CN110347074A

CN110347074A - Control the circuit and system of FFDM exposure time series and movement

Info

Publication number: CN110347074A
Application number: CN201910350212.5A
Authority: CN
Inventors: 杨科灵; 叶洪深; 林维鹏
Original assignee: Shenzhen Bestcare Biological Science And Technology Co Ltd
Current assignee: Shenzhen Bestcare Biological Science And Technology Co Ltd
Priority date: 2019-09-03
Filing date: 2019-09-03
Publication date: 2019-10-18

Abstract

This application provides a kind of circuits and system for controlling FFDM exposure time series and movement, the main control node is respectively with described first from control node, second from control node, third is connected from control node with Image Acquisition terminal, the main control node, for generating the corresponding first the next command signal or the second upper command signal according to the first upper command signal received or the second the next command signal parsing, and the described first the next command signal is sent to and corresponding is sent to Image Acquisition terminal from control node and by the described second upper command signal, wherein, first upper command signal is corresponding to generate the first the next command signal, second the next command signal is corresponding to generate the second upper command signal.Main control node and respectively succinct from there is only the communications cables between control node, avoids the elements such as motor and sensor in the drawback of machine internal wiring complexity, to have maintenance easy to install, the advantages such as Electro Magnetic Compatibility is high, and security risk is low.

Description

Control the circuit and system of FFDM exposure time series and movement

Technical field

This application involves field of computer technology, a kind of circuit more particularly to control FFDM exposure time series and movement and System.

Background technique

FFDM (Full Field Digital Mammography, digital galactophore photography) is required because clinical medicine diagnoses, Patient needs to be adjusted and convert shooting position during carrying out breast X-ray imaging camera.In order to facilitate clinician It assists patient to carry out position operation pendulum position, usually requires that the picture shooting assembly of mammary machine allows for being transported according to pendulum position demand It is dynamic, such as compression device lifting, the lifting of C arm, the rotation of C arm etc..Of equal importancely, digital galactophore is confidential asks X-ray exposure timing tight Lattice are accurate, to ensure to obtain the breast tissue image for meeting diagnosis and requiring in the case that patient absorbs smaller dose.

The control system of existing X-ray mammary machine product generallys use single single-chip computer and its peripheral circuit, Ruo Ganwei Set sensor, several motor-drive circuits are formed by combining.Place of the single-chip microcontroller as entire exposure time series and kinetic control system Core is managed, all external keys and backpedalling brake signal, position sensor signal, high pressure generator signal, exposure handbrake, plate are visited It surveys the input signals such as device signal and is all delivered to the single-chip microcontroller.Relevant input signal is moved to handle via single-chip microcontroller internal processes Later, it forms output signal and is delivered to the driver or driving circuit of the electrical components such as motor, the final fortune for realizing mammary machine Dynamic component control.After the relevant input signal of exposure time series is equally handled via single-chip microcontroller internal processes, output signal is formed The generation of the X-rays such as high pressure generator, flat panel detector and receiving part are controlled, finally obtains patient's by image acquisition workstation Breast tissue X ray image.

Since only with a single-chip microcontroller, as control processing core unit, all input and output cables are all aggregated into this Core cell, so that there are following technical disadvantages: length of cable is too long, at high cost, and Electro Magnetic Compatibility is poor；Production installation and customer service It is difficult in maintenance, inefficiency；Vulnerable to interference, security risk is high, and reliability is low.

Summary of the invention

In view of the above problems, it proposes the embodiment of the present invention and overcomes the above problem or at least partly in order to provide one kind The circuit and system of the control FFDM exposure time series and movement that solve the above problems.

To solve the above-mentioned problems, the embodiment of the invention discloses it is a kind of control FFDM exposure time series and movement circuit, Including main control node, first from control node, second from control node, third from control node and Image Acquisition terminal,

The main control node respectively with described first from control node, second from control node, third from control node It is connected with Image Acquisition terminal,

Described image acquisition terminal, it is upper for the first interactive signal generated parsing generation first will to be interacted with user Command signal is simultaneously sent to the main control node；

Described image acquisition terminal is also used to generate the second upper command signal received from the main control node The second interactive signal interacted can be generated with user；

Described first from control node, second from control node and third from control node, be respectively used to according to the master The first the next command signal that control node is sent adjusts working condition；

Described first from control node, second from control node and third from control node, be also used to respectively according to itself Working condition generates the second the next command signal and is sent to the main control node；

The main control node, for according to the first upper command signal received or the second the next command signal parsing The corresponding first the next command signal or the second upper command signal are generated, and the described first the next command signal is sent to It is corresponding to be sent to Image Acquisition terminal from control node and by the described second upper command signal, wherein the first upper life Enable signal is corresponding to generate the first the next command signal, the second the next command signal is corresponding to generate the second upper command signal.

Further, the main control node includes the first serial communication controller, FPGA controller, the first CAN control Device, high pressure generator control interface and flat panel detector control interface,

The FPGA controller respectively with first serial communication controller, the first CAN controller, high pressure generator control Interface processed is connected with flat panel detector control interface；

First serial communication controller is connect with described image acquisition terminal, and first CAN controller passes through CAN Bus is connect from control node, second from control node, third from control node and Image Acquisition terminal with described first respectively, The high pressure generator control interface is connect with high pressure generator, and the flat panel detector control interface and flat panel detector connect It connects, first serial communication controller is connect with described image acquisition terminal；

First CAN controller and the first serial communication controller are respectively used to receive described image acquisition terminal hair The upper command signal of first sent, and the second upper command signal is sent to described image acquisition terminal；

First CAN controller is also used to receive first from control node, second from control node and third from control The second the next command signal that at least one module is sent in node, and the first the next command signal is sent to first from control At least one module from control node from control node and third of node, second；

The high pressure generator control interface, the second the next command signal for receiving high pressure generator transmission, and The first the next command signal is sent to high pressure generator；

The flat panel detector control interface, the second the next command signal for receiving flat panel detector transmission, and The first the next command signal is sent to flat panel detector；

The FPGA controller, for parsing and giving birth to the received first upper command signal or the second the next command signal First is sent at the corresponding first the next command signal or the second upper command signal, and by the described first the next command signal CAN controller, high pressure generator control interface or flat panel detector control interface, and the second upper command signal is sent to First CAN controller or the first serial communication controller, wherein the first upper command signal is corresponding to be generated under described first Order of the bit signal, the described second the next command signal is corresponding to generate the second upper command signal.

Further, described image acquisition terminal includes human-computer interaction terminal, CAN control card, the second serial communication controlling Device, third serial communication controller and ethernet communication controller,

The human-computer interaction terminal respectively with the CAN control card, the second serial communication controller, third serial communication control Device processed is connected with ethernet communication controller；

The CAN control card is by CAN bus respectively with the main control node, first from control node, second from control Node processed is connected with third from control node, and second serial communication controller is connect with the main control node, and described Three serial communication controllers are connect with the high pressure generator, and the ethernet communication controller and the flat panel detector connect It connects；

The CAN control card and the second serial communication controller, are respectively used to receive that the main control node sends the Two upper command signals, and the first upper command signal is sent to the main control node；

The third serial communication controller, for receiving the first feedback signal of high pressure generator transmission, and transmission First control signal is to high pressure generator；

The ethernet communication controller for receiving the second feedback signal of flat panel detector transmission, and sends the Two control signals to flat panel detector；

The human-computer interaction terminal, for feeding back the received second upper command signal, the first feedback signal and second Signal resolution simultaneously generates corresponding second interactive signal；

The human-computer interaction terminal is also used to parsing first interactive signal into order of the bit letter in generation corresponding first Number and be sent to CAN control card or the second serial communication controller；

The human-computer interaction terminal is also used to the parsing of the first interactive signal and generates the corresponding first control signal or the Two control signals, and the first control signal is sent to the third serial communication controller and is controlled described second Signal is sent to the ethernet communication controller.

