Radiographic imaging device, method of operating the radiographic imaging device, and operating program for the radiographic imaging device.

Abstract

The present invention provides a radiography apparatus, a method for operating the radiography apparatus, and an operating program for the radiography apparatus that enable more appropriate allocation of processor resources than conventional methods when performing driving control related to an autonomous driving mechanism. [Solution] The radiography apparatus is a radiography apparatus used for radiography, comprising a radiation source or a radiation image detection device, an autonomous driving mechanism, and a processor that performs driving control related to the driving mechanism. The processor switches between a first mode in which the load on the processor is relatively large and a second mode in which the load is relatively small, according to preset conditions, with respect to the mode in which driving control is performed.

Description

[Technical Field]

[0001] The technology of the present disclosure relates to a radiation imaging apparatus, an operating method of a radiation imaging apparatus, and an operating program for a radiation imaging apparatus. [Background Art]

[0002] In medical settings, radiation imaging apparatuses having a traveling mechanism are known. As one such radiation imaging apparatus, for example, there is a radiation generator in which a main body having a radiation source that emits radiation toward a subject is mounted on a cart unit having wheels. For example, the radiation generator is used for so-called round imaging, in which imaging of a patient as a subject is performed while moving around hospital rooms.

[0003] Patent Document 1 describes a manually travelable radiation generator equipped with a camera that images the surrounding environment. In Patent Document 1, manual traveling to a target position such as the side of a recumbent imaging table (bed) on which an electronic cassette is installed is assisted by, for example, notifying an operator such as a medical radiographer of a route that avoids obstacles captured by the camera. [Prior Art Literature] [Patent Literature]

[0004] [Patent Document 1] International Publication No. 2017 / 043040 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] The inventors are studying the adoption of the SLMA method, which uses, for example, SLAM (Simultaneous Localization and Mapping) technology to cause such a traveling-type radiation imaging apparatus to autonomously travel to a target position. If autonomous traveling can be implemented, it becomes possible to further reduce the burden on the operator.

[0006] SLAM is a technology that performs the creation of a map by recognizing the surrounding environment and the estimation of the vehicle's own position based on that map in parallel. For example, a camera is used as an environmental information sensor to acquire information about the surrounding environment. The processor that performs driving control related to the driving mechanism repeatedly updates the map of the surrounding environment and estimates the vehicle's own position on the map based on the images acquired by the camera.

[0007] In addition to this type of travel control, the processor in a radiography system may also perform imaging control related to imaging. Therefore, if the load on the processor is heavy during travel control, there was a concern that there would be insufficient processor resources that could be allocated to other controls such as imaging control.

[0008] The technology disclosed herein provides a radiography apparatus, a method for operating the radiography apparatus, and an operating program for the radiography apparatus that enable more appropriate allocation of processor resources than conventional methods when performing driving control related to an autonomous driving mechanism. [Means for solving the problem]

[0009] The radiography apparatus of this disclosure is a radiography apparatus used for radiography, comprising a radiation source or a radiation image detection device, an autonomous driving mechanism, and a processor that performs driving control related to the driving mechanism, wherein the processor switches between a first mode in which the load on the processor is relatively large and a second mode in which the load is relatively small, according to preset conditions, with respect to the mode in which driving control is performed.

[0010] The processor may further perform alignment control to assist in the relative alignment of the radiation source with the radiation image detection device and / or the subject, and imaging control related to the radiation source or the radiation image detection device. Pre-set conditions may include the initiation of at least one of the alignment control and imaging control. The processor may perform travel control in a first mode before at least one of the controls is initiated, and then perform travel control in a second mode once at least one of the controls has been initiated.

[0011] The first mode may be a mode in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a preset target position. The second mode may be a mode in which the vehicle detects the amount of movement of the driving mechanism, performs self-position estimation based on the detected amount of movement, and autonomously drives toward a preset target position.

[0012] The first and second modes are modes in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a pre-set target position, and the operating conditions for the first and second modes may differ.

[0013] The operating conditions may include at least one of the following: the frequency of acquiring ambient environmental information, the movement speed of the travel mechanism, the amount of information in the ambient environmental information, and the amount of computation performed by the processor. The second mode may satisfy at least one of the following conditions compared to the first mode: a lower acquisition frequency, a slower movement speed, a smaller amount of information in the ambient environmental information, and a smaller amount of computation.

[0014] The first mode is a mode in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a preset target position. The preset conditions may include the vehicle entering a preset proximity range of the target position. The processor may perform driving control in the first mode before entering the proximity range, and then perform driving control in the second mode after entering the proximity range.

[0015] The radiography apparatus of this disclosure may be battery-powered.

[0016] The pre-set conditions may include the battery level falling below a pre-set threshold. The processor may perform driving control in a first mode if the battery level is above the threshold, and in a second mode if the battery level falls below the threshold.

[0017] The radiography apparatus of this disclosure has a radiation source and may also be a radiation generator.

[0018] The method for operating a radiography apparatus according to the present disclosure is a method for operating a radiography apparatus used for radiography, comprising a radiation source or a radiation image detection device, an autonomously navigable driving mechanism, and a processor that performs driving control related to the driving mechanism, wherein the processor switches between a first mode in which the load on the processor is relatively large and a second mode in which the load is relatively small, according to preset conditions with respect to the mode in which driving control is performed.

[0019] The operating program for a radiography apparatus used for radiography comprises a radiation source or radiation image detection device, an autonomously navigable driving mechanism, and a processor that performs driving control related to the driving mechanism. The program causes the processor to perform a process to switch between a first mode in which the load on the processor is relatively large and a second mode in which the load is relatively small, according to preset conditions, with respect to the mode in which driving control is performed. [Effects of the Invention]

[0020] According to the technology disclosed herein, when performing driving control related to an autonomous driving mechanism, it becomes possible to allocate processor resources more appropriately than before. [Brief explanation of the drawing]

[0021] [Figure 1] This figure shows a supine position radiography scan using a radiography system. [Figure 2] It is a diagram showing a state of upright radiography using a radiation imaging system. [Figure 3] It is a diagram showing a radiation generator with a radiation source in a storage position. [Figure 4] It is a block diagram showing the electrical configuration of a radiation generator. [Figure 5] It is a diagram showing a state where the radiation generator travels from a standby position toward a first target position in supine radiography and stops at the first target position. [Figure 6] It is a diagram showing a state where the radiation generator travels from a standby position toward a second target position in upright radiography and stops at the second target position. [Figure 7] It is a diagram showing processing of each processing unit of a processor related to travel control. [Figure 8] It is a diagram showing processing of each processing unit of a processor related to travel control, continuing from FIG. 7. [Figure 9] It is a diagram showing processing of each processing unit of a processor related to alignment control. [Figure 10] It is a diagram showing processing in a learning phase of a cassette contour extraction model. [Figure 11] It is a diagram showing a state of alignment control. [Figure 12] It is a diagram showing an alignment support screen. [Figure 13] It is a diagram showing the content of imaging control. [Figure 14] It is a conceptual diagram of switching between a first mode and a second mode in travel control. [Figure 15] It is a flowchart showing an example of switching modes based on the start of alignment control. [Figure 16] It is a diagram showing an operation example of the radiation imaging apparatus in the case of FIG. 15. [Figure 17] It is a flowchart of Modification 1. [Figure 18] It is a flowchart of Modification 2. [Figure 19] It is a diagram showing an example where both the first mode and the second mode use the SLAM method. [Figure 20] This flowchart shows an example of switching modes depending on the battery level. [Modes for carrying out the invention]

