JP2006141669A - Mobile x-ray equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To adequately save a labor and time required for the moving of mobile X-ray equipment. <P>SOLUTION: This equipment is equipped with X-ray equipment such as X-ray tube 2 irradiating a subject M with X-rays, a steering wheel 3 for manually steering a carriage, and right/left traveling electric motors 5A and 5B as electrically moving devices rotating the right/left rear wheels 4A and 4B; and is further provided with a constitution of controlling the right/left traveling electric motors 5A and 5B of the movable carriage to move the carriage along its preset moving route to a destination without manual operation by an unmanned moving control part 23 via a motor rotation speed control part 12. The carriage 1 travels along the moving route and reaches the destination by actuating the right/left traveling electric motors 5A and 5B when executing the control by the unmanned movement control part 23 so as to quickly move the equipment to the destination by the unmanned driving. Consequently, this constitution can save the labor and the time required for the movement of the equipment. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a mobile X-ray imaging apparatus in which an X-ray imaging means including an X-ray tube for irradiating a subject with X-rays and a power movement means for moving the carriage by power are mounted on a movable carriage. In particular, the present invention relates to a technique for saving labor and time required for moving the apparatus.

  As shown in FIG. 14, a conventional mobile X-ray imaging apparatus used for hospital room round trip imaging in a medical institution such as a hospital has an X-ray tube that irradiates a subject with X-rays on a movable carriage 51. In addition to the equipment required for X-ray imaging such as 52 and a high-voltage power supply (not shown), and the carriage 51 as a driving handle 53 and a traveling electric motor 54 as equipment necessary for power movement, the carriage 51 A battery 55 and the like for supplying energy necessary for electric movement and X-ray imaging are mounted. In addition, a cassette storage box 56 for storing a cassette (not shown) loaded with an X-ray imaging storage medium such as a film is mounted on the rear portion of the carriage 51 (see, for example, Patent Document 1).

When performing X-ray imaging with the mobile X-ray imaging apparatus of FIG. 14, the imaging technician DR follows the dolly 51 while grasping and operating the operation handle 53 with his / her hand, and is a subject (patient) that is the target of X-ray imaging. Walk to the hospital room (shooting location) where you live.
After the mobile X-ray imaging apparatus arrives at the patient's room, the radiographer DR takes out an unimaged cassette from the cassette storage box 56 and sets it on the back side of the subject. Then, X-ray imaging is performed by irradiating X-rays from the X-ray tube 52. The photographed cassette is returned to the cassette storage box 56.
When the X-ray imaging is completed, the radiographer DR again walks to the next imaging location or the device storage location (parking location) along with the carriage 51 while operating the driving handle 53.
JP 2002-233521A (page 3, FIG. 1)

However, in the case of the above-described conventional mobile X-ray imaging apparatus, there is a problem that the labor and time required for moving the apparatus are a considerable burden on the imaging technician DR.
Usually, since a mobile X-ray imaging apparatus is used in a relatively large hospital, the number of times X-ray imaging is performed with a momentary mobile X-ray imaging apparatus increases. Therefore, the photographer DR has to walk around the hospital corridor with the carriage 51 while manipulating the driving handle 53 on a daily basis, and labor and time required for moving the apparatus are often a heavy burden. It is in the present situation that is going to the shooting engineer DR. If it seems that a heavy burden is placed on the radiographer DR at the stage before X-ray imaging, there is a concern that the important X-ray imaging will be hindered.

  The present invention has been made in view of such circumstances, and the mobile X that can save labor and time required for moving the apparatus and can greatly reduce the burden on the photographing engineer. An object is to provide a radiographic apparatus.

In order to achieve such an object, the present invention has the following configuration.
That is, the mobile X-ray imaging apparatus according to the first aspect of the present invention moves the carriage by X-ray imaging means including an X-ray tube for irradiating the subject with X-rays on the movable carriage, and by the power. The mobile X-ray imaging apparatus equipped with the power moving means includes unmanned movement control means for controlling the power moving means to move the carriage to the destination along a preset movement route of the carriage. It is characterized by being.

  (Operation / Effect) When moving the mobile X-ray imaging apparatus of the invention of claim 1 (hereinafter abbreviated as “X-ray imaging apparatus” as appropriate), an X-ray including an X-ray tube for irradiating the subject with X-rays In contrast to the power movement means of the movable carriage that is mounted with the photographing means and the power movement means that moves the carriage with power, the unmanned movement control means sets the carriage to the destination along the preset movement route of the carriage. Control to move is executed. By executing the control by the unmanned movement control means, the power movement means is activated, and the carriage travels along the movement route and quickly reaches the destination. Therefore, the device is effectively moved to the destination by unmanned operation, and labor and time required for moving the device can be sufficiently saved as compared with the conventional device.