Further, first CAN controller includes: chip U13, resistance R91, resistance R92, diode (LED) 16, two Pole pipe LED17, polar capacitor C40, capacitor C41, CAN interface J10 and CAN interface J11,

The CAN interface J10 and CAN interface J11 respectively with the end CANL and the end CANH of the chip U13 Connection；The anode of the polar capacitor C40 is connect with the end VCC of the chip U13 and internal electric source, the polar capacitor C40 Cathode connect with the end GND of the chip U13 and ground wire；One end of the capacitor C41 is connected to the polar capacitor C40's It is positive between the end VCC of the chip U13, the other end of the capacitor C41 be connected to the cathode of the polar capacitor C40 with Between the end GND of the chip U13；One end of the resistance R92 is connect with the anode of the diode (LED) 17, the resistance The other end of R92 is connect with the end VCC of the chip U13, the end RXD of the cathode of the diode (LED) 17 and the chip U13 Connection；The anode of one end of the resistance R91 and the diode (LED) 16 is connect, the other end of the resistance R91 with it is described The end VCC of chip U13 connects, and the cathode of the diode (LED) 16 is connect with the end TXD of the chip U13；The chip U13 The end TXD and the end RXD connect respectively with the FPGA controller；The CAN interface J10 and CAN interface J11 difference It is connect with the CAN bus.

Further, described first includes the first dsp controller, the second CAN controller, C-arm lifting from control node Drive module, floor push, lifting limit switch and adjustable height sensor,

First dsp controller respectively with second CAN controller, C-arm lifting drive module, floor push, Lifting limit switch is connected with adjustable height sensor, and second CAN controller passes through CAN bus and the main control node Connection；

First dsp controller, for parsing the received first the next command signal, and by the institute after parsing It states the first the next command signal and is sent to C-arm lifting drive module；

First dsp controller is also used to according to the floor push, lifting limit switch and adjustable height sensor The signal of feedback generates the described second the next command signal, and the described second the next command signal is controlled by the 2nd CAN Device processed is sent to the main control node.

Further, described second includes the second dsp controller, third CAN controller, C-arm rotation from control node Drive module, rotary stopper switch and angular sensor,

Second dsp controller is opened with the third CAN controller, C-arm rotation drive module, rotary stopper respectively Pass is connected with angular sensor, and the third CAN controller is connect by CAN bus with the main control node；

Second dsp controller, for parsing the received first the next command signal, and by the institute after parsing It states the first the next command signal and is sent to the C-arm rotation drive module；

Second dsp controller is also used to the letter switched according to the rotary stopper and angular sensor is fed back Number the described second the next command signal is generated, and second bottom command signal is sent by the third CAN controller To the main control node.

Further, the third from control node include third dsp controller, the 4th CAN controller, compression device driving Module, compression device limit switch, compression device thickness transducer, compression device pressure sensor and compression device manual knob,

The third dsp controller is opened with the 4th CAN controller, compression device drive module, compression device limit respectively Close, compression device thickness transducer connect with compression device pressure sensor, the 4th CAN controller pass through CAN bus with it is described The connection of main control node；

The third dsp controller, for parsing the received first the next command signal, and by the institute after parsing It states the first the next command signal and is sent to the compression device drive module；

The third dsp controller is also used to according to the compression device limit switch, compression device thickness transducer, compressing Device pressure sensor and the signal of compression device manual knob feedback generate the described second the next command signal, and will be under described second Order of the bit signal is sent to the main control node by the 4th CAN controller.

Further, second CAN controller, the circuit structure phase of third CAN controller and the 4th CAN controller Together.

Further, second CAN controller includes: chip U40, polar capacitor C112, capacitor C113, CAN bus Interface J4 and CAN interface J5,

The CAN interface J4 and CAN interface J5 connects with the end CANL of the chip U40 and the end CANH respectively It connects；The anode of the polar capacitor C112 is connect with the end VCC of the chip U40 and internal electric source, the polar capacitor C112 Cathode connect with the end GND of the chip U40 and ground wire；One end of the capacitor C134 is connected to the polar capacitor C112's is positive between the end VCC of the chip U40, and the other end of the capacitor C41 is connected to the polar capacitor C112 Cathode and the chip U40 the end GND between；The end TXD and the end RXD of the chip U40 is controlled with the first DSP respectively Device connection processed；The CAN interface J4 and CAN bus interface J5 are connect with the CAN bus respectively.

To solve the above-mentioned problems, the embodiment of the invention discloses it is a kind of control FFDM exposure time series and movement system, Including circuit described in any of the above-described embodiment, high pressure generator, flat panel detector, C arm, compression device,

Main control node and Image Acquisition terminal in the circuit respectively with the high pressure generator and flat panel detector Connection；First in the circuit connect from control node with the lifting driving motor of the C-arm；Second in the circuit Control module is connect with the rotary drive motor of the C-arm；Third control module in the circuit be set to the C-arm On compression device driving motor connection.

Compared with prior art, the application includes following advantages:

In the embodiment of the present invention, using method of the invention, handed over by main control node and respectively from the order of control node Mutually, make digital galactophore machine realize complete machine function difficulty be greatly lowered, so as to avoid because program code excessively concentrate and Complexity causes complete machine function in the presence of concealing defects, and improves the use reliability and safety of digital galactophore machine, main control node With it is respectively succinct from there is only the communications cables between control node, improve machine routing and succinctly spend, avoid motor and sensor Equal elements are in the drawback of machine internal wiring complexity, to have at low cost, maintenance easy to install, Electro Magnetic Compatibility is high, and safety is hidden Suffer from low, high reliability.

Detailed description of the invention

Fig. 1 is the modular circuit structural representation of the control FFDM exposure time series of one embodiment of the invention and the circuit of movement Figure；

Fig. 2 is the electrical block diagram of the control FFDM exposure time series of one embodiment of the invention and the circuit of movement；

Fig. 3 is the signal interaction schematic diagram of the control FFDM exposure time series of one embodiment of the invention and the system of movement；

Fig. 4 is the electrical block diagram of first CAN controller of one embodiment of the invention；

Fig. 5 is the electrical block diagram of second CAN controller of one embodiment of the invention；

Fig. 6 is the step flow diagram of control the FFDM exposure time series and movement technique of one embodiment of the invention.

The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.

Specific embodiment

In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real Applying mode, the present application will be further described in detail.

Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve The combination of case is not present, also not the present invention claims protection scope within.

Finally, all the embodiments in this specification are described in a progressive manner, what each embodiment stressed It is the difference from other embodiments, the same or similar parts between the embodiments can be referred to each other.

It should be noted that the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and cannot It is interpreted as its relative importance of indication or suggestion or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the One ", the feature of " second " can explicitly or implicitly include at least one of the features.

Referring to Fig.1, it should be noted that in the circuit of any control FFDM exposure time series and movement of the present invention, including Main control node 1, first from control node 2, second from control node 3, third from control node 4 and Image Acquisition terminal 5,

The main control node 1 is saved from control node 2, second from control node 3, third from control with described first respectively Point 4 and Image Acquisition terminal 5 connect,

Described image acquisition terminal 5 generates first for will interact the first interactive signal generated parsing with user Order of the bit signal is simultaneously sent to the main control node 1；

Described image acquisition terminal 5 is also used to second upper command signal received from the main control node 1 is raw At the second interactive signal that can be interacted with user's generation；

The second interactive signal that described image acquisition terminal 5 generates can be voice signal form, picture signal form, vibration The signal or can arbitrarily be interacted with user's generation perceptibility that any combination of dynamic signal form or three kinds of signal forms generates Signal form.

Described first from control node 2, second from control node 3 and third from control node 4, be respectively used to according to The first the next command signal that main control node 1 is sent adjusts working condition；

Described first from control node 2, second from control node 3 and third from control node 4, be also used to respectively according to from Body working condition generates the second the next command signal and is sent to the main control node 1；

Described first is used to receive and oneself from control node 2, second from control node 3 and third from control node 4 When the relevant first the next command signal of body, itself working condition is adjusted according to signal content, or by itself current work State generates the second the next command signal and is sent to main control node.

The main control node 1, for according to the first upper command signal received or the second the next command signal solution Analysis generates the corresponding first the next command signal or the second upper command signal, and the described first the next command signal is sent Image Acquisition terminal 5 is sent to from control node and by the described second upper command signal to corresponding, wherein first is upper Command signal is corresponding to generate the first the next command signal, and the second the next command signal is corresponding to generate the second upper command signal,

Main control node 1 is used for when receiving the first upper command signal, is parsed to the first upper command signal Translation generates the first the next command signal, and the first the next command signal is sent to corresponding with the signal from control node (first from control node 2, second from control node 3 and third from any one multiple module in control node 4)；Work as reception When to the second the next command signal, parsing translation is carried out to the second the next command signal and generates the second upper command signal, concurrently It send to Image Acquisition terminal.

