unit 11 to combine the photographing unit 11 with the electric traveling unit 30.

[0068] As an example, consider a case where radiography is performed using the supine position radiography table 22 and the radiation source unit 11S, as shown in Fig. 9. In the example shown in Fig. 9, the electric travel unit 30 is at the home position HP, and the radiation source unit 11S is located away from the supine position radiography table 22. The operator OP operates the combination button 56A of the controller 56 from the operation panel 43 of the radiation source unit 11S.

[0069] 7, the electric propulsion unit 30 waits for input of a combination command. When the combination command is received from the radiation source unit 11S, which is an example of the photographing unit 11 (Y in step ST1100), the process proceeds to step ST1200, where the electric propulsion unit 30 starts detecting the photographing unit 11. The electric propulsion unit 30 acquires a first camera image from the first camera 54A. If the photographing unit 11 is not detected from the first camera image, the electric propulsion unit 30 starts traveling from the home position HP and searches for the photographing unit 11 while traveling randomly.

[0070] In step ST1300, if the electric traveling unit 30 detects the radiation source unit 11S from the first camera image (Y in step ST1300), the electric traveling unit 30 proceeds to step ST1400 and starts the process of combining with the radiation source unit 11S.

[0071] In the combination process of step ST1400, first, the electric traveling unit 30 travels toward the entrance 16C of the radiation source unit 11S and enters below the base 16B from the entrance 16C. Below the base 16B, the electric traveling unit 30 detects, from the image captured by the second camera, a combination position CP where the recess 16D of the base 16B and the engaging portion 30C face each other, and adjusts its position. At the combination position CP, the electric traveling unit 30 moves the engaging portion 30C to a raised position and engages it with the recess 16D. This causes the radiation source unit 11S and the electric traveling unit 30 to be combined. In the combined state, a load is generated in the vertically upward direction on the radiation source unit 11S, thereby reducing the traveling resistance of the radiation source unit 11S.

[0072] In step ST1500, when the operator OP operates the direction key 56D of the controller 56, a movement command is input to the electric propulsion unit 30 (Y in step ST1500). In step ST1600, the electric propulsion unit 30 moves based on the input movement command. The operator OP moves the radiation source unit 11S toward the target position on the supine position imaging table 22. Because the radiation source unit 11S is driven by electric power, the burden on the operator OP is less than when the radiation source unit 11S is driven manually.

[0073] When imaging is completed and the electric propulsion unit 30 is to be separated from the radiation source unit 11S, the operator OP operates the separation button 56B of the controller 56. In step ST1700, when the separation button 56B is operated, a separation command is input to the electric propulsion unit 30. When the separation command is input, the electric propulsion unit 30 proceeds to step ST1800 and executes a separation process. In the separation process, the electric propulsion unit 30 returns the engagement part 30C to the lowered position and releases the coupling. Then, the electric propulsion unit 30 retreats from below the base part 16B. Furthermore, when the return button 56C of the controller 56 is operated, the electric propulsion unit 30 moves to a pre-registered home position HP based on its own position estimation.

[0074] 10 shows an example of standing position radiography. In this case, for example, after combining the electric traveling unit 30 with the radiation source unit 11S, the operator OP moves the radiation source unit 11S by electric traveling toward a position facing the panel unit 11D on which the subject H is placed.

[0075] As described above, the electric propulsion unit 30 according to the technology of the present disclosure enables electric propulsion of the photographing unit 11, which includes a propulsion mechanism that manually propels the photographing unit 11 across the floor FL and an irradiation unit 12 (an example of a radiation source) or a detection panel 13 (an example of a radiation detector) used for radiography. The electric propulsion unit 30 is separably combined with the photographing unit 11, and in the combined state, the running resistance of the running mechanism is reduced compared to the uncombined state. Because the running resistance is reduced, electric propulsion of the photographing unit 11 is possible even when the running resistance of the photographing unit 11 is high. For example, as in the above embodiment, even if the photographing unit 11 is braked and the running resistance is very high, the electric propulsion unit 30 combines with the photographing unit 11 in a manner that reduces the running resistance. Therefore, electric propulsion of the photographing unit 11 is possible even when the running resistance of the photographing unit 11 is high.