[0022] [First Embodiment] As an example, as shown in Figures 1 and 2, the radiography system 10 comprises a radiation generator 11 and an electronic cassette 12. The radiation generator 11 has a main body 14 having a radiation source 13 that emits radiation R toward a patient P, which is an example of a subject, and is mounted on a trolley 16 having wheels 15. The radiation R is, for example, X-rays. The radiation generator 11 is equipped with a battery BT (see Figure 4) and can be driven by power supplied from the battery BT. The radiation generator 11 can also be driven by receiving power from a commercial power source via a power cord. The radiation generator 11 is a device used for radiography and is an example of a "radiography device" according to the technology of this disclosure. The trolley 16 is an example of a "travel mechanism" according to the technology of this disclosure. The electronic cassette 12 is an example of a "radiation image detection device" according to the technology of this disclosure.

[0023] The radiation generator 11 is movable within the imaging room RM (see also Figures 5 and 6). The radiation generator 11 is also used for so-called mobile imaging, where images are taken of patients P while moving around the patient rooms. For this reason, the radiation generator 11 is also called a mobile imaging unit. Alternatively, the radiation generator 11 can be used for imaging in the emergency room. Furthermore, the radiation generator 11 can be brought into the operating room and used during surgery.

[0024] The electronic cassette 12 has a configuration in which a sensor panel, which acts as a radiation detector for detecting radiation R, is built into a portable housing. The electronic cassette 12 is powered by a battery BT and communicates wirelessly with the radiation generator 11. The sensor panel has a detection surface 17 in which multiple pixels are arranged in a matrix and generate a signal charge in response to radiation R or visible light converted from radiation R by a scintillator. The electronic cassette 12 detects the radiation R that is irradiated from the radiation source 13 and passes through the patient P, and outputs a radiation image 18 of the patient P.

[0025] Since the electronic cassette 12 is portable and wireless, it can be used for so-called free radiography, as shown in Figure 1, by placing it on the supine radiography table 19 (under the patient P) installed in the radiography room RM and performing radiography. More specifically, Figure 1 shows the electronic cassette 12 being inserted between the supine radiography table 19 and the patient P to take an image of the patient P lying supine on the supine radiography table 19 (see also Figure 5). Also, as shown in Figure 2, the electronic cassette 12 can be used by housing it in the holder 21 of the standing radiography table 20 installed in the radiography room RM (see also Figure 6). The holder 21 can be raised and lowered vertically relative to the support column 22.

[0026] The main body 14 is rectangular in shape and is erected in the center of the trolley 16. The main body 14 is divided into a front movable part 25 and a rear fixed part 26. The movable part 25 can move up and down relative to the fixed part 26. The fixed part 26 is fixed to the trolley 16.

[0027] The base end of the arm 27 is attached to the movable part 25. More specifically, the arm 27 is divided into a first part to which the base end is attached to the movable part 25, and a second part to which the base end is attached to the first part. The radiation source 13 is attached to the tip of the second part, which is the free end opposite the base end.

[0028] The first part is vertically movable relative to the movable part 25 and is also rotatable relative to the movable part 25. The second part is vertically foldable relative to the first part. Furthermore, the second part is extendable and retractable. The radiation source 13 is rotatable, i.e., pivotable, relative to the second part. By displacing the arm 27 and the radiation source 13 relative to the arm 27, it is possible to adjust the height, horizontal position, and orientation (direction) of the radiation source 13.

[0029] Because the second part is foldable and expandable, the radiation source 13 can move between a shooting preparation position, as shown in Figures 1 and 2, where it is projected toward the patient P and the electronic cassette 12, and a housing position, as shown in Figure 3 as an example, where it is pulled toward the main body 14. The shooting preparation position shown in Figures 1 and 2 is the position when the second part is extended to a predetermined length, for example, half of its maximum length, and folded relative to the first part so that it is parallel to the horizontal direction. The housing position shown in Figure 3 is the position when the second part is shortened to its shortest length and folded as far as possible relative to the first part.

[0030] In Figures 1 and 2, an operation panel 28 is provided on the upper surface of the fixed part 26. The operation panel 28 is, for example, composed of a touch panel display and has the function of displaying information in addition to operation functions. The operation panel 28 is operated by an operator OP, such as a radiological technologist. The operator OP sets the irradiation conditions of radiation R through the operation panel 28. The operator OP also checks the radiation image 18 through the operation panel 28. Furthermore, as will be described later, the operator OP performs relative positioning (also called positioning) between the radiation source 13 and the electronic cassette 12 by referring to the positioning support screen 91 (see Figure 12) displayed on the operation panel 28.

[0031] Furthermore, the fixed part 26 is equipped with an irradiation switch (not shown). The irradiation switch is used by the operator OP to instruct the start of radiation irradiation. An extension cable is connected to the irradiation switch, and it can be detached from the fixed part 26 for use.

[0032] The radiation source 13 includes a radiation tube 30 and an irradiation field limiter 31. The radiation tube 30 generates radiation R. The radiation tube 30 is equipped with a filament, a target, a grid electrode, etc. (all not shown). A tube voltage is applied between the filament, which is the cathode, and the target, which is the anode, from a voltage generator (not shown) built into the fixed part 26. The filament emits thermionic electrons toward the target in accordance with the applied tube voltage. The target emits radiation R in response to collisions with thermionic electrons emitted from the filament. The grid electrode is placed between the filament and the target and changes the flow rate of thermionic electrons from the filament toward the target in accordance with the voltage applied from the voltage generator. This flow rate of thermionic electrons from the filament toward the target is called the tube current. The tube voltage and tube current are set in the radiation source 13 as irradiation conditions, along with the irradiation time.

[0033] The irradiation field limiter 31, also known as a collimator, limits the irradiation field of the radiation R generated from the radiation tube 30. The irradiation field limiter 31 has a configuration in which, for example, four shielding plates made of lead or the like are arranged on each side of a rectangle, and a rectangular exit aperture that transmits radiation is formed in the center. The irradiation field limiter 31 changes the size of the exit aperture by changing the position of each shielding plate, thereby changing the irradiation field of the radiation R.

[0034] A camera 32 is attached to the radiation source 13. The camera 32 is used to assist in aligning the radiation source 13 with the electronic cassette 12. The camera 32 incorporates a visible light-sensitive image sensor, such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor or a CCD (Charge-coupled Device) image sensor. The camera 32 captures moving images. The camera 32 is an example of an "environmental recognition sensor" related to the technology of this disclosure.

[0035] There are a total of four wheels 15, located on the front, rear, left, and right sides of the bogie 16. In other words, the bogie 16 is a four-wheeled type. Each wheel 15 is a swivel type, for example, that rotates around a pivot axis that extends in the height direction (also called the vertical direction) perpendicular to the axis of rotation when the vehicle is moving. The radiation generator 11 autonomously moves using this bogie 16.