Referring to Fig. 2, the structure of the circuit embodiments two of a kind of control FFDM exposure time series of the invention and movement is shown Block diagram,

In an alternative embodiment of the invention, the main control node 1 include the first serial communication controller 101, FPGA controller 102, the first CAN controller 103, high pressure generator control interface 104 and flat panel detector control interface 105,

The FPGA controller 102 respectively with first serial communication controller 101, the first CAN controller 103, high Generator control interface 104 and flat panel detector control interface 105 is pressed to connect；

First serial communication controller 101 is connect with described image acquisition terminal 5, first CAN controller 103 by CAN bus respectively with described first from control node 2, second from control node 3, third from control node 4 and image Acquisition terminal 5 connects, and the high pressure generator control interface 104 is connect with high pressure generator, and the flat panel detector control connects Mouth 105 is connect with flat panel detector, and first serial communication controller 101 is connect with described image acquisition terminal 5；

First CAN controller 103 and the first serial communication controller 101 are respectively used to receive described image acquisition The first upper command signal that terminal 5 is sent, and the second upper command signal is sent to described image acquisition terminal 5；

First CAN controller 103 is also used to receive first from control node 2, second from control node 3 and third The second the next command signal that at least one module is sent from control node 4, and the first the next command signal is sent to the One from control node 2, second from control node 3 and third at least one module from control node 4；

The high pressure generator control interface 104, the second the next command signal for receiving high pressure generator transmission, with And the first the next command signal is sent to high pressure generator；

The flat panel detector control interface 105, the second the next command signal for receiving flat panel detector transmission, with And the first the next command signal is sent to flat panel detector；

The FPGA controller 102, for parsing the received first upper command signal or the second the next command signal And the corresponding first the next command signal or the second upper command signal are generated, and the described first the next command signal is sent to First CAN controller 103, high pressure generator control interface 104 or flat panel detector control interface 105, and it is upper by second Command signal is sent to the first CAN controller 103 or the first serial communication controller 101, wherein order of the bit is believed on described first Number corresponding to generate the described first the next command signal, the described second the next command signal is corresponding to generate order of the bit letter on described second Number.

First CAN controller 103 and the first serial communication controller 101 are receiving the first of the transmission of Image Acquisition terminal After upper command signal, which is sent to the parsing of the progress signal of FPGA controller 102 and is translated To the first the next command signal, the first the next command signal is sent to by the first CAN controller 103, height according to the content of parsing Generator control interface 104 or flat panel detector control interface 105 are pressed, the first CAN controller includes to connect with from control node The port connect, and then the first the next command signal is sent to and corresponding is detected from control node or high pressure generator or plate Device；Wherein, the first the next command signal is sent to corresponding from control node by the first CAN controller by corresponding port；

First CAN controller 103 is receiving first from control node 2, second from control node 3 and third from control In node 4 when any one or more the second the next command signals sent from control node, by the second the next command signal The parsing and translation for being sent to the progress signal of FPGA controller 102 obtain the second upper command signal, and according to the content of parsing Second upper command signal is sent to the first CAN controller 103 or the first serial communication controller 101, passes through the first CAN Second upper command signal is sent to Image Acquisition terminal by controller 103 or the first serial communication controller 101.

Referring to Fig. 3, in a preferred embodiment, first CAN controller 103 includes: chip U13, resistance R91, electricity Hinder R92, diode (LED) 16, diode (LED) 17, polar capacitor C40, capacitor C41, CAN interface J10 and CAN interface J11,

It further include total from the default CAN interface J21 of control node, CAN interface J22 and CAN for extending Line interface J23,

The CAN interface J10, CAN interface J11, CAN interface J21, CAN bus interface J22 and CAN Bus interface J23 is connect with the end CANL of the chip U13 and the end CANH respectively；The polar capacitor C40 anode with it is described The end VCC of chip U13 is connected with internal electric source, the end GND and ground wire of the cathode of the polar capacitor C40 and the chip U13 Connection；One end of the capacitor C41 is connected to the positive between the end VCC of the chip U13 of the polar capacitor C40, institute The other end for stating capacitor C41 is connected between the cathode of the polar capacitor C40 and the end GND of the chip U13；The electricity The one end for hindering R92 is connect with the anode of the diode (LED) 17, the VCC of the other end of the resistance R92 and the chip U13 End connection, the cathode of the diode (LED) 17 are connect with the end RXD of the chip U13；One end of the resistance R91 with it is described The anode connection of diode (LED) 16, the other end of the resistance R91 are connect with the end VCC of the chip U13, the diode The cathode of LED16 is connect with the end TXD of the chip U13；The end TXD and the end RXD of the chip U13 respectively with the FPGA Controller 102 connects；The CAN interface J10, CAN interface J11, CAN interface J21, CAN interface J22 It is connect respectively with the CAN bus with CAN bus interface J23.

Wherein, the CAN interface J10 is connected with first from the CAN interface J4 of control node 2 by CAN bus It connects；The CAN interface J11 is connect by CAN bus with Image Acquisition terminal 5.

In an alternative embodiment of the invention, described image acquisition terminal 5 includes human-computer interaction terminal 501, CAN Control card 502, the second serial communication controller 503, third serial communication controller 504 and ethernet communication controller 505,

The human-computer interaction terminal 501 respectively with the CAN control card 502, the second serial communication controller 503, third Serial communication controller 504 and ethernet communication controller 505 connect；

The CAN control card 502 is by CAN bus respectively with the main control node 1, first from control node 2, second It is connected from control node 3 and third from control node 4, second serial communication controller 503 connects with the main control node 1 It connects, the third serial communication controller 504 is connect with the high pressure generator, the ethernet communication controller 505 and institute State flat panel detector connection；

The CAN control card 502 and the second serial communication controller 503 are respectively used to receive the hair of main control node 1 The upper command signal of second sent, and the first upper command signal is sent to the main control node 1；

The third serial communication controller 504, for receiving the first feedback signal of high pressure generator transmission, Yi Jifa Send first control signal to high pressure generator；

The ethernet communication controller 505, for receiving the second feedback signal of flat panel detector transmission, and transmission Second control signal is to flat panel detector；

The human-computer interaction terminal 501, for the received second upper command signal, the first feedback signal and second is anti- Feedback signal parses and generates corresponding second interactive signal；

The human-computer interaction terminal 501 is also used to parsing first interactive signal into the corresponding first upper life of generation It enables signal and is sent to CAN control card 502 or the second serial communication controller 503；

The human-computer interaction terminal 501 is also used to the parsing of the first interactive signal and generates the corresponding first control signal Or second control signal, and the first control signal is sent to the third serial communication controller 504 and will be described Second control signal is sent to the ethernet communication controller 505.

Further, described first includes the first dsp controller 201, the 2nd CAN controller 202, C from control node 2 Arm goes up and down drive module 203, floor push 204, lifting limit switch 205 and adjustable height sensor 206,

First dsp controller 201 respectively with second CAN controller 202, C-arm lifting drive module 203, Floor push 204, lifting limit switch 205 and adjustable height sensor 206 connect, and second CAN controller 202 passes through CAN bus is connect with the main control node 1；

First dsp controller 201, for the received described first the next command signal to be parsed, and will be after parsing The described first the next command signal be sent to C-arm lifting drive module 203；

First dsp controller 201 is also used to according to the floor push 204, lifting limit switch 205 and lifting The signal that height sensor 206 is fed back generates the described second the next command signal, and the described second the next command signal is passed through Second CAN controller 202 is sent to the main control node 1.