[0076] Alternatively, even if the running resistance caused by friction with the floor FL due to the weight of the photographing unit 11 is large, the running resistance is reduced by combining, enabling electric running of the photographing unit 11. Furthermore, because the running resistance is reduced, the driving force of the electric running unit 30 can be made relatively small, which also contributes to miniaturization.

[0077] As shown in Figures 9 and 10, during photography, the operation of moving the photographing unit 11 to align it is frequently performed. There are times when manual driving is convenient, and times when electric driving is convenient. If the photographing unit 11 has a built-in motor for electric driving, there is a risk that the motor will become a burden when driving manually. By using a detachable electric driving unit 30, it is possible to use both manual driving and electric driving while taking advantage of the convenience of each.

[0078] Furthermore, in the above embodiment, the electric traveling unit 30 generates a load in the vertically upward direction on the photographing unit 11 in the combined state. Therefore, the frictional force generated between the photographing unit 11 and the floor FL can be reduced with a relatively simple configuration. For example, when the brakes of the photographing unit 11 are applied, it is possible to provide the electric traveling unit 30 with a mechanism that performs a brake release operation as a mechanism for reducing running resistance in the combined state. However, since a mechanism that performs a brake release operation requires a complex configuration, generating a load in the vertically upward direction allows for a reduction in running resistance to be achieved with a relatively simple configuration.

[0079] In the above embodiment, the electric traveling unit 30 has a load generating mechanism that generates a load, such as the lifting mechanism of the engagement part 30C. Because a load is generated using a load generating mechanism, it is easier to control the force and direction of the load compared to when no mechanism is used.

[0080] In the above embodiment, the load generating mechanism of the electric traveling unit 30 is, for example, configured as a lifting mechanism using an engagement part 3 as shown in Fig. 3. This lifting mechanism has an engagement part 30C (an example of a support part) that supports the photographing unit 11 while maintaining the posture of the photographing unit 11 in the uncombined state, and generates a load by raising and lowering the engagement part 30C. Because the support part of the photographing unit 11 is raised and lowered, a load can be generated while the posture of the photographing unit 11 is stable.

[0081] In the above embodiment, the load generated by the load generating mechanism is a load that lifts at least a portion of the photographing unit 11 off the floor FL. By lifting the photographing unit 11 off the floor FL, it is possible to reduce the running resistance caused by friction. More specifically, as shown in FIG. 2, this is a load that lifts the entire photographing unit 11 off the floor FL. By lifting the entire photographing unit 11, it is possible to eliminate the running resistance caused by friction with the floor FL.

[0082] In the above embodiment, the photographing unit 11 is provided with a brake that increases running resistance. In the above embodiment, as shown in FIG. 2 as an example, the braked wheels 16A are raised above the floor FL, and the load generated by the load generating mechanism is a load that reduces running resistance caused by the brake. This makes it possible to significantly reduce running resistance, such as the rolling resistance of the wheels 16A caused by the brake.

[0083] In the above embodiment, the electric traveling unit 30 is mechanically coupled to the photographing unit 11, as shown by the engaging portion 30C as an example. This coupling prevents the photographing unit 11 and the electric traveling unit 11 from accidentally separating, and allows them to be combined in a stable state.

[0084] Furthermore, in the above embodiment, when the electric traveling unit 30 is in the combined state, as shown in FIG. 4 as an example, at least a portion of the electric traveling unit 30 enters the projection area of ​​the photographing unit 11 when the floor FL is used as the projection surface. Therefore, even in the combined state, the increase in the space occupied by the photographing unit 11 is suppressed compared to when the photographing unit 11 is not combined. In particular, in the above embodiment, when the electric traveling unit 30 is in the combined state, the entire electric traveling unit 30 enters the projection area of ​​the photographing unit 11. Therefore, even when combined, the space occupied by the photographing unit 11 does not increase. Of course, the electric traveling unit 30 does not have to enter the projection area entirely when combined.

[0085] Furthermore, in the above embodiment, the electric propulsion unit 30 has multiple wheels, at least one of which is a drive wheel that rotates electrically. As shown in FIG. 4 as an example, the wheel spacing W2 between the multiple wheels 30A is narrower than the wheel spacing W1 between the photographing unit 11. This makes it easier to reduce the size of the electric propulsion unit. Because external forces are applied to the photographing unit 11 from various directions during manual operation, a wider wheel spacing W1 provides greater stability. In contrast, because the direction in which external forces are applied to the electric propulsion unit 30 in the combined state is roughly fixed, a narrower wheel spacing W2 is often acceptable. The narrower the wheel spacing W2, the easier it is to reduce the size, which in turn prevents the electric propulsion unit from taking up more space.