[0036] Here, autonomous driving refers to autonomously driving toward a set target location while recognizing the surrounding environment using environmental information sensors and estimating its own position. The target location is pre-set to beside the supine imaging table 19 shown in Figure 1, and facing the standing imaging table 20 shown in Figure 2. The radiation generator 11 uses a SLAM method, which utilizes SLAM technology, as one of the driving control methods to achieve autonomous driving.

[0037] A camera 33 is provided on the trolley section 16. The camera 33 is used to support the autonomous movement of the main body section 14. The camera 33 photographs the area in front of the trolley section 16. Like the camera 32, the camera 33 incorporates a visible light-sensitive image sensor and captures moving images. Like the camera 32, the camera 33 is an example of an "environmental information sensor" related to the technology disclosed herein. The main body section 14, and by extension the radiation generator 11, can be driven not only autonomously but also manually by an operator OP.

[0038] Figure 4 is a block diagram showing an example of the electrical configuration of the radiation generator 11. The processor 40 comprehensively controls the entire radiation generator 11. The processor 40 consists, for example, of a CPU (Central Processing Unit) and memory such as RAM (Random Access Memory), and functions as various processing units by loading and executing various programs into memory. Specifically, the processor 40 performs travel control, positioning control, and imaging control. Travel control is the control related to the autonomous travel of the trolley section 16. Positioning control is the control related to the positioning of the radiation source 13 and the electronic cassette 12, as described above. Imaging control includes the control of radiation R irradiation by the radiation source 13 and the output control of the radiation image 18 by the electronic cassette 12.

[0039] The storage 41 consists of non-volatile memory such as a hard disk drive or a solid-state drive. The storage 41 stores an operating program 42 and control data 43. The operating program 42 is an example of an "operating program for a radiation generator" related to the technology of this disclosure. The control data 43 includes data for driving control, data for positioning control, and data for imaging control. The data for driving control includes map data 73 (see Figure 8) created using the SLAM method. The data for positioning control includes a cassette recognition model 86 (see Figure 9) for recognizing the electronic cassette 12. The data for imaging control includes an irradiation condition table in which irradiation conditions for each imaging area are registered.

[0040] The processor 40 is connected to the operation panel 28, the communication interface 50, the travel actuator 51, the alignment actuator 52, and the radiation source position detection sensor 53. The processor 40 controls the display of various screens on the operation panel 28. The processor 40 also receives various operation instructions from the operator OP through the operation panel 28 and executes various controls according to the operation instructions. The communication interface 50 is, for example, a wireless communication interface and is responsible for wireless communication with the electronic cassette 12.

[0041] The travel actuator 51 includes a motor for rotating the wheels 15 under the control of the processor 40, and a motor for turning them. The travel actuator 51 also includes a travel state detection sensor 51A that measures the rotation direction and amount of rotation of the wheels 15, as well as the turning direction and turning angle. The travel state detection sensor 51A is, for example, a rotary encoder or a gyro sensor, or a combination of several such sensors. The travel state detection sensor 51A outputs the measured values ​​to the processor 40. Based on the measured values ​​from the travel state detection sensor, the processor 40 detects the amount of movement of the trolley 16, as well as the travel speed and direction of movement, and other travel conditions.

[0042] The running status can be used for various purposes. For example, the processor 40 can determine whether the operating status of the running mechanism, including the bogie section 16, is normal or not based on the running status detection sensor 51A.

[0043] Furthermore, while the processor 40 uses the SLAM method as one of the autonomous driving control methods, it is also possible to execute driving control methods other than SLAM by using the driving state detection sensor 51A. As will be described later, the SLAM method performs autonomous driving by estimating the self-position and creating map data based on surrounding environmental information. As an example of a driving control method other than SLAM, there is a method that performs autonomous driving by estimating the self-position based on the amount of movement detected by the driving state detection sensor 51A without creating map data. Of course, such driving control methods tend to have increasing errors as the driving distance increases compared to the SLAM method, so they are unsuitable for long driving distances. However, they can be effective when used as a supplement, such as when the driving distance is short.

[0044] The alignment actuator 52 includes, under the control of the processor 40, a motor for raising and lowering the movable part 25, a motor for raising and lowering the arm 27, a motor for bending the second part of the arm 27, a motor for extending and retracting the second part, and a motor for rotating the radiation source 13 relative to the second part.

[0045] The radiation source position detection sensor 53 measures the vertical direction and amount of vertical movement of the arm 27 relative to the movable part 25, the bending direction and amount of bending of the second part of the arm 27 relative to the first part, the extension and retraction direction and amount of extension and retraction of the second part, and the rotation direction and amount of rotation of the radiation source 13 relative to the second part. The radiation source position detection sensor 53 is, for example, a rotary encoder, a potentiometer, or a gyro sensor, or a combination of several of these sensors. The radiation source position detection sensor 53 outputs the measured values ​​to the processor 40. The processor 40 derives the position and orientation of the radiation source 13 based on the measured values ​​of the radiation source position detection sensor 53.

[0046] Since the radiation generator 11 is capable of autonomous movement, it can automatically move to a designated location. As an example, as shown in Figures 5 and 6, a standby position HP for the radiation generator 11 is provided in a corner of the imaging room RM. At the standby position HP, the radiation source 13 is housed. At the standby position HP, charging of the battery BT, transfer of imaging orders from the Radiology Information System (RIS), and setting of irradiation conditions are performed. The standby position HP occupies an area that is the same size as the radiation generator 11, or slightly larger.

[0047] In the imaging room RM, a first target position TP1 (see Figure 5) for the radiation generator 11 during supine imaging and a second target position TP2 (see Figure 6) for the radiation generator 11 during upright imaging are set. The first target position TP1 is located beside the supine imaging table 19, more specifically, directly opposite the center of one of the longer sides of the supine imaging table 19. The second target position TP2 is located directly opposite the upright imaging table 20, at a distance equal to the SID (Source to Image Distance) required for upright imaging. In the following, the first target position TP1 and the second target position TP2 may be collectively referred to as target position TP.

[0048] During supine imaging, the radiation generator 11 travels, for example, from the standby position HP towards the first target position TP1, and stops when its own position PS (see Figure 8) reaches the first target position TP1 (see Figure 5). Similarly, during upright imaging, the radiation generator 11 travels from the standby position HP towards the second target position TP2, and stops when its own position PS reaches the second target position TP2. Although not shown in the illustration, the radiation generator 11 can also travel from the first target position TP1 towards the second target position TP2 to perform upright imaging after supine imaging. Furthermore, the radiation generator 11 can also travel from the second target position TP2 towards the first target position TP1 to perform supine imaging after upright imaging. During autonomous travel to these target positions TP, the radiation source 13 remains in its storage position.

[0049] Autonomous driving to the target position TP is initiated, for example, by an instruction from an operator OP via the control panel 28. Alternatively, the system may be configured to allow the start of autonomous driving to be initiated via a remote controller, in addition to or instead of the control panel 28.