Further, described second includes the second dsp controller 301, the 3rd CAN controller 302, C from control node 3 Arm rotates drive module 303, rotary stopper switch 304 and angular sensor 305,

Second dsp controller 301 respectively with the third CAN controller 302, C-arm rotation drive module 303, Rotary stopper switch 304 and angular sensor 305 connect, the third CAN controller 302 by CAN bus with it is described Main control node 1 connects；

Second dsp controller 301, for the received described first the next command signal to be parsed, and will be after parsing The described first the next command signal be sent to C-arm and rotate the drive module；

Second dsp controller 301 is also used to according to the rotary stopper switch 304 and angular sensor 305 The signal of feedback generates the described second the next command signal, and the described second the next command signal is controlled by the 3rd CAN Device 302 processed is sent to the main control node 1.

Further, the third includes third dsp controller 401, the 4th CAN controller 402, presses from control node 4 Compel device drive module 403, compression device limit switch 404, compression device thickness transducer 405, compression device pressure sensor 406 and pressure Compel device manual knob 407,

The third dsp controller 401 respectively with the 4th CAN controller 402, compression device drive module 403, compressing Device limit switch 404, compression device thickness transducer 405 and compression device pressure sensor 406 connect, the 4th CAN controller 402 are connect by CAN bus with the main control node 1；

The third dsp controller 401, for the received described first the next command signal to be parsed, and will be after parsing The described first the next command signal be sent to the compression device drive module 403；

The third dsp controller 401 is also used to according to the compression device limit switch 404, compression device thickness transducer 405, the signal that compression device pressure sensor 406 and compression device manual knob 407 are fed back generates the described second the next command signal, And the described second the next command signal is sent to the main control node 1 by the 4th CAN controller 402.

In a preferred embodiment, second CAN controller 202, third CAN controller 302 and the 4th CAN control The circuit structure of device 402 is identical,

Referring to Fig. 4, in a next preference of above preferred embodiment, second CAN controller 202 includes: core Piece U40, polar capacitor C112, capacitor C113, CAN interface J4 and CAN interface J5,

The CAN interface J4 and CAN interface J5 connects with the end CANL of the chip U40 and the end CANH respectively It connects；The anode of the polar capacitor C112 is connect with the end VCC of the chip U40 and internal electric source, the polar capacitor C112 Cathode connect with the end GND of the chip U40 and ground wire；One end of the capacitor C134 is connected to the polar capacitor C112's is positive between the end VCC of the chip U40, and the other end of the capacitor C41 is connected to the polar capacitor C112 Cathode and the chip U40 the end GND between；The end TXD and the end RXD of the chip U40 is controlled with the first DSP respectively Device 201 connects；The CAN interface J4 and CAN bus interface J5 are connect with the CAN bus respectively.

Wherein, described first passes through CAN bus and the main control node 1 from the CAN interface J4 of control node 2 CAN interface J11 connection, described first from the CAN bus interface J5 of control node 2 by CAN bus with described second from The CAN interface J4 connection of control node 3, described second from the CAN interface J5 of control node 3 by CAN bus with The third from the CAN interface J4 connection of control node 4,

First is connected from control node 4 by CAN bus interface from control node 2, second from control node 3 with third Constituting physical channel allows signal to carry out the cost that line arrangement is saved in transmission by the physical channel that each interface is constituted.

The embodiment of the invention discloses a kind of systems for controlling FFDM exposure time series and movement, including any of the above-described embodiment The circuit, high pressure generator, flat panel detector, C-arm, compression device,

Referring to Figures 5 and 6, the embodiment of the invention also discloses one that the circuit described through the foregoing embodiment and system are realized Kind control FFDM exposure time series and movement technique, to realize operating mode, position correction, electricity to node each in digital X-ray machine Pole driving parameter and the setting of exposure time series data, a key be provided and selected in place, real-time parameter (electrode drive parameter, the end I/0 Data and exposure time series data are arranged in mouthful class data, abnormality data, each shaft position data, a key in place) acquisition, specifically It is as follows:

It should be noted that upper command signal sublist is for translating Image Acquisition in any embodiment of the present invention Terminal is sent to the command signal for being directed to remaining node of main control node；The next command signal sublist is for translating other Node is sent to the command signal for being directed to Image Acquisition terminal of main control node, remaining above-mentioned node specifically includes but unlimited In: first from control node, second from control node, third from control node, flat panel detector and high pressure generator.

It should be noted that in any embodiment of the present invention, be effectively defined as analog-digital converter output valve be 350~ 3500, it is invalid if output valve is beyond the range of 350-3500.

It should be noted that in any embodiment of the present invention, when for oppressive force, legal definition specifically: compressing Force value is 0-350N；When for compression thickness, legal definition specifically: compression thickness value is 0-250 millimeters；For column height When spending, legal definition specifically: stem height value is 65~140 centimetres；When for C-arm rotational angle, legal definition Specifically: C-arm rotational angle is -165 °~+180 °, it should be noted that "+" and "-" in angle are only used for expression angle The direction of rotation of degree, that is, rotate clockwise or rotate counterclockwise, when "+" representative rotates clockwise, "-" represents rotation counterclockwise Turn, otherwise similarly.

It should be noted that being penetrated in any control FFDM exposure time series of the present invention and movement technique applied to digital X The imaging device of line galactophore image, the imaging device include first from control node, second from control node, third from control Node, Image Acquisition terminal and by described first from control node, second from control node, third from control node and image The main control node of acquisition terminal connection, described method includes following steps:

S1, the main control node be connected to the transmission of described image acquisition terminal for first from control node, second From control node and third from control node when the first upper command signal of any one or more than one node, from default Command signal library in match it is corresponding with the described first upper command signal from the first of control node the next command signal；

It should be noted that the first upper command signal that described image acquisition terminal is sent to main control node can be For certain individually from the command signal of control node, such as: about the command signal of C-arm rotational angle, can also for for Several command signals from control node, wherein this several from control node be any a plurality of from control node, example Such as: about the enabling signal from control node, it should be noted that each is equipped with corresponding thereto logical from control node Beacon number, in every number of units word mammary machine, communication label is not repeated with each node one-to-one correspondence generally.

In embodiments of the present invention, label is communicated by the way that different nodes is arranged for node different in digital galactophore machine, Allow main control node according to the different node of communication label distinction, so realize by main control node to each node it Between carry out command signal interaction.

Specifically, step S1 may include following sub-step:

S1-1, when receive described image acquisition terminal transmission the first upper command signal when, match described first Upper command signal to be called corresponding from control node；

When Image Acquisition terminal is needed to order control is carried out from control node, Image Acquisition terminal is by generating and needing The target to be controlled is sent to the master control from the corresponding first upper command signal of control node (such as first from control node) Node processed, the main control node find out according to the communication label in the first upper command signal received and correspond Target from control node, it should be noted that in embodiments of the present invention, can also be carried out through the above way with remaining node The interaction of command signal, such as: flat panel detector and high pressure generator, it should be noted that when occurring not searching obtaining When communicating label, feedback command signal to described image acquisition terminal.

In a kind of preferred embodiment of the present invention, it can also include the following steps: after sub-step S1-1

S1-2, it is searched from the preset command signal library with corresponding from the corresponding upper order of the bit of control node Signal sublist；

After successfully finding out corresponding target from control node, searched in command signal library and transfer out the target from The corresponding upper order of the bit sublist of control node, it should be noted that be generally somebody's turn to do in lookup from the corresponding upper life of control node Enable sublist it is previous as first the described first upper command signal can be parsed, signal content is resolved in main control node Then preset common communication protocol language carries out the lookup of upper command signal sublist, certainly, in inventive embodiments again In, which can overturn sequence and carry out, i.e., first search upper command signal sublist, then carry out signal resolution.

S1-3, that corresponding with the described first upper command signal first is found out from the upper order of the bit sublist is the next Command signal；

Wherein, the described first upper command signal be described image acquisition terminal send for first from control node, Second from control node and third from control node any one or more than one node.

It should be noted that after receiving the first upper command signal, main control node can be to order of the bit on first Signal is parsed, and communication label and command signal content from control node are therefrom extracted, when being successfully matched to and communicate Label it is corresponding from control node when, then main control node can be according to this from corresponding upper command signal of control node List carries out the translation of command signal content, and general is specially that the Context resolution of command signal is translated into main control node first Common communication protocol language, then find out from upper command signal sublist this section of common communication protocol language and say and represent First the next command signal, main control node can be inquired with the presence or absence of corresponding with label is communicated in the first upper command signal Slave control node, if so, main control node can from communication label in determine from control node, if it is not, main control node can To fail to Image Acquisition terminal feedback command signal interaction request.

