JP4392885B2 - Mobile X-ray device - Google Patents

Description

[0001]
[Technical field to which the invention belongs]
The present invention relates to travel control of a mobile X-ray apparatus.
[0002]
[Prior art]
A conventional mobile X-ray device is provided with a bumper in the moving direction to protect the device itself and other surrounding objects from contact or collision with other objects when moving, or when an object hits The detector worked and restricted driving.
[0003]
[Problems to be solved by the invention]
The above-mentioned conventional mobile X-ray apparatus is provided with a rubber or plastic bumper on a movable carriage, and serves as a guard when the apparatus touches or collides with another object such as a building. However, Bamba wasn't very useful because it didn't come with shock absorbers to protect touching or colliding objects or people even though it would protect mobile X-ray equipment. Some sensors are equipped with a detector that works when the bumper itself comes into contact, but because it is a system that applies the brake after contact, it is effective for driving at low speeds, but it is effective for driving at high speeds. Due to the large inertial force of the mobile X-ray device, the bumper alone could not absorb the impact. And, when trying to attach a detector for traveling at high speed, the mechanism becomes complicated and large.
[0004]
An object of the present invention is to solve the problems of the mobile X-ray apparatus and to provide a mobile X-ray apparatus with a protection function to avoid contact and collision during traveling.
[0005]
[Means for Solving the Problems]
In order to solve the above problem, in a mobile X-ray apparatus having wheels, and traveling means for patrol the inside of the hospital by electric travel, a detector for measuring the distance from surrounding objects, A speed detector that detects a traveling speed; and a control unit that controls a traveling speed by a brake based on a distance detected by the detector; and the control unit approaches a distance within the first distance from the object. Then, the wheel is braked to reduce the rotational speed, and when the distance to the object approaches within a second distance, control is performed so as not to exceed a predetermined speed.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of a mobile X-ray apparatus for making rounds in a hospital according to the present invention. In FIG. 1, reference numeral 1 denotes a moving carriage, 2 denotes two fixed wheels that support the moving carriage 1 and have a fixed direction, 3 denotes a free wheel that supports the moving carriage 1 and changes its orientation, and 4 denotes an X-ray apparatus. 5 is a support arm that connects the slider and the X-ray device, 7 is an X-ray tube device, and 8 is a device in the movable carriage 4 that controls the X-ray. A cable connecting the X-ray device 7, 9a is a forward distance detector fixed to the front part of the bamber, 9b is a lateral distance detector fixed to the lateral part of the bamber, and 10 is two Two rotary encoders that detect the rotation amount of the fixed wheel 2, 11 are two motors that independently drive the two fixed wheels 2, and 12 reads signals from the distance detector 9 and the rotary encoder 10 as needed. , Calculation times for controlling the traveling motor 11 , 13 is a bumper made of a cushioning material such as a spring or rubber that softens the impact of the movable X-ray device when in contact with another object or at the time of collision, 14 is a handle detector that detects the operating state of the handle, and 15 is a move A traveling handle for controlling the traveling direction, acceleration and deceleration of the carriage 1, 16 is a brake for braking the traveling circuit 17 so as to regulate the traveling speed of the fixed wheel 2, and 17 is a traveling circuit for controlling the traveling speed.
[0007]
The mobile X-ray apparatus configured as described above is adapted to perform X-ray imaging at the patient bedside in the patient room by moving inside the patient room. The operation of the traveling handle 15 during this movement is such that the fixed wheel 2 rotates forward when pushed forward, reverses backward when pulled, and the amount of operation of the handle is changed independently on the left and right. Can change the direction of travel of the device. When the right traveling handle 15 is pressed, the right fixed wheel 2 rotates, so the movable carriage 1 bends in the left direction. When the left traveling handle 15 is pressed, the left fixed wheel 2 rotates, and the movable carriage 1 moves in the right direction. Bend. When the traveling handle 15 is gripped, the brake 6 is released, and when it is released, the brake is applied. Driving operation can be performed by the steering wheel operation.