[0086] 7, when the electric propulsion unit 30 is separated from the photographing unit 11, the electric propulsion unit 30 has the function of automatically combining with the photographing unit 11 in response to a combining command. This automatic combining is convenient.

[0087] Furthermore, in the above embodiment, the electric propulsion unit 30 detects the position of the photographing unit 11 and moves to the detected position. This is a so-called guideless autonomous propulsion system in which no guideways or guide markers are provided on the floor FL. Therefore, it is very effective when used in a photographing room RM where various devices are installed and there are many obstacles to travel. Furthermore, because it has the function of detecting the photographing unit 11, it is easy to use because there is no need to register the destination.

[0088] In the above embodiment, the electric traveling unit 30 has a function of automatically moving to a specified position, such as the home position HP shown as an example. Since the electric traveling unit 30 automatically moves to a specified position registered in advance, it is easy to use.

[0089] In the above embodiment, the electric traveling unit 30 indirectly receives operation instructions, including movement instructions, via the photographing unit 11, as shown in Fig. 6 as an example. This provides better usability than when the photographing unit 11 and the electric traveling unit 30 are operated using separate operation units. Furthermore, because the photographing unit 11 is combined with the electric traveling unit 30, the electric traveling unit 30 can be operated via the photographing unit 11, making it very easy for the operator OP to use.

[0090] Furthermore, in the above embodiment, the electric propulsion unit 30 has a wireless communication section that performs wireless communication with the photographing unit 11. This allows it to wirelessly receive operation instructions from the photographing unit 11. Because the electric propulsion unit 30 is repeatedly combined with and separated from the photographing unit 11, wireless connection is very convenient.

[0091] In the above embodiment, the electric propulsion unit 30 receives movement instructions as operational instructions through an operation unit that continues to output an operation signal while the operation unit is being operated and stops outputting the operation signal when the operation is stopped, as shown in the example of the directional key 56D shown in Figure 6. This is a so-called deadman's operation unit, which prevents the electric propulsion unit 30 from moving unintentionally, thereby providing a high level of safety.

[0092] Furthermore, the electric traveling unit 30 according to the technique of the present disclosure can be modified in various ways, as will be described below.

[0093] (Variation 1: Registering destination) In the above embodiment, the home position HP is used as an example of a pre-registered position, and an example is shown in which the electric traveling unit 30 automatically moves to a specified position, but a position other than the home position HP may also be used as the registered position. For example, as shown in Variation 1 in Figure 11, registered positions may be registered in association with shooting menus, and when a shooting menu is selected, the destination may be set to the corresponding registered position.

[0094] 11, as the registered positions, for example, positions such as standing position 1 and standing position 2 are registered as registered positions corresponding to upright position radiography, and positions such as lying position 1 and lying position 2 are registered as registered positions corresponding to lying position radiography. These registered positions are positions where the radiation source unit 11S or the panel unit 11D is set in accordance with the radiography menu, and are registered in association with the radiography menu. This information is stored in the storage 51 of the electric traveling unit 30.

[0095] When an imaging menu specifying an imaging procedure is selected on the operation panel 43 of the imaging unit 11, the processor 50 of the electric propulsion unit 30 acquires, for example, an imaging menu corresponding to supine position 1 as the selected imaging menu. The processor 50 sets the registered position of supine position 1 corresponding to the imaging menu as the movement destination of the electric propulsion unit 30. The processor 50 then moves the electric propulsion unit 30 toward the set movement destination. For example, the information about each registered position is set as the amount of movement (including the direction) based on the home position HP. The processor 50 uses a self-position estimation function based on the home position HP to calculate the amount of movement to the registered position and controls the movement to the registered position.

[0096] Note that a mark visible to the operator OP may be attached to the floor FL or the like so that the operator OP can accurately set the position of the photographing unit 11 in advance at the registered position to which the electric traveling unit 30 will move. Furthermore, when the supine position photographing table 22 is used, a connection position for connecting the supine position photographing table 22 and the photographing unit 11 may be set in advance, and that position may be set as the registered position.