It should be noted that Image Acquisition terminal can also use the above method to flat panel detector by main control node The interaction of command signal is carried out with high pressure generator, specific steps process is same as mentioned above, and it is no longer repeated.

S2, the main control node are being connected to first from control node, second from control node and third from control node In any one or more than one node send for described image acquisition terminal the second the next command signal when, from presetting Command signal library in match the second upper command signal corresponding with the described second the next command signal；

It should be noted that the main control node in addition to described first from control node, second from control node, Three carry out outside command signal interaction from control node and Image Acquisition terminal, also exist with flat panel detector and high pressure generator and order Enable signal interaction, but it should be recognized that described first from control node, second from control node and third from control node one As connect by CAN wire communication mode with the main control node and Image Acquisition terminal to form the communication of command signal and hand over Mutually, the main control node and high pressure generator connect to form order letter in a manner of serial communication with described image acquisition terminal Number communication interaction, flat panel detector then communicated with Image Acquisition terminal with ether web form, main control node and high pressure Generator and flat panel detector are communicated by control port.

Specifically, step S2 may include following sub-step:

It is S2-1, any from control node from control node, second from control node and third when receiving described first When the next command signal that one or more nodes are sent, the transmission source for sending the described second the next command signal is judged；

When needing to carry out command signal feedback to Image Acquisition terminal from control node, from control node by generating needle The main control node is sent to for the second the next command signal of Image Acquisition terminal, the main control node is according to receiving The second the next command signal in communication label find out corresponding signal source (such as first from control from control node Node processed), it should be noted that in embodiments of the present invention, also command signal can be carried out with remaining node through the above way Interaction, such as: flat panel detector and high pressure generator.

S2-2, corresponding the next command signal is found out from the preset command signal library according to the transmission source List；

After successfully finding out corresponding signal source from control node, is searched in command signal library and transfer out the signal Source is from the corresponding lower order of the bit sublist of control node, it should be noted that is generally searching the signal source from control node pair First the described second the next command signal can be parsed as the upper order of the bit sublist answered is previous, signal content is parsed based on Preset common communication protocol language in control node, then carries out the lookup of the next command signal sublist again, certainly, is sending out In bright embodiment, which can overturn sequence and carry out, i.e., first search upper command signal sublist, then carry out signal resolution.

S2-3, that corresponding with the described second the next command signal second is found out from the lower order of the bit sublist is upper Command signal；

Wherein, the described second the next command signal be first from control node, second from control node and third from control The command signal for described image acquisition terminal that any one in node or more than one node are sent.

It should be noted that main control node can be to the second lower order of the bit after receiving the second the next command signal Signal is parsed, and communication label and command signal content of the signal source from control node are therefrom extracted, when being successfully matched to When with the corresponding signal source of communication label from control node, then main control node can be according to the signal source from control node pair The next command signal sublist answered carries out the translation of command signal content, and general is specially first by the content solution of command signal The common communication protocol language of main control node is translated into analysis, then find out from the next command signal sublist this section it is general logical Letter protocol language says the second upper command signal represented.

It should be noted that flat panel detector and high pressure generator can also use the above method pair by main control node Image Acquisition terminal carries out the interaction of command signal, and specific steps process is same as mentioned above, and it is no longer repeated.

S3, the main control node are according to the described first upper command signal, the second upper command signal, the first the next life Signal and the second the next command signal are enabled, establishes described image acquisition terminal and first from control node, second from control node And third is interactive from the command signal between any one in control node or more than one node.

Specifically, step S3 may include following sub-step:

S3-1, according to the described first upper command signal, generate and saved from control node, second from control for described first The first command signal interaction of point and third any one or more than one node from control node, and described first is ordered Signal interaction be sent in the form of the described first the next command signal described first from control node, second from control node and Third any one or more than one node from control node；

After determining communication label, main control node can be corresponding from control node, i.e. main control with call communication label Node can generate the first interaction request according to communication label, and the first interaction request can be sent to from control node.

S3-2, when detecting that described first is any from control node from control node, second from control node and third When one or more nodes are directed to the response of first interaction request, according to the described second the next command signal, generate It interacts for the second command signal interaction of described image acquisition terminal, and by second command signal with order of the bit on second The form of signal is sent to above-mentioned Image Acquisition terminal；

It, can be to main control node returning response message (i.e. second from control node after receiving the first interaction request The next command signal), main control node generates the second command signal for being directed to described image acquisition terminal when detecting response Interaction, and second command signal interaction is sent to above-mentioned Image Acquisition terminal in the form of the second upper command signal.

Based on first command signal is interactive and second command signal interaction, establish described image acquisition terminal with Described first from control node, second from control node and third between any one in control node or more than one node Command signal interaction,

Wherein, the first command signal interaction includes the first interaction feedback or/and the first interaction request, second life Enabling signal interaction includes the second interaction feedback or/and the second interaction request.

It should be noted that it is active signal that Image Acquisition terminal, which sends the first upper command signal, sent out from control node The next command signal of second sent can be the cpm signal that the first upper command signal is sent for Image Acquisition terminal, can also Think that active transmission under certain circumstances feeds back the active signal of specific objective data, the particular condition to main control node Generally mechanical disorder situation or pre-set specific condition, e.g., upright lifting excessive height etc..

When the second the next command signal is sent as active signal form, the specific exchange method of signal and step S3-1 value S3-2 is essentially identical, need to only turn requesting party and feedback side.

In embodiments of the present invention, for main control node, main control node further includes individually to other each nodes Command signal interaction, comprising: the scheduling of power-on command signal.

Whether the main control node is activated according to emergency stop switch is dispatched power-on command signal to flat panel detector, high pressure It is generator, described first any one from control node and Image Acquisition terminal from control node, second from control node, third A or more than one node, includes the following steps:

S4-1, when emergency stop switch is pressed, send power-on command signal to the flat panel detector and described image adopt Collect terminal,

When main control nodal test is pressed to emergency stop switch, and needs to boot up command signal scheduling, transmission is opened Machine command signal accesses the urgency being pressed to the flat panel detector and described image acquisition terminal in the form of scan round The case where whether guard's valve is recovered, is not pressed after emergency stop switch is lifted according to emergency stop switch dispatches power-on command letter Number to each node.S4-2, when emergency stop switch is not pressed, send power-on command signal to the flat panel detector, high pressure Raw device, first from control node, second from control node, third from control node and Image Acquisition terminal,

Emergency stop switch does not press two kinds of situations including restoring after not being pressed and being pressed originally, and two kinds of feelings Power-on command signal dispatching method corresponding to condition is identical.

In embodiments of the present invention, under open state, for main control node, main control node further includes independent Command signal interaction to other each nodes, comprising: the scheduling of shut-down command signal and the scheduling of exposure commands signal, and should The scheduling of command signal can be controlled based on virtual human-computer interaction interface.

The main control node carries out specified command signal in section in different times in a manner of period poll Scheduling, wherein the period includes first time period, second time period and third period,

When emergency stop switch is not pressed, power-on command signal is sent to the flat panel detector, high pressure generator, movement After the step of power supply node and described image acquisition terminal, further includes:

S5-1, when be in first time period when, judge described image acquisition terminal switching on and shutting down I/O port status whether be State of activation；

S5-1-1, if so, judging whether emergency stop switch I/O port status is state of activation；S5-1-3, if so, hair Send shut-down command signal to the high pressure generator, first from control node, second from control node and third from control node；

S5-1-2, if it is not, then whether scan image acquisition terminal is in off-mode；If S5-1-4, being in shutdown shape State, then main control node enters shutdown control flow, and returns after completing shutdown control flow and judge the port switching on and shutting down I/O shape Whether state is state of activation.

S5-2, when be in second time period when, judge whether exposure I/O port state is state of activation；

S5-2-1, if so, send exposure commands signal to above-mentioned high pressure generator and flat panel detector,

Since there are interlocked relationships for exposure time series and motion control, so each node is kept to be in quiet during exposure time series Only state (except oscillating Bucky)；

S5-2-2, if it is not, then executing subsequent time period task.