  That is, in the case of the X-ray imaging apparatus according to the first aspect of the present invention, the X-ray imaging unit including the X-ray tube for irradiating the subject with X-rays and the power moving unit for moving the carriage by power are mounted. An unmanned movement with respect to the unmanned movement control means has a configuration in which the unmanned movement control means performs control for moving the carriage to a destination along a preset movement route of the carriage with respect to the power movement means of the carriage. By executing the control of the control means, the power moving means is actuated so that the carriage travels along the moving route and reaches the destination, so that the apparatus moves to the destination quickly in an unmanned operation. As a result, the labor and time required for moving the apparatus can be sufficiently saved, and the burden on the photographing engineer is greatly reduced.

  According to a second aspect of the present invention, there is provided the mobile X-ray imaging apparatus according to the first aspect, wherein the destination registration means for pre-registering a plurality of destinations as destinations of the carriage and the destination registration means are registered. And a destination selecting means for selecting a destination for moving the carriage from a plurality of destinations.

(Operation / Effect) When moving the X-ray imaging apparatus of the invention of claim 2, the imaging engineer first selects a destination for moving the carriage from a plurality of destinations registered by the destination registration means. Select using the ground selection means. Subsequently, the unmanned movement control means executes control for moving the carriage to the selected destination selected by the destination selection means along the preset movement route of the carriage with respect to the carriage power movement means. Along with this, the power moving means is activated, and the carriage travels along the moving route and reaches the selected destination.
Therefore, according to the device of the invention of claim 2, any one of a plurality of destinations registered in advance as the destination of the carriage can be effectively selected only by using the destination selecting means. Can be moved to the selected destination by unattended operation.

  The invention according to claim 3 is the mobile X-ray imaging apparatus according to claim 2, further comprising route map data registration means for preregistering route map data defining the moving route of the carriage, and a plurality of route map data registration means. In addition to having destination map data registration means that pre-registers destination map data that prescribes the location of each destination on the movement route for each destination, the current location on the movement route of the carriage The present invention includes a current position detection means for detecting a position, and the unmanned movement control means is configured such that the unmanned movement control means has a position on the movement route of the selected destination, a current position on the movement route of the carriage, and a movement route of the carriage defined by route map data. Based on the above, control for moving the carriage to the selected destination is executed.

  (Operation / Effect) When the X-ray imaging apparatus of the invention of claim 3 is moved, first of the selected destination selected by the destination selecting means according to the destination map data registered in the destination map data registering means. An existing position on the moving route is obtained, and a current position on the moving route of the carriage is detected by the current position detecting means. And the unmanned movement control based on the moving position of the cart specified by the existing position on the moving route of the selected destination, the current position on the moving route of the carriage, and the route map data registered in the destination map data registration means As the means executes control to move the carriage to the selected destination, the carriage travels along the movement route from the current position of the carriage and reaches the position where the selected destination exists. Therefore, the truck can be moved to the selected destination by unattended operation wherever the carriage is on the moving route.

  According to a fourth aspect of the present invention, in the mobile X-ray imaging apparatus according to the first or second aspect of the present invention, by detecting a mark for recognizing a route arranged in advance along the moving route of the cart, Route recognition means for recognizing the movement route is provided, and the unmanned movement control means executes control for moving the carriage to the destination based on the movement route recognized by the route recognition means.

  (Operation / Effect) When the X-ray imaging apparatus of the invention of claim 4 is moved, the route recognition means arranged in advance along the movement route of the carriage is detected by the route recognition means, and the route recognition is performed. As the unmanned movement control means executes control to move the carriage to the destination based on the movement route recognized by the means, the carriage travels along the preset movement route and reaches the selected destination. To do. Therefore, the device can be moved to the destination by unmanned driving wherever the carriage is on the moving route recognized by the route recognition means.

  Further, the invention of claim 5 is the mobile X-ray imaging apparatus according to any one of claims 1 to 4, further comprising an obstacle detection means for detecting an obstacle on the moving route of the carriage, and is unmanned. The movement control means executes control for moving the carriage to the destination without causing a collision between the carriage and the obstacle by considering the detection result of the obstacle detection means.

  (Operation / Effect) When the X-ray imaging apparatus of the invention of claim 5 is moved, the obstacle detection means detects an obstacle on the moving route, and the unmanned movement control means displays the detection result by the obstacle detection means. By carrying out control to move the carriage to the destination without causing any collision between the carriage and the obstacle, the carriage travels along the movement route without colliding with the obstacle on the movement route. To reach the destination. Therefore, even if there is an obstacle on the moving route of the carriage, the apparatus can be moved to the destination by unattended operation without being obstructed by the obstacle.