[0050] In the SLAM method, autonomous driving is achieved by continuously acquiring images representing the surrounding environment and tracking the movement of feature points within the images through image analysis to estimate the vehicle's own position. Specifically, as shown in Figures 7 and 8, upon activation of the operation program 42, the processor 40 functions as an image acquisition unit 60, a feature point extraction unit 61, a self-position estimation / map data creation unit 62, and a driving control unit 63.

[0051] The image acquisition unit 60 sequentially acquires images 70 of the surrounding environment of the radiation generator 11 (hereinafter referred to as "driving control images") captured by the camera 33. The frame rate, which is the frequency at which the driving control images 70 are acquired, is set in advance as an operating condition. After performing preprocessing such as noise reduction and distortion correction on the driving control images 70, the image acquisition unit 60 outputs the driving control images 70 to the feature point extraction unit 61.

[0052] The feature point extraction unit 61 uses algorithms such as ORB (Oriented FAST (Features from Accelerated Segment Test) and Rotated BRIEF (Binary Robust Independent Elementary Features)) or SURF (Speeded-Up Robust Features) to extract corners and other features of structures in the surrounding environment captured in the driving control image 70 as feature points FP. The feature point extraction unit 61 outputs the feature point extraction results 71 of the feature points FP to the self-position estimation and map data creation unit 62. Although not shown in the diagram, the feature point extraction unit 61 also stores the feature point extraction results 71 in the storage 41. The feature point extraction results 71 are a pair of the coordinates and feature vectors of each feature point FP.

[0053] The self-position estimation and map data creation unit 62 estimates the self-position PS of the radiation generator 11 and creates map data 73 of the surrounding environment. The self-position estimation and map data creation unit 62 receives the feature point extraction results 71 from the feature point extraction unit 61. In addition, the self-position estimation and map data creation unit 62 receives feature point extraction results 71P from multiple past frames (hereinafter referred to as extraction results (past)) and map data 73P from multiple past frames (hereinafter referred to as map data (past)).

[0054] The feature point extraction results (past data) 71P and map data (past data) 73P are stored in storage 41 as data for driving control of the control data 43. The feature point extraction results 71 and map data 73 that make up the feature point extraction results (past data) 71P and map data (past data) 73P consist of, for example, tens to hundreds of frames. The feature point extraction results (past data) 71P and map data (past data) 73P include feature point extraction results 71 and map data 73 that are considered to play an important role in estimating the self-position PS and creating the map data 73. Such feature point extraction results 71 and map data 73 are, for example, feature point extraction results 71 and map data 73 obtained every certain distance traveled. Also, for example, feature point extraction results 71 and map data 73 obtained when there has been a large change in viewpoint from the previous frame. Furthermore, for example, feature point extraction results 71 and map data 73 obtained when more than a set amount of new feature points FP have been extracted.

[0055] The self-localization and map data creation unit 62 compares the feature points FP from the feature point extraction result 71 from the feature point extraction unit 61 with the feature points FP from the feature point extraction result (past data) 71P. In this process, the self-localization and map data creation unit 62 refers to the feature vector of each feature point FP. More specifically, it recognizes feature points FP from the feature point extraction result 71 from the feature point extraction unit 61 and feature points FP from the feature point extraction result (past data) 71P where the distance (Euclidean distance, etc.) of the feature vectors is less than a threshold as the same feature point FP. Based on this comparison result of feature points FP and the map data (past data) 73P, the self-localization and map data creation unit 62 estimates the self-localization PS. Furthermore, the self-position estimation and map data creation unit 62 creates new map data 73 (updates map data 73) based on the feature point extraction results 71 from the feature point extraction unit 61, the feature point extraction results (past) 71P, the map data (past) 73P, and the estimation results 72. In this way, the self-position estimation and map data creation unit 62 performs the estimation of the self-position PS and the creation of map data 73 in parallel during the process of the radiation generator 11 autonomously moving.

[0056] The self-position estimation and map data creation unit 62 outputs the self-position estimation result 72 of the self-position PS to the driving control unit 63. The driving control unit 63 controls the driving of the driving actuator 51 to set the self-position PS as the target position TP. Although not shown in the diagram, the self-position estimation and map data creation unit 62 also stores the map data 73 in the storage 41. Specifically, the map data 73 is 3D data of the imaging room RM, including structures such as the supine imaging table 19 and the standing imaging table 20. The standby position HP and the target position TP are also registered in the map data 73.

[0057] As an example, as shown in Figure 9, the processor 40 functions as a cassette contour extraction unit 80, a source position and orientation derivation unit 81, and a positioning control unit 82.

[0058] The cassette contour extraction unit 80 receives sequential images 85 (hereinafter referred to as alignment control images) 85, which include the patient P and the electronic cassette 12, captured by the camera 32. The camera 32 is attached to the radiation source 13. Therefore, when the self-position PS of the radiation generator 11 is set as the target position TP and the radiation source 13 is set as the preparation position for imaging, the alignment control image 85 will show the patient P and the electronic cassette 12. In Figure 9, supine imaging is shown as an example, so the supine imaging table 19 is also shown in the alignment control image 85. It is assumed that the alignment of the patient P and the electronic cassette 12 has been completed by the operator OP before alignment control.

[0059] The cassette contour extraction unit 80 extracts the contour OLC of the electronic cassette 12 from the alignment control image 85 using the cassette recognition model 86. The contour OLC reveals the center CC (see Figure 11) of the detection surface of the electronic cassette 12. The cassette contour extraction unit 80 outputs the cassette contour extraction result 87 to the alignment control unit 82. Here, the contour OLC is exemplified as a contour that follows all sides of the electronic cassette 12, but it is not limited to this. The four corners of the electronic cassette 12 may also be extracted as contours. The alignment control image 85 is an example of "output data" related to the technology of this disclosure.

[0060] The cassette recognition model 86 is a pre-trained model, for example, composed of a convolutional neural network, which is trained to output a cassette contour extraction result 87 when an alignment control image 85 is input. The cassette recognition model 86 is stored in the storage 41 as alignment control data for the control data 43.

[0061] As an example, as shown in Figure 10, during the learning phase, the cassette recognition model 86 is given training data 90. The training data 90 consists of a training alignment control image 85L and ground truth data 87CA. The training alignment control image 85L shows an electronic cassette 12. The ground truth data 87CA is data annotated with the contour OLC of the electronic cassette 12 shown in the training alignment control image 85L, and is, so to speak, data for checking the answer.

[0062] The cassette recognition model 86 receives a training alignment control image 85L as input. The cassette recognition model 86 outputs a training cassette contour extraction result 87L in response to the input of the training alignment control image 85L. Based on this training cassette contour extraction result 87L and the ground truth data 87CA, a loss calculation is performed on the cassette recognition model 86 using a loss function. Then, based on the result of the loss calculation, various coefficients of the cassette recognition model 86 (such as the coefficients of the convolutional layer filters) are updated, and the cassette recognition model 86 is updated according to the update settings.