[0097] (Variation 2: Partially exposed when combined) In the above embodiment, as shown in Figure 4, an example was described in which the entire electric traveling unit 30 enters the projection area of ​​the photographing unit 11 in the combined state. However, as shown in Variation 2 in Figure 12, it is also possible for only a part of the electric traveling unit 30 to enter the projection area in the combined state.

[0098] In this case, a portion of the electric propulsion unit 30 is exposed outside the entrance 16C. This has the following advantages. For example, as shown in FIG. 13, consider a case in which one electric propulsion unit 30 detects another electric propulsion unit 30 using the first camera 54A (see FIG. 7) and aligns itself with the detected electric propulsion unit 30. More specifically, one electric propulsion unit 30 is combined with the radiation source unit 11S, and the other electric propulsion unit 30 is combined with the panel unit 11D. The electric propulsion unit 30 combined with the radiation source unit 11S detects the electric propulsion unit 30 combined with the panel unit 11D and aligns the radiation source unit 11S with the position of the panel unit 11D. In this case, if a portion of the electric propulsion unit 30 to be detected that is combined with the panel unit 11D is exposed outside the base portion 16B of the panel unit 11D, the electric propulsion unit 30 of the radiation source unit 11S can easily detect the electric propulsion unit 30 of the panel unit 11D. In this way, it may be advantageous if a part of the electric propulsion unit 30 is exposed from the projection area of ​​the photographing unit 11.

[0099] (Variation 3: Grounded state of combined state) In the above embodiment, as shown in FIG. 2, in the combined state, a load is applied to the photographing unit 11 in the vertically upward direction, thereby lifting the photographing unit 11 off the floor FL. However, as shown in FIG. 14, the photographing unit 11 may be maintained in a grounded state while a load is applied in the vertically upward direction. That is, the portions of the photographing unit 11 that are in contact with the floor FL in the uncombined state are maintained in a grounded state even when a load is applied. For example, the wheels 16A are made of an elastic material such as rubber, and the wheels 16A are elastically deformed by the weight of the photographing unit 11. When a load is applied in the vertically upward direction by the electric traveling unit 30, part of the weight of the photographing unit 11 applied to the wheels 16A is offset. The load in the vertically upward direction reduces the deformation of the wheels 16A, but is set to a level that maintains the wheels 16A in a grounded state. This maintains the wheels 16A in a grounded state. In this way, even if the ground contact state is maintained, a load is generated in the vertical direction upward, so the frictional force between the wheels 16A of the photographing unit 11 and the floor FL is reduced, and therefore running resistance is reduced. In addition, since the ground contact state of the photographing unit 11 is maintained, there is also the effect of stabilizing the posture of the photographing unit 11.

[0100] (Modification 4: No load generating mechanism provided) In the above embodiment, an example was shown in which a load-generating mechanism, such as an elevator mechanism that raises and lowers the engagement portion 30C, was provided, as shown in FIG. 3. However, as shown in FIG. 15, it is also possible to generate a load without a load-generating mechanism, such as an elevator mechanism. The example shown in FIG. 15 shows an example in which the main body 30B of the electric propulsion unit 30 is wedge-shaped. In this case, when a portion of the electric propulsion unit 30 enters below the base portion 16B of the photographing unit 11, the upper surface of the main body 30B abuts against the bottom of the base portion 16B, generating a vertically upward load on the photographing unit 11. In this state, the electric propulsion unit 30 is coupled to the photographing unit 11 at an engagement portion (not shown). In the coupled state, a vertically upward load is generated, thereby reducing the traveling resistance of the photographing unit 11. In the example shown in FIG. 15, among the wheels 16A of the base portion 16B, the wheels 16A with the brakes applied are raised.

[0101] As is clear from the above embodiment, the load generated "vertically upward" in the technology of the present disclosure includes not only the case where all components of the load applied to the photographing unit 11 are directed vertically upward, as shown in Figure 2, but also the case where a load is generated in a direction diagonal to the vertical, so that some components are directed vertically upward, as shown in Figure 15.