In the case of the mobile X-ray imaging apparatus of the present invention, the power of the movable carriage on which the X-ray imaging means including the X-ray tube for irradiating the subject with X-rays and the power moving means for moving the carriage with power are mounted. For the moving means, the unmanned movement control means has a configuration in which control is performed to move the carriage to the destination along a preset movement route of the carriage, and by the control execution by the unmanned movement control means, Since the power moving means is activated and the carriage travels along the moving route and reaches the destination, the apparatus moves to the destination quickly in an unmanned operation.
Therefore, according to the mobile X-ray imaging apparatus of the present invention, the labor and time required for moving the apparatus can be saved sufficiently, and the burden on the imaging technician can be greatly reduced.

  An embodiment of the present invention will be described below. FIG. 1 is an elevational view showing a round-trip type medical mobile X-ray imaging apparatus (hereinafter abbreviated as “apparatus” as appropriate) according to the first embodiment, FIG. 2 is a plan view showing the apparatus of the first embodiment, and FIG. FIG. 4 is a partial elevation view showing a situation during manual operation of the apparatus of the first embodiment, FIG. 4 is a block diagram showing a configuration of a control system in the apparatus of the first embodiment, and FIG. 5 is for moving a carriage in the apparatus of the first embodiment. FIG. 6 is a schematic diagram showing a state of deployment of the apparatus according to the first embodiment in a hospital.

  The mobile X-ray imaging apparatus A according to the first embodiment is a rear-wheel-drive four-wheel type carriage 1 that is electrically moved, and an X-ray imaging equipment such as an X-ray tube 2 that irradiates a subject M with X-rays. In addition, a driving handle 3 for manually maneuvering the carriage 1 and right and left driving electric motors 5A and 5B as electric moving equipment for rotating the right and left rear wheels 4A and 4B are mounted. A battery 6 for supplying electric energy necessary for moving the apparatus and performing X-ray imaging is mounted. In addition, a cassette storage box (not shown) for storing a cassette loaded with a storage medium for X-ray imaging such as a film is disposed on the back of the carriage 1.

The X-ray tube 2 is attached to the tip of a horizontal arm 8 that is disposed on a vertical support 7 that is erected in the center near the front of the carriage 1 so as to be lifted and lowered. When X-ray imaging is performed, the horizontal arm 7 and the X-ray tube 2 are directed to the front side of the carriage 1.
An operation panel 9 for performing operations necessary for execution of X-ray imaging is disposed on the rear upper surface of the carriage 1. An input operation by the operation panel 9 allows setting of imaging conditions such as tube voltage and tube current of the X-ray tube 2 and a command for X-ray irradiation.
Further, an X-ray irradiation control unit 10 including a high-voltage power supply (not shown) is mounted on the carriage 1, and the X-ray irradiation control unit 10 receives the necessary energy from the battery 6 while receiving the necessary energy from the battery 6. Control is performed to irradiate the specimen M with X-rays according to the imaging conditions.

  When X-ray imaging is executed by the apparatus A of Example 1, an unphotographed cassette is taken out from the cassette storage box, and the cassette CT is set on the back side of the subject M as shown by a one-dot chain line in FIG. X-ray irradiation by the X-ray tube 2 is performed. Then, a transmitted X-ray image of the subject M is imprinted on the film. The cassette CT that has undergone X-ray imaging is returned to the cassette storage box.

In the case of the apparatus A according to the first embodiment, an operator (usually a photography engineer) can move the apparatus to another place by manual operation using the driving handle 3. When the device A is moved to another place by maneuvering, as shown in FIG. 3, the operator DR walks to the destination together with the carriage 1 in the form of grasping the long rod-like driving handle 3 with his hand and accompanying the carriage 1. Go.
In the cart 1, as shown in FIG. 2, the right and left rear wheels 4A and 4B are electrically driven wheels that are rotated by electric motors 5A and 5B for traveling, and the right and left front wheels 4a and 4b are provided with casters. This is a non-electrically driven wheel whose direction changes freely.
In accordance with the manual operation of the driving handle 3 by the operator DR, the motor rotation speed control unit 12 controls the rotation direction and the rotation speed of the right and left traveling electric motors 5A and 5B, respectively. Further, the right and left rear wheels 4A and 4B rotate according to the rotation mode of the right and left traveling electric motors 5A and 5B, so that the carriage 1 moves as operated by the operator DR. Energy necessary for moving the carriage 1, in other words, energy necessary for driving the right and left rear wheels 4A and 4B is also supplied from the battery 6.