S5-3, when be in the third period when, judge the bus line command signal received whether be described image acquisition eventually The first upper command signal relevant to calibration or motion control that end is sent；

S5-3-1, it is saved to first from control node, second from control if so, sending the corresponding first the next command signal Point and third any one or more than one node from control node, since exposure time series and motion control have interlocking and close System, so then ignoring exposure time series I/O scan during motion control (except oscillating Bucky).S5-3-2, if it is not, then holding Row subsequent time period task.

When scanning is pressed to emergency stop switch, into emergency stop switch process flow, execution part shutdown control flow (is closed It closes high pressure generator and stop motion controls the interaction of relevant first upper command signal).At this point, virtual interface does not execute fortune Dynamic control and exposure time series function, only responsible emergency stop switch scanning, until emergency stop switch restores.

In practical applications, main control node by CAN bus carry out command signal transmitting-receiving and dissection process, use with Under motion control method process complete gantry motion control.It includes: that a key arrives automatically that motion control, which is broadly divided into two kinds of situations, Position and each axis move alone two kinds.

When for a key automatic in-position situation: doctor is as needed, and corresponding position is selected in Image Acquisition terminal, Corresponding C-arm angle target value is issued main control node by Image Acquisition terminal；Main control node sends out the target angle angle value It is corresponding from control node to give C-arm rotation.When doctor's crawl C arm rotates a corresponding key from control node in place When key, C-arm rotation is corresponding to feed back to main control node for the key-press status from control node, and main control node makes c-type Arm rotation is corresponding to be automatically rotated to preset angle from control node.If main control node is received arbitrarily halfway by key-like State variation will forbid C-arm rotation is corresponding to continue automatic rotation from control node immediately.Instruction light bar is controlled when automatic in-position Light prompt 2 seconds.

When for each axis independently moving: being respectively uniformly sent to main control section from the key of control node or backpedalling brake switch state Point, main control node control each movement from control node according to the definition that key and backpedalling brake switch.

In embodiments of the present invention, when the first upper command signal that described image acquisition terminal is sent is that calibration is relevant When command signal, send corresponding first the next command signal to first from control node, second from control node and third from The step of any one in control node or more than one node, include the following steps:

The type of judgement calibration target, wherein the type of the calibration target includes position correction and oppressive force calibration；

When for position correction, column up-down altitude calibration, C-arm rotation angle calibration system and compression device lifting are carried out respectively Altitude calibration,

Specifically, the step of column up-down altitude calibration includes: to judge whether stem height controller is effective；

If effectively, sending the target hoisting depth of the column to described first from control node；

It obtains the practical hoisting depth of the column and is sent to described first from control node；

Specifically, the step of C-arm rotation angle calibration system includes: to judge whether C-arm rotation angle controller has Effect；

If effectively, the target for sending the C-arm rotates angle to described second from control node；

It obtains the practical rotation angle of the C-arm and sends to described second from control node；

Specifically, the step of compression device adjustable height is calibrated includes: to judge whether compression device height controller is effective；

If effectively, sending the target hoisting depth of the compression device to the third from control node；

It obtains the practical hoisting depth of the compression device and is sent to the third from control node；

When for oppressive force calibration, oppressive force is carried out under specified C-arm rotation angle and specified press discs size Calibration, step include:

The target for sending the compression device applies compressing force value to the third from control node；

It obtains the actually applied compressing force value of the compression device and sends to the third from control node.

In embodiments of the present invention, main control node carries out Integrated design for the timing of different flat panel detectors, thus A general time sequence control logic is established, the time series stereodata of flat panel detector and high pressure generator is completed, by detecting hand The generation and collection of lock signal X-ray synchronous with Image Acquisition station command signal realization visit X-ray output window and plate The Image Acquisition window strict conformance of device is surveyed, the dose of radiation of such X-ray is utilized effectively, while making the acquisition of detector Effective integral time optimal had both avoided patient and had radiated by unnecessary X-ray, in turn ensures and obtains the optimal quality of image. Further to promote picture quality, oscillating Bucky is installed in flat panel detector upper surface.Rim brake second gear presses starting vibration filter line Grid expose generator after recognizing exposure initial position signal.

Specifically, the step of sending exposure commands signal to above-mentioned high pressure generator and flat panel detector, including walk as follows It is rapid:

First request signal is sent to described image acquisition terminal, and judges whether to receive institute within the first specified time State Image Acquisition terminal first promises signal；Wherein, the first request signal is 1 grade of signal of rim brake, and the first specified time is preferred It is 2 seconds, first promises that signal is that Image Acquisition terminal is directed to the feedback signal generated with the first request signal；

If so, send high pressure preparatory signal to high pressure generator, and judge whether to receive the within the second specified time Two request signals；Wherein, the first request signal is 2 grades of signals of rim brake, and the second specified time was preferably 10 seconds；

If so, starting vibrating grid, and judge whether the start bit signal that vibrating grid is detected within third specified time； Wherein, third specified time is preferably 10 seconds；

If so, second request signal is sent to described image acquisition terminal, and judge whether specified the 4th Second that described image acquisition terminal is received in time promises signal；Wherein, second promise that signal is Image Acquisition terminal needle To the feedback signal generated with the second request signal, the 4th specified time was preferably 2 seconds；

If so, starting vibrating grid, and judge whether in the 5th specified time inscribed height for receiving high pressure generator transmission Press signal in place, wherein the 5th specified time was preferably 5 seconds；

If so, send exposure request signal to flat panel detector, and control flat panel detector and high pressure generator carries out First exposure；

Judge whether the first exposure succeeds, specifically, sentencing in the 6th specified time whether receive Image Acquisition terminal The feedback command signal of feedback completed about first time exposure, wherein the 6th specified time was preferably 10 seconds.

If so, control flat panel detector and high pressure generator carry out the second exposure；If it is not, then by parameter initialization.

It should be noted that generally carry out judging whether the second exposure succeeds after re-expose, judgement specifically with judgement It is identical whether the first exposure succeeds, if so, terminating exposure process, if it is not, then by parameter initialization.

Specifically, the first exposure includes the following steps:

Exposure request EXP_Req signal is sent to flat panel detector, and judges whether receive within the 7th specified time First EXP_OK signal of flat panel detector feedback, wherein the 7th specified time was preferably 5 seconds；If so, calling high pressure Device generates high pressure EXP signal；Pre-exposure command signal is sent to Image Acquisition terminal；Call output high voltage of high-voltage generator SHUTDOWN/AEC signal.

Specifically, the second exposure includes the following steps:

Judge the 2nd EXP_OK signal that flat panel detector feedback whether is received within the 8th specified time, wherein the Eight specified times were preferably 5 seconds；If so, judge vibrating grid start bit signal whether is detected within the 9th specified time, In, the 9th specified time was preferably 10 seconds；If so, sending pre-exposure command signal to Image Acquisition terminal；Call high pressure Raw device exports high pressure SHUTDOWN/AEC signal.

When in embodiments of the present invention, using first from control node as description end, when described image acquisition terminal is sent The first upper command signal when being the relevant command signal of motion control, receive the master from control node when described first The described first the next command signal that control is sent, further includes following steps:

Described first judges whether stem height reaches software limit height or electric limiting height from control node；

If it is not, then described first from control node according to the described first the next command signal adjusting post height, and judge Whether receive that the main control node sends in the first preset time it is legal under stem height adjusting relevant first Order of the bit signal, it should be noted that judge the legal of the main control node transmission whether is received in the first preset time The purpose that relevant first the next command signal is adjusted to stem height are as follows: can not when avoiding communication abnormality etc. from surprisingly occurring Control node causes digital galactophore machine not shut down in time, therefore, using the validity for periodically judging control command signal, i.e., If not receiving the main control node is sent first the next command signal in the first preset time, it is corresponding to stop the node Motion motor operation, it should be noted that the first preset time is preferably 2 seconds.

If it is not, then described first from control node stop adjusting post height；If so, repeating the above steps, that is, judgement Whether stem height reaches software limit height or electric limiting height.

Wherein, described first the described first the next command signal for receiving from control node is for described first from control The command signal of node adjusting post height processed.