[0063] In the learning phase of the cassette recognition model 86, the above series of processes—inputting the learning alignment control image 85L into the cassette recognition model 86, outputting the learning cassette contour extraction result 87L from the cassette recognition model 86, loss calculation, update settings, and updating the cassette recognition model 86—are repeated while the learning data 90 is exchanged. The repetition of the above series of processes ends when the extraction accuracy of the learning cassette contour extraction result 87L reaches a predetermined set level. The cassette recognition model 86, whose extraction accuracy has reached the set level, is stored in the storage 41 and used by the cassette contour extraction unit 80. Alternatively, learning may be terminated after the above series of processes has been repeated a set number of times, regardless of the extraction accuracy of the learning cassette contour extraction result 87L.

[0064] The radiation source position and orientation derivation unit 81 derives the position and orientation of the radiation source 13 based on the measurement values ​​of the radiation source position detection sensor 53. The radiation source position and orientation derivation unit 81 outputs the derivation result 88 to the alignment control unit 82. The derivation result 88 consists of the coordinates in the alignment control image 85 of the irradiation center RC of radiation R (see Figure 11) and the coordinates in the alignment control image 85 of the rectangular frame F (see Figure 11) that indicates the orientation of the radiation source 13. Since the positional relationship between the radiation source 13 and the camera 32 is known, the coordinates in the alignment control image 85 of the irradiation center RC and frame F can be easily converted from the measurement values ​​of the radiation source position detection sensor 53.

[0065] The alignment control unit 82 controls the drive of the alignment actuator 52 in order to align the radiation source 13 and the electronic cassette 12 directly. More specifically, as shown in Figure 11 as an example, if the orientation of the radiation source 13 is tilted relative to the electronic cassette 12, the alignment control unit 82 rotates the radiation source 13 to correct the tilt. Also, if the irradiation center RC of the radiation R and the center CC of the detection surface of the electronic cassette 12 are misaligned, the alignment control unit 82 moves the radiation source 13 to correct the misalignment. Note that the tilt may be corrected after correcting the misalignment between the irradiation center RC of the radiation R and the center CC of the detection surface of the electronic cassette 12. Furthermore, Figure 11 illustrates the case where the orientation of the radiation source 13 is tilted around the normal to the detection surface of the electronic cassette 12, but it is not limited to this. Even if the orientation of the radiation source 13 is tilted around an axis along the long side or short side of the detection surface of the electronic cassette 12, the alignment control unit 82 rotates the radiation source 13 to correct the tilt.

[0066] As shown in Figure 12, the alignment control unit 82 displays an alignment support screen 91 on the operation panel 28, which shows the alignment status of the radiation source 13 and the electronic cassette 12. The alignment support screen 91 displays an alignment control image 85. The operator OP can check the alignment status of the radiation source 13 and the electronic cassette 12 through the alignment support screen 91.

[0067] Furthermore, although the example described uses the alignment control unit 82 to automatically align the radiation source 13, the alignment of the radiation source 13 may also be performed manually by the operator OP. Manual operation may include, for example, the operator OP inputting operation instructions to the alignment actuator 52 via operation buttons, or the operator OP directly moving the radiation source 13. Naturally, if the radiation source 13 is displaced by such manual operation by the operator OP, the alignment control image 85 in the alignment support screen 91 is updated. This allows the operator OP to check the current state of alignment through the alignment support screen 91.

[0068] As shown in Figure 13, the processor 40 also performs imaging control. Imaging control includes, for example, imaging order registration, irradiation control, and output control. Imaging order registration is the process of registering information such as patient information, imaging purpose, and imaging site based on imaging orders received from the RIS or the like.

[0069] Irradiation control includes irradiation condition setting and drive control. Irradiation condition setting involves setting irradiation conditions, including the tube voltage, tube current, and irradiation time of the radiation generated by the radiation source 13. Drive control is the drive control of the radiation source 13 according to the set irradiation conditions, and drive control includes synchronization control of the irradiation timing of the radiation source 13 and the image detection timing of the electronic cassette 12.

[0070] Output control includes the process of receiving the radiographic image 18 detected by the electronic cassette 12, image correction which applies various corrections such as offset correction, sensitivity correction, and defect correction to the received radiographic image 18, and image display which displays the corrected radiographic image 18 on the operation panel 28. Furthermore, output control includes re-shooting determination and image transfer. Re-shooting determination is the process of determining whether the acquired radiographic image 18 can be used for diagnosis in light of the purpose of acquisition, and determining whether re-shooting is necessary. Image transfer is the process of transferring the acquired radiographic image 18 to the image server.

[0071] Furthermore, as shown in Figure 14, the processor 40 can switch between a first mode, in which the load on the processor 40 is relatively large, and a second mode, in which the load is relatively small, depending on preset conditions, regarding the mode in which driving control is performed. The driving control method in the first mode is the SLAM method. The driving control method in the second mode is a driving control method other than the SLAM method described above. For example, instead of acquiring information about the surrounding environment, the amount of movement is detected by the driving state detection sensor 51A, and based on the detected amount of movement, self-position estimation is performed, and autonomous driving is performed toward a preset target position TP. Since the driving state detection sensor 51A includes an encoder, the driving control method in the second mode is conveniently referred to here as the encoder method. Even with the encoder method, although the error is considered to be larger compared to the SLAM method, self-position estimation is possible by accumulating the amount of movement, and autonomous driving can be performed based on the self-position estimated in this way.

[0072] The first mode, the SLAM method, places a heavy load on the processor 40 because it repeatedly performs image processing to estimate its own position and create map data 73 based on the driving control image 70, which is ambient environmental information. In contrast, the second mode, the encoder method, performs self-position estimation based on the amount of movement detected by the driving state detection sensor 51A, thus placing a smaller load on the processor 40 compared to the first mode.

[0073] As shown in Figures 9 to 13, in addition to driving control, positioning control and image capture control are also performed. Therefore, if these controls need to be performed in parallel, the load on the processor 40 becomes very large. To address this, as shown in Figure 14, the driving control method is switched from the first mode to the second mode when pre-set conditions are met. For example, if positioning control and driving control need to be performed in parallel, the driving control mode is switched from the first mode to the second mode. Then, when the other controls are completed, the processor 40 returns to the first mode.

[0074] Figures 15 and 16 show an example of mode switching. When the radiation generator 11 moves from the standby position HP to the target position TP, it starts moving to the target position TP in the first mode.

[0075] Then, while moving to the target position TP, alignment control of the radiation source 13 and the electronic cassette 12 may be initiated, as shown in Figures 9 to 12. In this case, alignment control and travel control are performed in parallel. Alignment control is also a process that involves image processing, and therefore places a heavy load on the processor 40. For this reason, the processor 40 switches the travel control mode from the first mode to the second mode, which has a lower load. This allows a large portion of the processor 40's resources to be allocated to alignment control, making it less likely for problems such as delays or excessive time to occur during alignment control.

[0076] Furthermore, as mentioned above, the second mode encoder method is thought to produce greater errors with increasing travel distances compared to the first mode SLAM method, but with smaller travel distances, the errors are also smaller. Therefore, it is an effective travel control method for making fine adjustments near the target position TP.