  As shown in FIG. 5, the driving handle 3 includes a brake release bar 11A and a cart control bar 11B. The brake release bar 11A is provided with a release operation detection sensor 13 using a pressure sensor or the like. In the cart control bar 11B, the right pressure sensor 14A composed of two pressure detection elements 15a and 15b arranged separately on the inner side and the outer side at the positions near the right end and the left end, and the two arranged separately on the inner side and the outer side. A left pressure sensor 14B including pressure detection elements 16a and 16b is provided.

  In the case of the apparatus of the first embodiment, the drive power supply to the right and left traveling electric motors 5A and 5B is cut off, so that the carriage 1 is braked, and the right and left traveling electric motors 5A and 5B A brake system is employed in which the brake of the carriage 1 is released by supplying drive power to 5B. The brake control unit 17 performs intermittent control of driving power supply to the right and left traveling electric motors 5A and 5B in this brake system in accordance with the operation of the brake release bar 11A.

  When the operator DR drives the carriage 1, the operator DR grips and tightens both the brake release bar 11A and the carriage operation bar 11B with both hands. When the brake release bar 11A is clamped with the hand of the operator DR, a brake release signal is output from the release operation detection sensor 13, and the brake control unit 17 drives the right and left traveling electric motors 5A and 5B. Since the supply of electric power is started, the brake of the carriage 1 is released.

Further, the operator DR grasps the cart operation bar 11B with both hands and pushes or pulls the cart 1 toward the person who wants to move the cart. The pressure detection elements 15a and 15b of the right pressure sensor 14A and the pressure detection elements 16a and 16b of the left pressure sensor 14B send a pressure detection signal corresponding to the direction and strength of pushing the cart control bar 11B to the motor rotation speed control unit 12. Output to.
The motor rotation speed control unit 12 controls the right and left traveling electric motors 5A and 5B based on the pressure detection signals of the pressure detection elements 15a and 15b of the right pressure sensor 14A and the pressure detection elements 16a and 16b of the left pressure sensor 14B. The right and left rear wheels 4A and 4B are rotationally driven by controlling the rotation direction and the rotation speed, and the carriage 1 is moved as operated by the carriage control bar 11B.

  When stopping the operation of the carriage 1, the operator DR moves the left and right hands away from the brake release bar 11A and the carriage operation bar 11B. When the operator DR's hand leaves the brake release bar 11A, the brake release signal output from the release operation detection sensor 13 disappears, and the brake control unit 17 moves to the right and left traveling electric motors 5A and 5B. The drive power supply is stopped. Since the rotation of the right and left electric motors 5A and 5B immediately stops, the rotation of the right and left rear wheels 4A and 4B stops and the carriage 1 stops, and at the same time, the carriage 1 is braked.

Furthermore, in the case of the apparatus A of the first embodiment, the apparatus is transported to a target destination (destination) without using the operation handle 3, and this point is the same as that of the apparatus A of the first embodiment. Since this is a remarkable feature, it will be described in more detail below.
The apparatus A according to the first embodiment first defines a route map data memory 18 for registering in advance route map data for defining the movement route of the carriage 1 and the positions of the plurality of destinations on the movement route for each destination. A destination map data memory 19 for registering destination map data in advance is provided.

In the case of the first embodiment, the movement route RA when the carriage 1 is moved is virtually set in advance in the form of visiting a destination such as a hospital room as shown by a one-dot chain line in FIG.
Further, as destinations in which destination positions on the moving route RA are defined by destination map data, for example, there are the following. In front of the doors of the hospital rooms Q1 to Q4 that carry in the X-ray image by carrying the apparatus A of the first embodiment is mentioned as destinations q1 to q4, and in front of the door of the medical room Q5 is also mentioned as the destination q5. The destination q6 is the front of the X-ray room Q6 where the apparatus A is parked, and the destination q7 is the parking position in the X-ray room Q6.
In the route map data memory 18, route map data that defines the moving route RA is registered in advance in the form of a mathematical formula or the like. In the destination map data memory 19, the locations of the destinations q1 to q7 on the moving route RA are registered in advance in the form of coordinates or the like for each destination.

  In addition, the device A according to the first embodiment includes a current position detection unit 20 that detects the current position of the carriage 1 on the moving route RA. On the other hand, as shown in FIG. 6, in the hospital corridor, a wireless transmitter 21 for transmitting a current position detection radio wave is installed on a ceiling directly above a position determined as a reference point on the movement route RA of the carriage 1. . The current position detection unit 20 receives the current position detection radio wave transmitted from the wireless transmitter 21 and calculates the position of the carriage 1 relative to the reference point on the moving route RA based on the intensity and directivity of the radio wave. The current position of the carriage 1 on the moving route RA is detected in the form of coordinates and the like.