[0008]
Next, means for controlling the moving speed of the moving carriage, which is a feature of the present invention, will be described. When the handle 15 of the movable carriage 1 is moved, a signal is inputted to the travel motor 11 from the arithmetic circuit 12 by the handle detector 14 and is started. When the engine is started, the distance detectors 9a and 9b always measure the distance to a surrounding object in a predetermined range and send the signal to the arithmetic circuit 12 as needed. The rotary encoder 10 always measures the amount of rotation of the traveling motor 11 and sends the signal to the arithmetic circuit 12 as needed. The forward distance detector 9a and the lateral distance detector 9b detect the distance to other objects at that time, the rotary encoder 10 detects the traveling speed, the handle detector 14 detects the operation of the traveling handle 15, and the signal is obtained. It is transmitted to the arithmetic circuit as needed. On the other hand, the arithmetic circuit 12 reads the signals of the distance detectors 9a and 9b, the rotary encoder 10 and the detector 14 at any time to detect the distance from other objects and the speed of travel at any time, or the operator holds the handle 15. When the operation to move carriage 1 in the distance to the obstacle approaches within 40 cm by automatically moving the detector 9a, 9b detects, braked by the brake 16 to the fixed wheels 2 by the control of the arithmetic circuit 12 The rotation speed can be reduced and the handle operation time can be saved to avoid contact with or colliding with obstacles. Also the running circuit 17 distance approaches within 20 centimeters of the running speed and the obstacle if 2Km / h or operates the brake 16, i.e. the distance between the obstacle approaches within 20 cm 2Km / The distance from the other objects of the mobile X-ray device and the running speed are limited to a certain value by controlling so as not to exceed h, thereby protecting the mobile X-ray device and other objects from damage caused by contact or collision.
[0009]
In this embodiment, there are two types of distance detectors, the forward distance detector 9a and the lateral distance detector 9b. However, the number may be any number and the number may be any number. The detector may be structured to absorb the impact by pulling it in the moving direction with a spring or rubber when the impact is caused by contact or collision, and the rotary encoder 10 is used for detecting the traveling speed. If there is, another speed detector may be output, and if a certain speed is exceeded, an audio signal may be emitted to notify the surroundings of the abnormality. In this embodiment, the control method is premised on feedback control, but other control methods may be used.
[0010]
【The invention's effect】
According to the present invention, the moving speed of the mobile X-ray apparatus is restricted and the distance from surrounding objects is restricted, so that there is an effect of preventing contact and collision with other objects.
[Brief description of the drawings]
FIG. 1 shows a block diagram of a transfer X-ray apparatus according to the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Mobile trolley 2 Fixed wheel 3 Swivel wheel 7 X-ray tube apparatus 9a Forward distance detector 9b Lateral distance detector 10 Rotary encoder 11 Traveling motor 12 Calculation circuit 14 Handle detector 15 Traveling handle 16 Brake 17 Traveling circuit

Claims (3)

A detector that measures the distance from surrounding objects in a mobile X-ray apparatus that has wheels and is equipped with a moving means for patrol the inside of the hospital by electric traveling,
A speed detector for detecting the traveling speed;
Control means for controlling the traveling speed by a brake based on the distance detected by the detector;
The control means applies a brake to the wheel to reduce the rotational speed when the distance to the object is within the first distance, and reduces the rotational speed to a predetermined speed when the distance to the object is within the second distance. A mobile X-ray apparatus that is controlled so as not to become above . 2. The detector includes a forward distance detector fixed to a front portion of a bumper that softens an impact, and a lateral distance detector fixed to a lateral portion of the bumper. The mobile X-ray apparatus described in 1.   The mobile X-ray apparatus according to claim 1, wherein the first distance is 40 centimeters and the second distance is 20 centimeters.

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