[0102] (Variation 5: Guide portion to combined position) In the above embodiment, as shown in FIG. 7, an example was described in which the combined position CP below the base portion 16B of the photographing unit 11 is detected by the second camera 54B. However, as shown in FIG. 16, a guide portion 61 may be provided on the bottom of the base portion 16B. Unlike FIG. 7, FIG. 16 shows the base portion 16B and electric traveling unit 30 as viewed from below. The guide portion 61 abuts against the main body portion 30B of the electric traveling unit 30, thereby guiding the electric traveling unit 30 to the combined position CP. This eliminates the need for the second camera 54B and simplifies alignment control.

[0103] (Variation 6: Auxiliary Battery) 17, the battery 55 of the electric propulsion unit 30 may function as an auxiliary battery for the photographing unit 11 in the combined state. In this case, the electric propulsion unit 30 is provided with a connector 63 having electrical contacts for supplying power to the battery 44 of the photographing unit 11. The connector 63 is provided, for example, in the engagement portion 30C, and when engaged with the recess 16D, it electrically connects with the connector 62 provided in the recess 16D. This causes power from the battery 55 of the electric propulsion unit 30 to be supplied to the battery 44 of the photographing unit 11. In this way, the battery 55 functions as an auxiliary battery for the photographing unit 11. Note that the electric propulsion unit 30 may be provided with a dedicated battery to be used as an auxiliary battery, separate from the battery 55.

[0104] (Other variations) Furthermore, the connection between the electric traveling unit 30 and the photographing unit 11 has been described using the engagement between the engagement portion 30C and the recess 16D as an example, but instead of or in addition to this, a connecting pin or the like may be provided. By connecting with a connecting pin, a more secure connection can be achieved. For example, a solenoid plunger can be used as the connecting pin.

[0105] Furthermore, the connection between the electric traveling unit 30 and the photographing unit 11 does not have to be mechanical, using the engaging portion 30C or the like, and may be, for example, by an electromagnet. Also, the power supply connector 63 shown in Fig. 17 does not have to be a contact type connector, and may be a non-contact type connector that allows for contactless power supply.

[0106] Also, although the example has been described in which the electric propulsion unit 30 is connected wirelessly to the photographing unit 11, a wired connection is also possible. However, in the case of a wired connection, it is necessary to use a remote controller for the electric propulsion unit 30 to give operational instructions at least up to the point of combining with the photographing unit 11. Furthermore, a wired connection may use connectors 62 and 63 shown in FIG. 17, or a communication cable may also be used. As wired connections are thus time-consuming, wireless connections are preferable.

[0107] Furthermore, instructions for operating the electric traveling unit 30 may be given by voice input.

[0108] Furthermore, the autonomous driving control of the electric driving unit 30 may use SLAM (Simultaneous Localization and Mapping) technology, which allows the electric driving unit 30 to drive autonomously while simultaneously estimating its own position and creating a map.

[0109] The wheel configurations shown in the above embodiments are merely examples, and various modifications are possible. For example, the number of front wheels and / or rear wheels may be changed independently. For example, a combination of one front wheel and two rear wheels may be used, or a combination of two front wheels and three rear wheels may be used. Furthermore, for example, the size and shape of the front wheels and rear wheels may be changed.

[0110] In the above embodiment, the hardware of the processor 50 can be various types of hardware listed below. The various types of hardware include a CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, as well as a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electrical circuit such as an ASIC (Application Specific Integrated Circuit) that is hardware having a circuit configuration designed specifically for executing specific processing.

[0111] The various processes described above may be executed by one of these various hardware components, or may be executed by a combination of two or more hardware components of the same or different types (for example, a plurality of FPGAs, or a combination of a CPU and an FPGA). Furthermore, a plurality of processing units may be configured as a single piece of hardware. An example of configuring a plurality of processing units as a single piece of hardware is a form of using hardware that realizes the functions of an entire system including a plurality of processing units on a single IC (Integrated Circuit) chip, such as a System on Chip (SOC).

[0112] In this way, the various processing units are configured using one or more of the various hardware components described above.

[0113] Furthermore, as these various hardware structures, more specifically, electric circuits that combine circuit elements such as semiconductor elements can be used. do.

[0114] Furthermore, the technology of the present disclosure extends to a computer-readable storage medium (such as a Universal Serial Bus (USB) memory or a Digital Versatile Disc (DVD)-Read Only Memory (ROM)) that non-temporarily stores a program, in addition to the program that operates the electric traveling unit 30. The technology of the present disclosure can also be applied to programs and program products.