  Further, the device A according to the first embodiment includes a destination selection unit that selects a destination to which the carriage 1 is moved from each of the destinations q1 to q7 for the destination map data registered in the destination map data memory 19. 22 and the right and left traveling electric motors 5A and 5B to the selected destination selected by the destination selecting unit 22 along the movement route RA of the cart 1 via the motor rotation speed control unit 12. And an unmanned movement control unit 23 that controls the movement.

  In the case of the destination selection unit 22, specifically, the destination selection function is exhibited as follows. When a destination that is a destination to be moved is selected from the destinations q1 to q7 displayed in a list on the screen of a display monitor (not shown) attached to the operation panel 9, the destination is entered. From the map data memory 19, the destination selection unit 22 reads the location of the selected destination on the moving route RA.

The unmanned movement control unit 23 determines the carriage 1 based on the position of the selected destination on the movement route RA, the current position of the carriage 1 on the movement route RA, and the movement route RA of the carriage 1 defined by the route map data. Control to move to the selected destination.
In the case of the unmanned movement control unit 23, specifically, the control function for moving the carriage 1 to the selected destination is performed as follows.

  In accordance with the route map data, the route of the carriage 1 is extracted by extracting a route starting from the current position on the movement route RA of the carriage 1 and reaching the existing position on the movement route RA of the selected destination along the movement route RA of the carriage 1. The total length of the route (total movement distance of the carriage) and the movement direction during movement of the carriage 1 (change in the movement direction according to the progress of the carriage) are calculated and transmitted to the motor rotation speed control unit 12. The motor rotation speed control unit 12 rotates the right and left traveling electric motors 5A and 5B, and the distance calculated by the unmanned movement control unit 23 in the moving direction calculated by the unmanned movement control unit 23. When the carriage 1 is caused to travel only, the rotation of the electric motors 5A and 5B for traveling stops, and the carriage 1 has just reached the selected destination.

  In the case of the device A according to the first embodiment, when manual operation is performed using the driving handle 3 when the carriage 1 is moving under the control of the unmanned movement control unit 23, the manual operation has priority. Has been. Therefore, even in the case of unmanned driving, the operator can walk with the cart 1 for safety, and if it is dangerous, the operator can drive the cart 1 by hand to avoid danger.

  Furthermore, the apparatus according to the first embodiment includes obstacle detection sensors 24A to 24D and 25A to 25D that detect obstacles on the movement route RA, and the unmanned movement control unit 23 includes obstacle detection sensors 24A to 24D, By taking the detection results from 25A to 25D into consideration, control is performed to move the carriage 1 to the destination without causing a collision between the carriage 1 and the obstacle. Examples of the obstacle detection sensors 24A to 24D and 25A to 25D include ultrasonic sensors and infrared sensors.

Since the obstacle detection sensors 24A to 24D are provided on the front side of the carriage 1, the obstacle detection sensors 24A to 24D detect obstacles on the moving route RA when the carriage 1 moves forward. Since the obstacle detection sensors 25A to 25D are provided on the back side of the carriage 1, the obstacles on the moving route RA are detected when the carriage 1 moves backward.
When the obstacle is detected by the obstacle detection sensors 24A to 24D and 25A to 25D, the carriage 1 travels around the obstacle, so the carriage 1 moves without colliding with the obstacle on the moving route RA. Travel along route RA to reach the selected destination.

Therefore, even if there is an obstacle on the moving route RA of the carriage 1, the apparatus A is moved to the destination by unattended operation without being obstructed by the obstacle.
In addition, when the trolley | bogie 1 detours and advances, it is set as the structure which correct | amends (corrects) the distance calculated by the unmanned movement control part 23 only by the distance traveled by detour, Therefore trolley | bogie 1 is an obstacle. Even if the vehicle travels beyond the calculation by detouring the vehicle, the carriage 1 can accurately move to the selected destination.

  Next, a case where the device A of Example 1 is moved to the selected destination by unmanned operation will be described with reference to the drawings. FIG. 7 is a flowchart showing a process when the apparatus A of the first embodiment is moved by unmanned operation. In the following, the current position of the carriage 1 on the movement route RA is the position shown in FIG. 6, and the carriage 1 is moved to the destination q1 in front of the door of the hospital room Q1.