[0077] In the radiography workflow, once the alignment control is complete, radiography is performed, and the processor 40 executes the imaging control. Then, as shown in Figure 15, when the alignment control and imaging control are completed, the processor 40 switches the travel control mode from the second mode to the first mode. Then, for example, it returns to the standby position HP in the first mode. When the next imaging is to be performed, travel control is started in the first mode, and the above process is repeated.

[0078] As described above, the radiation generator 11, which is an example of a radiography apparatus according to the technology of this disclosure, includes a processor 40 that performs travel control related to the travel mechanism, including a trolley section 16, as an example. The processor 40 switches between a first mode in which the load on the processor 40 is relatively large and a second mode in which the load is relatively small, according to preset conditions regarding the mode in which travel control is performed. This makes it possible to appropriately allocate the resources of the processor 40.

[0079] Furthermore, in the above embodiment, the processor 40 also performs alignment control to assist in the relative alignment of the radiation source 13 and the electronic cassette 12 (an example of a radiation image detection device). As shown in Figure 15, the preset condition is the start of alignment control, and the processor 40 performs travel control in first mode before the alignment control is started, and performs travel control in second mode when the alignment control is started. Alignment control can place a heavy load on the processor 40. Therefore, by reducing the load of travel control, the resources of the processor 40 can be allocated to alignment control.

[0080] Furthermore, in the above embodiment, the first mode is a mode in which, like the SLAM method, self-position estimation and creation of map data 73 are performed based on surrounding environmental information, and autonomous driving is performed toward a preset target position. The second mode is a mode in which, without creating map data 73, the amount of movement of the driving mechanism is detected, and autonomous driving is performed toward a preset target position based on the detected amount of movement. The first mode, such as the SLAM method, places a heavy load on the processor 40, while the second mode, such as the encoder method, places a light load on the processor 40. For this reason, a significant load reduction effect can be expected in the processor 40 by switching to the second mode.

[0081] In the above embodiment, the pre-set condition may be reaching the target position TP. Even after reaching the target position TP, a new target position may be set for fine-tuning and autonomous driving may be performed. Therefore, the processor 40 performs driving control in the first mode until the initially set target position TP is reached, and then performs driving control in the second mode if autonomous driving is to be performed further thereafter. Since there is a high probability that position adjustment control will also be started when the initially set target position TP is reached, there is an advantage to performing this type of control in order to allocate the resources of the processor 40 to position adjustment control.

[0082] In the above embodiment, the alignment control described as supporting the relative alignment of the radiation source 13 and the electronic cassette 12 (an example of a radiation image detection device) was used as an example. However, the alignment control may also include control that supports the relative alignment of the radiation source 13 and the patient P (an example of a subject), in addition to the relative alignment of the radiation source 13 and the electronic cassette 12. Furthermore, the target of alignment may be the radiation source 13 and the patient P, without including the electronic cassette 12 as the target of alignment. In other words, the alignment control means control that supports the relative alignment of the radiation source 13 and the radiation image detection device and / or the subject. In addition, the alignment of the radiation source 13 and the patient P also includes the alignment of the radiation source 13 with some of the imaging areas of the patient P (such as the chest, abdomen, head, and limbs).

[0083] (Variation 1) As shown in Figure 17, the pre-set conditions for switching from the first mode to the second mode are not limited to the start of alignment control. In the example shown in Figure 17, the pre-set condition is that the radiation generator 11 has entered the proximity range of the target position TP. The proximity range is a pre-set range around the target position TP, and as an example, it is the range where the difference between the target position TP and the self position is within approximately 300 mm. Before entering the proximity range, the processor 40 executes travel control in the first mode, and after entering the proximity range, it executes travel control in the second mode. In the radiography workflow, there is a high probability that alignment control and imaging control will start at the target position TP. Therefore, the example shown in Figure 17 switches to the second mode when the proximity range of the target position TP is entered, anticipating the start of alignment control and imaging control. Otherwise, the example shown in Figure 17 is the same as the example shown in Figure 15. As shown in the example in Figure 17, by reducing the load on the driving control, the resources of the processor 40 can be allocated to the alignment control and the image capture control, which is an effective result.

[0084] (Modification 2) The example shown in Figure 18 is one in which the pre-set condition for switching from the first mode to the second mode is the start of the shooting control. In other words, in the example shown in Figure 18, if even a part of the shooting control is started, the mode of the driving control is switched to the second mode. As shown in Figure 13, the shooting control includes processes such as shooting order registration, and in some cases, shooting order registration and driving control are performed in parallel. When a shooting order is registered, there is a high probability that alignment control and other shooting controls will be executed afterward. Therefore, in the example shown in Figure 18, similar to the example shown in Figure 17, the mode is switched to the second mode if a part of the shooting control is started, anticipating the start of alignment control and other controls. Otherwise, the example shown in Figure 18 is the same as the example shown in Figure 17. In the example shown in Figure 18 as well, by reducing the load on the driving control, the resources of the processor 40 can be allocated to alignment control and shooting control, which is an effect that can be obtained.

[0085] (Variation 3) Furthermore, although the above embodiment was described using an encoder method for the second mode, it is not limited to this. As shown in the example in Figure 19, the second mode may also be the same SLAM method as the first mode. In this case, the load on the second mode is made lower than that of the first mode by different operating conditions for the first and second modes. As shown in Figure 19, the operating conditions include at least one of the following: the frame rate of the camera 33 (an example of the frequency of acquiring ambient environmental information), the movement speed of the driving mechanism, the number of pixels in the driving control image 70 (an example of the amount of information in the ambient information), and the computation amount of the processor 40. The number of pixels may be changed, for example, by changing the resolution when capturing the driving control image 70, or by downsampling captured images. The computation amount of the processor 40 is, for example, the frequency of self-position estimation and map data updates in the SLAM method. Naturally, if the number of pixels decreases, the computation amount of the processor 40 will also decrease. Each item of the operating conditions is not mutually exclusive and may be interrelated.

[0086] The second mode satisfies at least one of the following conditions compared to the first mode: a lower frame rate, a slower movement speed, fewer pixels in the driving control image 70, and less computation. As a result, the second mode places less load on the processor 40 than the first mode. Even when using such a second mode, it is possible to appropriately allocate the resources of the processor 40, as in the embodiment described above.

[0087] The following describes specific numerical examples of the operating conditions for the first and second modes. For the first mode, the frame rate is, for example, 4 FPS (Frames Per Second), and the movement speed is 400 [mm / sec]. When the radiation generator 11 rotates, the movement speed is 10 [degrees / sec]. The movement speed of 400 [mm / sec] is set to a speed that allows for movement of 8m in 20 seconds or less, assuming, for example, a 3m x 5m imaging room RM. In contrast, the frame rate for the second mode is 2-3 FPS. The movement speed for the second mode is 100-150 [mm / sec], and the movement speed when rotating is 5 [degrees / sec]. This is set to a speed that allows for fine adjustment of the radiation generator 11 to be completed in 3 seconds or less, assuming a fine adjustment range of approximately 300 [mm / sec].