When in embodiments of the present invention, using second from control node as description end, when described image acquisition terminal is sent The first upper command signal when being the relevant command signal of motion control, receive the master from control node when described second The described first the next command signal that control is sent, further includes following steps:

Described second from control node judge C-arm rotation angle whether reach software limit angle, electric limiting angle, Target angle or default special angle, wherein the special angle in the present embodiment, preferably 0 °, 45 ° +/-, 90 ° +/-；

If it is not, then described second C-arm rotation angle is adjusted according to the described first the next command signal from control node, and Judge the legal relevant to C-arm angular adjustment of the main control node transmission whether is received in the second preset time First the next command signal, it should be noted that judge that the main control node whether is received in the second preset time to be sent Legal the first the next command signal relevant to C-arm angular adjustment purpose are as follows: avoid communication abnormality etc. from surprisingly occurring When be unable to control node digital galactophore machine caused not shut down in time, therefore, using periodically judging control command signal Validity stops that is, if not receiving the main control node is sent first the next command signal in the second preset time The operation of the corresponding motion motor of the node, it should be noted that the second preset time is preferably 2 seconds.

If it is not, then described second adjusting C-arm rotation angle from control node stopping；If so, repeat the above steps, That is, it is judged that whether C-arm rotation angle reaches software limit angle, electric limiting angle, target angle or default special angle.

Wherein, described second the described first the next command signal for receiving from control node is for described second from control Node processed adjusts the command signal of C-arm rotation angle.

When in embodiments of the present invention, using third from control node as description end, when described image acquisition terminal is sent The first upper command signal when being the relevant command signal of motion control, and the third receives the master from control node The described first the next command signal that control is sent, wherein the described first the next life that the third is received from control node Enabling signal is the command signal or control oscillating Bucky motor for adjusting compression device height from control node for the third Control command signal, further includes following steps:

Judge whether the described first the next command signal is related to compression device height adjustment；

If so, the third judges whether compression device height reaches software limit height or electric limiting from control node Highly, and judge whether oppressive force is greater than or equal to preset threshold；Wherein, oppressive force preset threshold is 30N.

If it is not, then the third from control node adjusts compression device height according to the described first the next command signal, and sentence Break whether receive that the main control node sends in third preset time legal relevant to compression device height adjustment the Order of the bit signal once, it should be noted that judge whether receive what the main control node was sent in third preset time The purpose of the next command signal of legal relevant to compression device height adjustment first are as follows: avoid communication abnormality etc. that it surprisingly occurs When be unable to control node digital galactophore machine caused not shut down in time, therefore, using periodically judging having for control command signal Effect property that is, if not receiving the main control node is sent first the next command signal in third preset time, and does not have again There is the rising command signal for receiving compression device knob, then stop the operation of the corresponding motion motor of the node, it should be noted that Third preset time is preferably 2 seconds.

If it is not, then the third stops adjusting compression device height from control node；If so, repeating the above steps, that is, sentence Whether the described first the next command signal of breaking is related to compression device height adjustment.

In embodiments of the present invention, judge first bottom command signal step whether relevant to compression device height adjustment Further include following steps after rapid:

If it is not, then judging whether the described first the next command signal is related to oscillating Bucky motor motion control；

If so, the third judges whether oscillating Bucky motor movement reaches electric limiting condition from control node； If it is not, then stopping above-mentioned control process；

If so, the third stops control oscillating Bucky motor movement from control node；If it is not, then starting vibrating grid Motor.

In embodiments of the present invention, the third judges whether oppressive force is greater than or equal to preset threshold from control node Step, comprising:

The third obtains the rotation angle of current C-arm by the main control node from control node, is oppressed object The specification of thickness and press discs；

It obtains the oppressive force measured value of compressing force snesor and goes out reality with object thickness conversion is oppressed according to calibration parameter Force value is oppressed, practical compressing force value, relational expression are calculated by the corresponding relationship formula of oppressive force measured value and practical compressing force value It is as follows:

Fn=Kn*X+Bn

Wherein, Fn is practical compressing force value, and X is oppressive force measured value, and Kn is the coefficient obtained by oppressive force calibration, Bn For the constant obtained by oppressive force calibration, n is the angle state of C-arm.

Wherein, the calibration parameter obtains have according to the specification conversion of the rotation angle and press discs of the current C-arm Body is the rotation angle threshold of the C-arm to be divided into n angular interval, and obtain at least two press discs specifications；By each angle Degree section and press discs specification are combined, and obtain assembled state list；It is described group corresponding to obtain the compressing force snesor The oppressive force measured value of corresponding each assembled state in conjunction state list；The oppressive force measured value is subjected to specified school Standard obtains the corresponding calibration parameter of each assembled state, and combines to form calibration parameter column with the assembled state list Table；

In practical applications, C-arm is from control node real-time sampling compression device pressure sensor, using least square method school Numerical value that is quasi- and calculating oppressive force.Since the angle of C-arm relative level (or column) is different, oppressive force, which suffers oppression, thinks highly of the heart Offset and rail friction power variation influence and have relatively large deviation.Therefore, oppressive force calibration needs to distinguish different C-arm angles State is no less than (0 °, 45 °, 90 °, 135 °) the progress least square method oppressive force calibration of 4 angles in n.In practical application In the process, geometric corrections are carried out to the oppressive force under non-above-mentioned angle.Since the gravity of different size press discs is different, need into The corresponding oppressive force calibration of two kinds of specifications of row.

Judge whether the practical compressing force value is greater than or equal to the specified threshold, wherein the specified threshold is 30N。

In embodiments of the present invention, described to obtain the oppressive force measured value for oppressing force snesor and convert according to calibration parameter The step of practical compressing force value out, comprising:

The oppressive force measured value of compressing force snesor is obtained, and judges whether the oppressive force measured value is legal；

If so, judging whether compression thickness is legal；

If so, obtained from the calibration parameter list respectively angular interval corresponding with the rotation angle of C-arm with And calibration parameter corresponding with press discs specification, and the practical compressing force value is conversed according to the calibration parameter.

In any of the above-described inventive embodiments, by main control node 1 and respectively from the command interaction of control node, make number Mammary machine realize complete machine function difficulty be greatly lowered, so as to avoid because program code excessively concentrate and also complexity cause it is whole Machine function, which exists, to conceal defects, and improves the use reliability and safety of digital galactophore machine, main control node 1 with respectively from control It is succinct that there is only the communications cables between node, improves machine routing and succinctly spends, and avoids the elements such as motor and sensor in machine The drawback of device internal wiring complexity, to have at low cost, maintenance easy to install, Electro Magnetic Compatibility is high, and security risk is low, reliability The advantages that high.

Above to the circuit and system of a kind of control FFDM exposure time series and movement provided herein, carry out in detail It introduces, specific examples are used herein to illustrate the principle and implementation manner of the present application, the explanation of above embodiments It is merely used to help understand the present processes and its core concept；At the same time, for those skilled in the art, according to this The thought of application, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not answered It is interpreted as the limitation to the application.

Claims

1. a kind of circuit for controlling FFDM exposure time series and movement, which is characterized in that saved including main control node, first from control Point, second from control node, third from control node and Image Acquisition terminal,

The main control node respectively with described first from control node, second from control node, third from control node and figure Picture acquisition terminal connects,

Described image acquisition terminal generates order of the bit on first for will interact the first interactive signal generated parsing with user Signal is simultaneously sent to the main control node；

Described image acquisition terminal, being also used to can by the second upper command signal generation received from the main control node The second interactive signal interacted is generated with user；

Described first from control node, second from control node and third from control node, be respectively used to according to the main control The first the next command signal that node is sent adjusts working condition；

Described first from control node, second from control node and third from control node, be also used to respectively according to itself work State generates the second the next command signal and is sent to the main control node；

The main control node, for being generated according to the first upper command signal received or the second the next command signal parsing Corresponding first the next command signal or the second upper command signal, and the described first the next command signal is sent to correspondence Slave control node and the described second upper command signal is sent to Image Acquisition terminal, wherein on first order of the bit believe Number corresponding to generate the first the next command signal, the second the next command signal is corresponding to generate the second upper command signal.