  [Step S1] The destination position on the moving route RA of the destination q1 selected by the destination selection unit 22 as the operator selects the destination q1 on the screen of the operation panel 9 is read from the destination map data memory 19. read out.

  [Step S2] The current position detector 20 receives the current position detection radio wave transmitted from the wireless transmitter 21 and detects the current position of the carriage 1 on the movement route RA.

  [Step S3] Based on the position of the selected destination on the movement route RA, the current position of the carriage 1 on the movement route RA, and the movement route RA of the carriage 1 defined by the route map data, the unmanned movement control unit 23 As the control for moving the carriage 1 to the selected destination is started, the carriage 1 starts to advance toward the destination Q1.

  [Step S4] If the cart 1 has traveled the travel distance calculated by the unmanned movement control unit 23, the process proceeds to step S7. If the carriage 1 has not yet traveled the travel distance calculated by the unmanned movement control unit 23, the process proceeds to the next step S5.

  [Step S5] If no obstacle is detected by the obstacle detection sensors 24A to 24D, the process returns to Step S4. If an obstacle is detected by the obstacle detection sensors 24A to 24D, the process proceeds to the next step S6.

  [Step S6] After causing the carriage 1 to travel around the obstacle, the process returns to Step S4.

  [Step S7] The right and left driving electric motors 5A and 5B stop rotating, and as shown in FIG. 8, the carriage 1 reaches the destination q1 at the same time as it stops and reaches the destination q1 due to the unmanned operation of the device A. The movement is completed. After that, the operators carry the device A into the room of the hospital room Q1 by manual operation.

In addition, while the apparatus A moves to the destination q1, the operator may walk along for safety.
In addition, after completing the X-ray imaging in the hospital room Q1, the carriage 1 is moved to the destination q7 which is a parking lot, or in front of the doors of the hospital rooms Q2 to Q4 which are the next imaging sites. The device A is transferred to an appropriate destination by unattended operation by moving to the destinations q2 to q4.

  In the case of the apparatus A of the first embodiment having the above-described configuration, X-ray imaging equipment including an X-ray tube 2 that irradiates the subject M with X-rays, and a driving handle 3 for manually maneuvering the carriage 1. Alternatively, the right and left traveling electric motors of the movable carriage 1 on which the right and left traveling electric motors 5A and 5B are mounted as electric moving equipment for rotating the right and left rear wheels 4A and 4B. For 5A and 5B, the unmanned movement control unit 23 has a configuration in which control for moving the carriage 1 to the destination along the preset movement route RA of the carriage 1 is provided. As the unmanned movement control unit 23 executes control, the right and left traveling electric motors 5A and 5B are activated and the carriage 1 travels along the movement route RA and reaches the destination. Unmanned driving allows you to move quickly to your destination. As a result, the labor and time required for moving the device A can be sufficiently saved, and the burden on the operator is greatly reduced.

Furthermore, according to the apparatus A of the first embodiment, any one of the plurality of destinations q1 to q7 defined by the destination map data registered in the destination map data memory 19 can be The device A can be practically moved to the selected destination by unmanned operation only by selecting it by the destination selection unit 22.
In addition, according to the device A of the first embodiment, it is defined by the current position on the moving route RA of the carriage 1 detected by the current position detecting unit 20 and the existing position on the moving route RA of the selected destination and the route map data. As the unmanned movement control unit 23 executes control for moving the carriage to the selected destination based on the movement route RA of the carriage 1, the carriage 1 travels along the movement route RA from the current position of the carriage 1. To reach the selected destination. Therefore, the carriage 1 can move the device A to the selected destination by unattended operation, wherever the carriage 1 is on the moving route RA.

  Next, the mobile X-ray imaging apparatus of Example 2 will be described. FIG. 9 is an elevational view showing a round medical imaging type mobile medical X-ray imaging apparatus according to the second embodiment, FIG. 10 is a partial plan view showing the first half of the apparatus according to the second embodiment, and FIG. 11 is an apparatus according to the second embodiment. FIG. 12 is a schematic diagram showing a state of deployment of the apparatus according to the second embodiment in a hospital.

  In the case of the apparatus B of the second embodiment, the route RB of the carriage 1 is set in advance by laying the route recognition tape TP, which is a mark for route recognition, along the corridor of the hospital. The route recognition unit 27 for recognizing the movement route RB by detecting the tape TP is provided, and the unmanned movement control unit 26 determines the destination of the carriage 1 based on the movement route RB recognized by the route recognition unit 27. Since it is substantially the same as the apparatus A of the first embodiment except that the control to move to is performed, only different points will be described below, and description of common points will be omitted.