[0088] (Modification 4) Furthermore, the second mode described above places less load on the processor 40 than the first mode, and therefore is expected to consume less battery BT. The example shown in Figure 20 illustrates how to reduce consumption when the battery BT level is low. In the example shown in Figure 20, the pre-set condition is that the battery BT level has fallen below a pre-set threshold. The processor 40 operates in the first mode when the level is above the threshold, and switches to the second mode when the level falls below the threshold. This reduces battery BT consumption when the battery BT level is low. Switching between the first and second modes can also be used for this purpose.

[0089] In the example shown in Figure 17, the operating conditions may be changed in stages depending on the difference between the target position TP and the user's own position. For example, when the difference between the target position TP and the user's own position is within approximately 300 mm, the frame rate of camera 33 is reduced from 4 FPS to 3 FPS, and then when the difference reaches within approximately 10 mm, the frame rate is reduced from 3 FPS to 1-2 FPS.

[0090] Furthermore, the above embodiment is merely an example and can be modified as appropriate as follows.

[0091] The bogie section 16 may be eliminated, and the wheels 15 may be directly attached to the lower part of the main body section 14.

[0092] Camera 32 may be attached to the arm 27 instead of the radiation source 13. Similarly, camera 33 may be provided on the main body 14 instead of the trolley 16. There may be multiple cameras 32 and 33.

[0093] Cameras 32 and 33 may be combined into a single camera. In this case, the camera orientation is set so that it can capture images for driving control 70 when in the storage position, and so that it can capture images for alignment control 85 when in the preparation position for shooting.

[0094] The environmental information sensor is not limited to the example camera 33. LiDAR (Light Detection and Ranging) sensors, TOF (Time-of-Flight) sensors, etc., may also be used. In addition, an IMU (Inertial Measurement Unit) combining an accelerometer and a gyroscope, an ultrasonic sensor, a radar sensor, a magnetic sensor, etc., may also be used.

[0095] In Figure 19, the frame rate of camera 33 is shown as the operating condition for the first and second modes, but operating conditions for devices other than camera 33 are also possible. For example, in the case of LiDAR, this would include the frequency of acquiring information according to the type of environmental information sensor mentioned above, such as the frequency of acquiring depth images.

[0096] Furthermore, the radiation image detection device is not limited to the example electronic cassette 12. A CR (Computed Radiography) cassette may also be used. Also, the radiation image detection device may be one in which the radiation image detector is fixed to the imaging table. Furthermore, the subject is not limited to the example patient P. A diseased animal such as a dog or cat may also be used.

[0097] Furthermore, although the radiation generating device 11 was used as an example of a radiography device, the radiography device may also be a radiation image detection device having a travel mechanism.

[0098] The above description discloses the following additional information. [Additional note 1] A radiography apparatus used for radiography, A radiation source or radiation image detection device, An autonomous driving mechanism, It is equipped with a processor that performs driving control related to the driving mechanism, The processor switches between two modes for executing driving control: a first mode where the load on the processor is relatively high and a second mode where the load is relatively low, depending on pre-set conditions. Radiography equipment. [Additional note 2] The processor further performs alignment control to assist in the relative alignment of the radiation source with the radiation image detection device and / or the subject, and imaging control related to the radiation source or radiation image detection device. The pre-set conditions include the initiation of control of at least one of the alignment control and the shooting control. The processor performs the driving control in a first mode before at least one of the controls is initiated, and performs the driving control in a second mode once at least one of the controls has been initiated. The radiography apparatus described in Appendix 1. [Additional note 3] The first mode is a mode in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a pre-set target location. The second mode detects the amount of movement of the driving mechanism, performs self-position estimation based on the detected amount of movement, and autonomously drives toward a preset target position. A radiographic apparatus as described in Appendix 1 or 2. [Additional note 4] The first and second modes are modes in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives towards a pre-set target location, and the operating conditions for the first and second modes are different. A radiography apparatus as described in any one of the appendices 1 to 3. [Additional note 5] The operating conditions include at least one of the following: the frequency of acquiring ambient environmental information, the movement speed of the driving mechanism, the amount of information in the ambient information, and the amount of processing power of the processor. The second mode is a mode that satisfies at least one of the following conditions compared to the first mode: lower acquisition frequency, slower movement speed, less environmental information, and lower computational load. The radiography equipment described in Appendix 4. [Additional note 6] The first mode is a mode in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a pre-set target location. The pre-set conditions include the fact that the user's position has entered a pre-set proximity range of the target position. The processor performs driving control in a first mode before entering the proximity range, and then performs driving control in a second mode after entering the proximity range. A radiography apparatus as described in any one of the appendices 1 to 5. [Additional note 7] Battery powered A radiography apparatus as described in any one of the appendices 1 to 6. [Additional note 8] The pre-set conditions include the battery level falling below a pre-set threshold. The processor executes driving control in mode 1 if the remaining charge is above the threshold, and executes driving control in mode 2 if the remaining charge falls below the threshold. The radiography equipment described in Appendix 7. [Additional note 9] It possesses a radiation source and functions as a radiation generating device. A radiography apparatus as described in any one of the appendices 1 to 8. [Additional Note 10] A method for operating a radiography apparatus used for radiography, comprising a radiation source or radiation image detection device, an autonomous driving mechanism, and a processor that performs driving control related to the driving mechanism, The processor includes switching between a first mode, in which the load on the processor is relatively high, and a second mode, in which the load is relatively low, according to pre-set conditions, regarding the mode in which the processor performs driving control. How to operate a radiography device. [Additional Note 11] An operating program for a radiography apparatus used for radiography, comprising a radiation source or radiation image detection device, an autonomous driving mechanism, and a processor that performs driving control related to the driving mechanism, Regarding the mode in which driving control is performed, the processor is instructed to switch between a first mode, which places a relatively large load on the processor, and a second mode, which places a relatively small load, according to pre-set conditions. The operating program for the radiography device.

[0099] In the above embodiment, the processing performed by the processor 40 is performed on any computer. Furthermore, any computer may perform these processes using a processor as hardware, a program as software, or a combination thereof. In that case, the processor is configured to cooperate with the program to perform the various processes in this embodiment, and can function as a unit or means in this embodiment. Also, the execution order of the processes by the processor is not limited to the order described and may be changed as appropriate.

[0100] Any computer may be a general-purpose computer, a computer designed for a specific purpose, a workstation, or any other system capable of performing each process. The processor may consist of one or more hardware components, and the type of hardware is not limited. For example, the processor may consist of hardware such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), FPGA (Field Programmable Gate Array) or other programmable logic devices, ASIC (Application Specific Integrated Circuit) or other dedicated circuits for performing specific processes, GPU (Graphic Processing Unit), or NPU (Neural Processing Unit). Furthermore, the type of hardware may be a combination of different types of hardware. When multiple hardware components are configured to perform one or more processes of a given processor, these multiple hardware components may reside in physically separate devices or in the same device. Also, in any embodiment, the order of each process performed by the processor is not limited to the order described above and may be changed as appropriate. Hardware is composed of electrical circuits (circuitry) that combine circuit elements such as semiconductor elements.