[0115] The above-described description and illustrations are a detailed explanation of the parts related to the technology of the present disclosure and are merely an example of the technology of the present disclosure. For example, the above description of the configuration, functions, actions, and effects is an explanation of an example of the configuration, functions, actions, and effects of the parts related to the technology of the present disclosure. Therefore, it goes without saying that unnecessary parts may be deleted, new elements may be added, or replacements may be made to the above-described description and illustrations within the scope of the gist of the technology of the present disclosure. Furthermore, to avoid confusion and facilitate understanding of the parts related to the technology of the present disclosure, the above-described description and illustrations omit explanations of common technical knowledge that do not require particular explanation to enable the implementation of the technology of the present disclosure.

[0116] From the above description, the technology described in the following supplementary paragraphs can be understood.

[0117] [Additional note 1] An electric traveling unit that enables electric traveling of an imaging unit having a traveling mechanism that manually travels on a floor and a radiation source or a radiation detector used for radiography, an electric propulsion unit that is separably combined with the photographing unit and that, in the combined state, reduces the running resistance of the propulsion mechanism compared to a non-combined state; [Additional note 2] In the combined state, a load is generated in the vertical direction upward on the photographing unit. Item 1. An electric propulsion unit according to item 1. [Additional note 3] A load generating mechanism for generating the load is provided. An electric propulsion unit as described in appended paragraph 2. [Additional note 4] The load generating mechanism has a support part that supports the photographing unit while maintaining the posture of the photographing unit in the uncombined state, and generates the load by raising and lowering the support part. An electric propulsion unit as described in appended paragraph 3. [Additional note 5] The load is a load that lifts at least a part of the photographing unit off the floor. The electric traveling unit according to any one of supplementary items 2 to 4. [Additional note 6] the photographing unit is provided with a brake that increases the running resistance, The load is a load that reduces the running resistance caused by the brake. The electric traveling unit according to any one of supplementary items 3 to 5. [Additional note 7] The part of the photographing unit that is in contact with the floor in an uncombined state maintains the contact state even when the load is generated. The electric traveling unit according to any one of supplementary items 2 to 6. [Additional note 8] Mechanically or magnetically coupled to the photographing unit The electric traveling unit according to any one of supplementary items 1 to 7. [Additional note 9] In the combined state, at least a part of the camera unit enters the projection area of ​​the camera unit when the floor is used as a projection surface. The electric traveling unit according to any one of supplementary items 1 to 8. [Additional Note 10] The vehicle has a plurality of wheels, at least one of which is a drive wheel that rotates electrically; The wheel spacing of the plurality of wheels is narrower than the wheel spacing of the photographing unit. The electric propulsion unit according to appended item 9. [Additional Note 11] In the combined state, the entire unit enters the projection area of ​​the photographing unit when the floor is used as the projection surface. The electric propulsion unit according to claim 9 or 10. [Additional Note 12] When separated from the photographing unit, the device has a function of automatically combining with the photographing unit in response to a combining instruction. The electric propulsion unit according to any one of supplementary items 1 to 11. [Additional Note 13] Detecting the position of the photographing unit and moving to the detected position The electric propulsion unit according to claim 12. [Additional Note 14] It has the function of automatically moving to a specified position. The electric traveling unit according to any one of supplementary items 1 to 13. [Additional Note 15] Operation instructions including movement instructions are indirectly received via the photographing unit. The electric traveling unit according to any one of supplementary items 1 to 14. [Additional Note 16] a wireless communication unit that communicates wirelessly with the photographing unit; The electric propulsion unit according to appended item 15. [Additional Note 17] The operation signal is continuously output while the operation unit is being operated, and the operation signal is stopped when the operation is stopped, and a movement instruction is received as the operation instruction through the operation unit. 17. The electric propulsion unit according to claim 15 or 16. [Additional Note 18] In the combined state, the battery functions as an auxiliary battery for the photographing unit. The electric propulsion unit according to any one of supplementary items 1 to 17. [Additional Note 19] At least one imaging unit having a traveling mechanism that is manually moved on a floor and a radiation source or a radiation detector used for radiography; a radiography system including an electric propulsion unit that enables the radiography unit to travel electrically, the electric propulsion unit being separably combined with the radiography unit and reducing the running resistance of the traveling mechanism in the combined state compared to when the radiography unit is not combined.