  As a plurality of destinations to which the apparatus B of the second embodiment is moved, in front of the doors of the hospital rooms U1 to U5 in which the apparatus B of the second embodiment is carried and X-ray imaging is performed, the destinations u1 to u5 are cited as medical offices. The front of the door of U6 is also mentioned as the destination u6, and the parking position in the X-ray room U7 which is the parking lot (hangar) of the apparatus A of Example 1 is mentioned as the destination u7.

In the case of the route recognition tape TP, destination identification marks (not shown) that enable identification of the destinations u1 to u7 are installed at the locations of the destinations u1 to u7. The destination identification mark is detected to identify the destination.
As a specific mode of the route recognition unit 27 for recognizing a moving route and identifying a destination, a CCD image pickup device for photographing a route recognition tape TP and a destination identification mark, and a video signal of the CCD image pickup device are used. The thing of the structure which performs the detection of the route recognition tape TP and the identification of the destination identification mark by performing signal processing is illustrated.

As the route recognition tape TP, for example, a tape with the same radius circle on the surface of the tape so as to continue along the longitudinal direction can be mentioned. In this case, the route recognition unit 27 is used for signal processing on the surface of the tape. The moving route is recognized by detecting the circle.
As the destination identification mark, for example, a mark with a barcode assigned in advance to the mark surface may be mentioned. In this case, the route recognition unit 27 reads the barcode on the mark surface by signal processing, Identify the destination.

  In the case of the unmanned movement control unit 26, specifically, a control function for moving the carriage 1 to the selected destination is demonstrated as follows. That is, the unmanned movement control unit 26 moves the carriage 1 along the movement route RB recognized by the route recognition unit 27 detecting the route recognition tape TP in the direction of the selected destination selected on the screen of the operation panel 9. 1 is moved, and when the destination identified by reading the destination identification mark by the route recognition unit 27 coincides with the selected destination, control is performed to immediately stop the carriage 1.

  Therefore, for example, when the device B of the second embodiment is parked in the X-ray room U6 as shown in FIG. Select destination u1. Then, as the unmanned movement control unit 26 starts control immediately, the carriage 1 moves along the movement route RB toward the destination u1, and the carriage 1 is moved to the destination u1 as shown in FIG. The carriage 1 is automatically stopped when reaching.

  When the obstacle is detected by the obstacle detection sensors 24A to 24D and 25A to 25D, the carriage 1 is also configured to travel around the obstacle. While the carriage 1 travels around the obstacle, the unmanned movement control unit 26 temporarily stores the deviation from the movement route RB due to the detour, and corrects the deviation from the movement route RB when the detour is completed. (Correction) is performed.

In the case of the apparatus B of the second embodiment, the unmanned movement control unit 26 performs control for moving the carriage 1 to the destination based on the movement route RB of the carriage 1 recognized by the route recognition unit 27 detecting the route recognition tape TP. Execute. With the execution of this control, the carriage 1 travels along the movement route RB. Further, the unmanned movement control unit 26 performs control for stopping the carriage 1 based on the selected destination identified by reading the destination identification mark by the route recognition unit 27. By executing this control, the carriage 1 accurately reaches the selected destination and stops.
Therefore, according to the device B of the second embodiment, the device B can be moved to the selected destination by unattended operation, wherever the carriage 1 is on the moving route RB.

The present invention is not limited to the above embodiment, and can be modified as follows.
(1) In the apparatus A of the first embodiment, the current position of the carriage 1 is not configured to be detected based on the current position detection radio wave transmitted by the wireless transmitter 21, but a route recognition tape is used as in the second embodiment. An apparatus having the same configuration as that of the first embodiment can be cited as a modified embodiment except that the current position of the carriage 1 is detected.

  (2) In the case of the apparatus A according to the first embodiment, the current position of the carriage 1 is detected based on the current position detection radio wave transmitted by one wireless transmitter 21, but the destination can be identified. A wireless transmitter that transmits a current position detection radio wave may be arranged at each destination, and the position of the carriage 1 relative to the destination may be detected at all times.

  (3) In the apparatus B of the second embodiment, the destination to which the apparatus B is moved is configured such that the destination is not selected only by the destination u7 that is the parking position in the X-ray room U7. When the apparatus B is moved out of the X-ray room such as a hospital room, the carriage 1 is moved manually by maneuvering, and the apparatus B is moved only when the apparatus B is returned to the destination u7 in the X-ray room U7. A device in a simple moving form that is stored in the X-ray room U7 by unmanned operation is also given as a modification of the second embodiment.