[0101] Furthermore, the program may be firmware or software such as microcode. Alternatively, the program may be, for example, a set of program modules, each function of which may be implemented by a processor configured to perform its respective function. The program may be program code or multiple code segments stored on one or more non-temporary computer-readable media (e.g., storage media or other storage devices). The program may be divided and stored on multiple non-temporary computer-readable media located in physically separate devices. Program code or code segments may represent any combination of procedures, functions, subprograms, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program statements. Program code or code segments may be connected to other code segments or hardware circuits by sending and receiving information, data, arguments, parameters, or memory contents.

[0102] The technology of this disclosure can be appropriately combined with the various embodiments and / or variations described above. Furthermore, it is understood that various configurations can be adopted without departing from the gist of the invention, and the invention is not limited to the embodiments described above. In addition, the technology of this disclosure extends to storage media for storing programs non-temporarily. The storage media are computer-readable non-temporarily storage media such as USB (Universal Serial Bus) memory, flexible disks, and CD-ROMs (Compact Disc Read Only Memory). Programs may also be provided online via a network such as the Internet. Furthermore, the technology of this disclosure extends to program products in addition to programs. Program products include all forms of products for providing programs. Like programs, program products may be stored and provided on computer-readable non-temporarily storage media, or they may be provided online.

[0103] The descriptions and illustrations presented above are detailed explanations of the technical aspects of this disclosure and are merely examples of the technical aspects. For example, the above descriptions of the structure, function, operation, and effect are examples of the structure, function, operation, and effect of the technical aspects of this disclosure. Therefore, it goes without saying that you may delete unnecessary parts, add new elements, or replace elements in the descriptions and illustrations presented above, as long as you do not deviate from the essence of the technical aspects of this disclosure. Furthermore, in order to avoid confusion and facilitate understanding of the technical aspects of this disclosure, explanations of common technical knowledge and the like that do not require special explanation to enable the implementation of the technical aspects of this disclosure have been omitted from the descriptions and illustrations presented above.

[0104] In this specification, "A and / or B" is synonymous with "at least one of A and B." That is, "A and / or B" means that it may be A alone, or B alone, or a combination of A and B. Furthermore, in this specification, the same concept as "A and / or B" applies when expressing three or more things linked by "and / or."

[0105] All documents, patent applications, and technical standards described herein are incorporated by reference to the same extent as if each individual document, patent application, and technical standard were specifically and individually noted to be incorporated by reference. [Explanation of Symbols]

[0106] 10. Radiography System 11. Radiation Generating Devices 12 Electronic Cassettes 13 Radiation source 14 Main body 15 wheels 16 Bogie section 17 Detection surface 18. Radiological images 19 Recumbent photography stand 20 Standing position imaging table 21 Holder 22 Posts 25 Moving parts 26 Fixed part 27 Arms 28 Control Panel 30 Radiation tubes 31 Irradiation field limiter 32, 33 Camera 40 processors 41 Storage 42 Operating Program 43 Control data 50 Communication I / F 51. Drive actuator 51A Driving status detection sensor 52 Alignment Actuator 53. Source position detection sensor 60 Image acquisition unit 61 Feature Point Extraction Unit 62 Self-Position Estimation and Map Data Creation Section 63 Driving control unit 70 Images for driving control 71 Feature point extraction results 71P Feature point extraction results (past data) 72 Estimation results 73 Map data 73P Map data (past data) 80 Cassette contour extraction section 81 Source position / attitude derivation part 82 Alignment Control Unit 85 Image for alignment control 85L Image for learning and alignment control 86 Cassette Recognition Model 87 Cassette contour extraction results 87CA Correct Answer Data 87L Training Cassette Contour Extraction Results 88 Derivation results 90 training data 91 Alignment support screen 96 Fixed-point cameras BT Battery The center of the detection surface of a CC electronic cassette. F frame FP characteristic points FR1, FR2, FR3 frame rates HP standby position Outline of an OLC electronic cassette OP Operator PS Self-position R radiation RC radiation irradiation center RM Photo Studio T1, T2, T3 Image Acquisition Interval TP target position TP1 1st target position TP2 2nd target position

Claims

1. A radiography apparatus used for radiography, A radiation source or radiation image detection device, An autonomous driving mechanism, It includes a processor that performs driving control related to the aforementioned driving mechanism, The processor switches between a first mode, in which the load on the processor is relatively large, and a second mode, in which the load is relatively small, according to a preset condition, with respect to the mode in which the driving control is performed. Radiography equipment.

2. The processor further performs alignment control to assist in the relative alignment of the radiation source and the radiation image detection device and / or subject, and shooting control related to the radiation source or the radiation image detection device. The aforementioned preset conditions include the start of control of at least one of the alignment control and the shooting control, The processor executes the driving control in the first mode before at least one of the controls is started, and executes the driving control in the second mode when at least one of the controls is started. The radiography apparatus according to claim 1.

3. The first mode is a mode in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a pre-set target position. The second mode described above is a mode in which the amount of movement of the driving mechanism is detected, self-position estimation is performed based on the detected amount of movement, and autonomous driving is performed toward a preset target position. The radiography apparatus according to claim 1.

4. The first and second modes are modes in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a preset target position, and the first and second modes have different operating conditions. The radiography apparatus according to claim 1.

5. The aforementioned operating conditions include at least one of the following: the frequency of acquiring the surrounding environmental information, the movement speed of the travel mechanism, the amount of information in the environmental information, and the amount of computation performed by the processor. The second mode is a mode that satisfies at least one of the following conditions compared to the first mode: a lower acquisition frequency, a slower movement speed, a smaller amount of environmental information, and a smaller amount of computation. The radiography apparatus according to claim 4.

6. The first mode is a mode in which the vehicle performs self-position estimation based on surrounding environmental information and autonomously drives toward a pre-set target position. The aforementioned pre-set conditions include the fact that the self's position has entered a pre-set proximity range of the target position. The processor executes the driving control in the first mode before entering the proximity range, and executes the driving control in the second mode after entering the proximity range. The radiography apparatus according to claim 1.

7. Battery powered The radiography apparatus according to claim 1.

8. The aforementioned pre-set conditions include the battery level falling below a pre-set threshold, The processor executes the driving control in the first mode when the remaining amount is equal to or greater than the threshold, and executes the driving control in the second mode when the remaining amount falls below the threshold. The radiography apparatus according to claim 7.

9. Having the aforementioned radiation source, and functioning as a radiation generating device. The radiography apparatus according to claim 1.

10. A method for operating a radiography apparatus used for radiography, comprising a radiation source or radiation image detection device, an autonomous driving mechanism, and a processor that performs driving control related to the driving mechanism, The processor includes switching between a first mode in which the load on the processor is relatively large and a second mode in which the load is relatively small, according to a preset condition, with respect to the mode in which the driving control is performed. How to operate a radiography device.

11. An operating program for a radiography apparatus used for radiography, comprising a radiation source or radiation image detection device, an autonomous driving mechanism, and a processor that performs driving control related to the driving mechanism, With respect to the mode in which the aforementioned driving control is performed, the processor is made to perform a process of switching between a first mode in which the load on the processor is relatively large and a second mode in which the load is relatively small, according to a preset condition. The operating program for the radiography device.

Images