[0118] In this specification, "A and / or B" is synonymous with "at least one of A and B." In other words, "A and / or B" means that it may be only A, only B, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" is also applied when three or more things are expressed connected by "and / or."

[0119] All publications, patent applications, and technical standards mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, or technical standard was specifically and individually indicated to be incorporated by reference. [Explanation of symbols]

[0120] 10 Radiography System 11 Filming Unit 11D Panel Unit 11S radiation source unit 12 Irradiation unit 13 Detection Panel 16 Bogie section 16A wheels 16B base part 16C entrance 16D recess 17 Main body 18 Moving parts 19 Arm 22 Recumbent photography stand 30 Electric propulsion unit 30A wheels 30B Main body 30C Engagement part 36 Lifting guide 38 Slider 40 processors 41 Storage 42 Communication I / F 43 Operation Panel 44 Battery 50 processors 51 Storage 52 Communication I / F 53 Actuator 54 processors 54 Camera 54A Camera No. 1 54B Second Camera 55 Battery 56 Controller 56A Combination button 56B Separation button 56C Return button 56D Directional keys 61 Guide part 62, 63 Connectors CP combined position FL floor H. Subject HP Home Position M, M1, M2 motors MS Measurement Sensor OP Operator RM Photo Studio W1, W2 wheel spacing

Claims

1. An electric traveling unit that enables electric traveling of an imaging unit having a traveling mechanism that manually travels on a floor and a radiation source or a radiation detector used for radiography, an electric propulsion unit that is separably combined with the photographing unit and that, in the combined state, reduces the running resistance of the propulsion mechanism compared to a non-combined state;

2. In the combined state, a load is generated in the vertical direction upward on the photographing unit. The electric propulsion unit according to claim 1 .

3. A load generating mechanism for generating the load is provided. The electric propulsion unit according to claim 2 .

4. The load generating mechanism has a support part that supports the photographing unit while maintaining the posture of the photographing unit in the uncombined state, and generates the load by raising and lowering the support part. The electric propulsion unit according to claim 3 .

5. The load is a load that lifts at least a part of the photographing unit off the floor. The electric propulsion unit according to claim 2 .

6. the photographing unit is provided with a brake that increases the running resistance, The load is a load that reduces the running resistance caused by the brake. The electric propulsion unit according to claim 3 .

7. The part of the photographing unit that is in contact with the floor in an uncombined state maintains the contact state even when the load is generated. The electric propulsion unit according to claim 2 .

8. Mechanically or magnetically coupled to the photographing unit The electric propulsion unit according to claim 1 .

9. In the combined state, at least a part of the camera unit enters the projection area of ​​the camera unit when the floor is used as a projection surface. The electric propulsion unit according to claim 1 .

10. The vehicle has a plurality of wheels, at least one of which is a drive wheel that rotates electrically; The wheel spacing of the plurality of wheels is narrower than the wheel spacing of the photographing unit. The electric propulsion unit according to claim 9.

11. In the combined state, the entire unit enters the projection area of ​​the photographing unit when the floor is used as the projection surface. The electric propulsion unit according to claim 9.

12. When separated from the photographing unit, the device has a function of automatically combining with the photographing unit in response to a combining instruction. The electric propulsion unit according to claim 1 .

13. Detecting the position of the photographing unit and moving to the detected position The electric propulsion unit according to claim 12.

14. It has the function of automatically moving to a specified position. The electric propulsion unit according to claim 1 .

15. Operation instructions including movement instructions are indirectly received via the photographing unit. The electric propulsion unit according to claim 1 .

16. a wireless communication unit that communicates wirelessly with the photographing unit; The electric propulsion unit according to claim 15.

17. The operation signal is continuously output while the operation unit is being operated, and the operation signal is stopped when the operation is stopped, and a movement instruction is received as the operation instruction through the operation unit. The electric propulsion unit according to claim 15.

18. In the combined state, the battery functions as an auxiliary battery for the photographing unit. The electric propulsion unit according to claim 1 .

19. At least one imaging unit having a traveling mechanism that is manually moved on a floor and a radiation source or a radiation detector used for radiography; a radiography system including an electric propulsion unit that enables the radiography unit to travel electrically, the electric propulsion unit being separably combined with the radiography unit and that, in the combined state, reduces the running resistance of the traveling mechanism compared to the non-combined state.

Images