  (4) In the apparatus A according to the first embodiment or the apparatus B according to the second embodiment, when moving a plurality of destinations in order, the destinations to be sequentially moved are input in advance on the operation panel 9 in the order of movement. When moving from one destination to the next destination, a configuration is added to move the device to the next destination by unattended operation only by starting the movement with the operation panel 9 May be.

  (5) In the apparatus A according to the first embodiment or the apparatus B according to the second embodiment, a flat panel X-ray detector (FPD) that detects an X-ray transmission image of the subject M on the carriage 1 is an X-ray imaging equipment. It may be mounted as one.

  (6) In the case of the devices of the first and second embodiments, the carriage 1 is a rear wheel drive type, but the carriage 1 may be a front wheel drive type or an all wheel drive type.

  (7) Although the apparatus of Examples 1 and 2 was a medical apparatus, the present invention is not limited to medical use but can be applied to industrial use and nuclear power use.

1 is an elevation view illustrating a mobile X-ray imaging apparatus according to Embodiment 1. FIG. 1 is a plan view showing an apparatus of Example 1. FIG. It is a fragmentary elevation view which shows the condition during manual control of the apparatus of Example 1. FIG. 2 is a block diagram illustrating a configuration of a control system in the apparatus according to the first embodiment. It is a block diagram which shows the detailed structure of the control system for the trolley | bogie movement in the apparatus of Example 1. FIG. It is a schematic diagram which shows the deployment condition in the hospital of the apparatus of Example 1. FIG. It is a flowchart which shows the movement process by the unattended operation of the apparatus of Example 1. FIG. It is a schematic diagram which shows an example of the movement by the unattended operation of the apparatus of Example 1. FIG. 6 is an elevational view showing a mobile X-ray imaging apparatus according to Embodiment 2. FIG. FIG. 6 is a partial plan view showing the first half of the apparatus of Example 2. It is a block diagram which shows the structure of the control system in the apparatus of Example 2. FIG. It is a schematic diagram which shows the deployment condition in the hospital of the apparatus of Example 2. It is a schematic diagram which shows an example of the movement by the unattended operation of the apparatus of Example 2. It is an elevational view showing a conventional mobile X-ray imaging apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Bogie 2 ... X-ray tube 18 ... Route map data memory 19 ... Destination map data memory (destination registration means)
DESCRIPTION OF SYMBOLS 20 ... Current position detection part 22 ... Destination selection part 23, 26 ... Unmanned movement control part 24A-24D ... Obstacle detection sensor 25A-25D ... Obstacle detection sensor 27 ... Route recognition part A, B ... Mobile X-ray imaging Apparatus M ... Subject q1 to q7 ... Destination u1 to u7 ... Destination RA, RB ... Dolly moving route TP ... Route recognition tape (mark for route recognition)

Claims (5)

  In a mobile X-ray imaging apparatus in which an X-ray imaging means including an X-ray tube for irradiating a subject with X-rays and a power movement means for moving the carriage with power are mounted on a movable carriage, the power movement means A mobile X-ray imaging apparatus comprising unmanned movement control means for controlling the movement of the carriage to a destination along a movement route of the carriage set in advance.   2. The mobile X-ray imaging apparatus according to claim 1, wherein destination registration means for previously registering a plurality of destinations as destinations of the carriage, and the carriage from the plurality of destinations registered by the destination registration means. A mobile X-ray imaging apparatus provided with destination selection means for selecting a destination to move.   3. The mobile X-ray imaging apparatus according to claim 2, further comprising route map data registration means for previously registering route map data defining a moving route of the carriage, and existence on each moving route of a plurality of destinations. In addition to having destination map data registration means for preregistering destination map data that prescribes the position for each destination as destination registration means, current position detection means for detecting the current position on the moving route of the carriage The unmanned movement control means selects the cart based on the location of the selected destination on the route of movement, the current position on the route of movement of the cart and the route of movement of the cart specified by the route map data. A mobile X-ray imaging apparatus that executes control to move the X-ray.   3. The mobile X-ray imaging apparatus according to claim 1 or 2, wherein route recognition means for recognizing the movement route of the carriage by detecting a mark for recognizing the route arranged in advance along the movement route of the carriage. A mobile X-ray imaging apparatus comprising: an unmanned movement control unit that performs control to move a carriage to a destination based on a movement route recognized by the route recognition unit. 5. The mobile X-ray imaging apparatus according to claim 1, further comprising obstacle detection means for detecting an obstacle on the moving route of the carriage, wherein the unmanned movement control means is an obstacle detection means. A mobile X-ray imaging apparatus that executes control for moving a carriage to a destination without causing a collision between the carriage and an obstacle by taking into account the detection result of the vehicle.

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