2. circuit according to claim 1, which is characterized in that the main control node includes the first serial communication controlling Device, FPGA controller, the first CAN controller, high pressure generator control interface and flat panel detector control interface,

The FPGA controller connects with first serial communication controller, the first CAN controller, high pressure generator control respectively Mouth is connected with flat panel detector control interface；

First serial communication controller is connect with described image acquisition terminal, and first CAN controller passes through CAN bus It is connect respectively from control node, second from control node, third from control node and Image Acquisition terminal with described first, it is described High pressure generator control interface is connect with high pressure generator, and the flat panel detector control interface is connect with flat panel detector, institute The first serial communication controller is stated to connect with described image acquisition terminal；

First CAN controller and the first serial communication controller are respectively used to receive what described image acquisition terminal was sent First upper command signal, and the second upper command signal is sent to described image acquisition terminal；

First CAN controller is also used to receive first from control node, second from control node and third from control node In the second the next command signal for sending of at least one module, and send the first the next command signal and saved to first from control At least one module from control node from control node and third of point, second；

The high pressure generator control interface, the second the next command signal for receiving high pressure generator transmission, and send First the next command signal is to high pressure generator；

The flat panel detector control interface, the second the next command signal for receiving flat panel detector transmission, and send First the next command signal is to flat panel detector；

The FPGA controller, for being parsed the received first upper command signal or the second the next command signal and generating phase The next command signal of first answered or the second upper command signal, and the described first the next command signal is sent to the first CAN Controller, high pressure generator control interface or flat panel detector control interface, and the second upper command signal is sent to One CAN controller or the first serial communication controller, wherein the first upper command signal is corresponding to generate first bottom Command signal, the described second the next command signal is corresponding to generate the second upper command signal.

3. circuit according to claim 2, which is characterized in that described image acquisition terminal includes human-computer interaction terminal, CAN Control card, the second serial communication controller, third serial communication controller and ethernet communication controller,

The human-computer interaction terminal respectively with the CAN control card, the second serial communication controller, third serial communication controller It is connected with ethernet communication controller；

The CAN control card is saved from control node, second from control with the main control node, first respectively by CAN bus Point is connected with third from control node, and second serial communication controller is connect with the main control node, the third string Row communication controler is connect with the high pressure generator, and the ethernet communication controller is connect with the flat panel detector；

The CAN control card and the second serial communication controller are respectively used to receive on the main control node is sent second Order of the bit signal, and the first upper command signal is sent to the main control node；

The third serial communication controller, for receiving the first feedback signal of high pressure generator transmission, and transmission first Signal is controlled to high pressure generator；

The ethernet communication controller, for receiving the second feedback signal of flat panel detector transmission, and the second control of transmission Signal processed is to flat panel detector；

The human-computer interaction terminal is used for the received second upper command signal, the first feedback signal and the second feedback signal It parses and generates corresponding second interactive signal；

The human-computer interaction terminal is also used to first interactive signal parsing the corresponding first upper command signal of generation simultaneously It is sent to CAN control card or the second serial communication controller；

The human-computer interaction terminal is also used to the parsing of the first interactive signal and generates the corresponding first control signal or the second control Signal processed, and the first control signal is sent to the third serial communication controller and by the second control signal It is sent to the ethernet communication controller.

4. circuit according to claim 2, which is characterized in that first CAN controller includes: chip U13, resistance R91, resistance R92, diode (LED) 16, diode (LED) 17, polar capacitor C40, capacitor C41, CAN interface J10 and CAN are total Line interface J11,

The CAN interface J10 and CAN interface J11 is connect with the end CANL of the chip U13 and the end CANH respectively； The anode of the polar capacitor C40 is connect with the end VCC of the chip U13 and internal electric source, the cathode of the polar capacitor C40 It is connect with the end GND of the chip U13 and ground wire；One end of the capacitor C41 be connected to the polar capacitor C40 anode with Between the end VCC of the chip U13, the other end of the capacitor C41 is connected to the cathode and the core of the polar capacitor C40 Between the end GND of piece U13；One end of the resistance R92 is connect with the anode of the diode (LED) 17, and the resistance R92's is another One end is connect with the end VCC of the chip U13, and the cathode of the diode (LED) 17 is connect with the end RXD of the chip U13；Institute The one end for stating resistance R91 is connect with the anode of the diode (LED) 16, and the other end of the resistance R91 is with the chip U13's The connection of the end VCC, the cathode of the diode (LED) 16 are connect with the end TXD of the chip U13；The end TXD of the chip U13 and The end RXD is connect with the FPGA controller respectively；The CAN interface J10 and CAN interface J11 respectively with the CAN Bus connection.

5. circuit according to claim 1, which is characterized in that described first from control node include the first dsp controller, Second CAN controller, C-arm lifting drive module, floor push, lifting limit switch and adjustable height sensor,

First dsp controller goes up and down drive module, floor push, lifting with second CAN controller, C-arm respectively Limit switch is connected with adjustable height sensor, and second CAN controller is connected by CAN bus and the main control node It connects；

First dsp controller, for parsing the received first the next command signal, and by described the after parsing Once order of the bit signal is sent to C-arm lifting drive module；

First dsp controller is also used to according to the floor push, lifting limit switch and adjustable height sensor feedback Signal generate the described second the next command signal, and second bottom command signal is passed through into second CAN controller It is sent to the main control node.

6. circuit according to claim 1, which is characterized in that described second from control node include the second dsp controller, Third CAN controller, C-arm rotation drive module, rotary stopper switch and angular sensor,

Second dsp controller respectively with the third CAN controller, C-arm rotation drive module, rotary stopper switch and Angular sensor connection, the third CAN controller are connect by CAN bus with the main control node；

Second dsp controller, for parsing the received first the next command signal, and by described the after parsing Once order of the bit signal is sent to the C-arm rotation drive module；

Second dsp controller, is also used to be switched according to the rotary stopper and the signal of angular sensor feedback is raw Institute is sent to by the third CAN controller at the described second the next command signal, and by the described second the next command signal State main control node.

7. circuit according to claim 1, which is characterized in that the third from control node include third dsp controller, 4th CAN controller, compression device drive module, compression device limit switch, compression device thickness transducer, compression device pressure sensor With compression device manual knob,

The third dsp controller respectively with the 4th CAN controller, compression device drive module, compression device limit switch, pressure Compel device thickness transducer to connect with compression device pressure sensor, the 4th CAN controller passes through CAN bus and the main control Node connection；

The third dsp controller, for parsing the received first the next command signal, and by described the after parsing Once order of the bit signal is sent to the compression device drive module；

The third dsp controller is also used to according to the compression device limit switch, compression device thickness transducer, compression device pressure Force snesor and the signal of compression device manual knob feedback generate the described second the next command signal, and second bottom is ordered Signal is enabled to be sent to the main control node by the 4th CAN controller.

8. according to circuit described in claim 5-7, which is characterized in that second CAN controller, third CAN controller and The circuit structure of 4th CAN controller is identical.

9. circuit according to claim 8, which is characterized in that second CAN controller includes: chip U40, polarity electricity Hold C112, capacitor C113, CAN interface J4 and CAN interface J5,

The CAN interface J4 and CAN interface J5 is connect with the end CANL of the chip U40 and the end CANH respectively；Institute The anode for stating polar capacitor C112 is connect with the end VCC of the chip U40 and internal electric source, the cathode of the polar capacitor C112 It is connect with the end GND of the chip U40 and ground wire；One end of the capacitor C134 is connected to the anode of the polar capacitor C112 Between the end VCC of the chip U40, the other end of the capacitor C41 is connected to cathode and the institute of the polar capacitor C112 It states between the end GND of chip U40；The end TXD and the end RXD of the chip U40 is connect with first dsp controller respectively；Institute It states CAN interface J4 and CAN interface J5 is connect with the CAN bus respectively.

10. a kind of system for controlling FFDM exposure time series and movement, which is characterized in that including claim 1-9 any one institute Circuit, high pressure generator, flat panel detector, C-arm, the compression device stated,

Main control node and Image Acquisition terminal in the circuit are connect with the high pressure generator and flat panel detector respectively； First in the circuit connect from control node with the lifting driving motor of the C-arm；The second control in the circuit Module is connect with the rotary drive motor of the C-arm；Third control module in the circuit be set in the C-arm The connection of compression device driving motor.