JP7255669B2 - X-ray imaging device - Google Patents

Description

The present invention relates to an X-ray imaging apparatus.

2. Description of the Related Art Conventionally, an X-ray imaging apparatus having an X-ray generator including an X-ray source that irradiates an object with X-rays is known. Such an X-ray imaging apparatus is disclosed, for example, in JP-A-2014-50428.

Japanese Patent Application Laid-Open No. 2014-50428 discloses an X-ray generator including an X-ray generator including an X-ray source that irradiates an object with X-rays, and an X-ray generator moving mechanism (post) that vertically moves the X-ray generator. A diagnostic device is disclosed. This X-ray diagnostic apparatus is provided with a control section that controls the X-ray generation section moving mechanism to vertically move the X-ray generation section. Further, this X-ray diagnostic apparatus is provided with an obstacle detection section that detects an obstacle arranged in the movement direction of the X-ray generation section. Then, when an obstacle is detected by the obstacle detection section, the control section stops the vertical movement of the X-ray generation section. This avoids collision between the X-ray generator and the obstacle.

Specifically, in the X-ray diagnostic apparatus disclosed in Japanese Patent Application Laid-Open No. 2014-50428, the obstacle detection section is configured by, for example, an infrared sensor. Also, the X-ray generator is attached below the X-ray generator moving mechanism (post). Also, one obstacle detection unit is provided on the side of the X-ray generation unit attached below the column. An obstacle detector (infrared sensor) emits infrared rays downward, and the obstacle detector detects reflected light from the obstacle. Thereby, it is detected whether or not there is an obstacle below the X-ray generator. If an obstacle is detected below the X-ray generator, the movement of the X-ray generator is stopped.

JP 2014-50428 A

However, in the X-ray diagnostic apparatus disclosed in Japanese Patent Application Laid-Open No. 2014-50428, infrared rays are emitted downward from an obstacle detection unit (infrared sensor), and reflected light from the obstacle is detected by the obstacle detection unit. ing. Therefore, there is a problem that only obstacles positioned in a relatively narrow range below the X-ray generator moving mechanism (post) can be detected. Therefore, there is a problem that a collision with an obstacle (another object) cannot be avoided appropriately.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and one object of the present invention is to provide an X-ray imaging apparatus capable of appropriately avoiding collisions with other objects. That is.

To achieve the above object, an X-ray imaging apparatus according to one aspect of the present invention provides an X-ray generator including an X-ray source for irradiating an object with X-rays, and a horizontally movable X-ray generator. an image acquisition unit that acquires an image in a non-vertical plane, and is attached at a position where at least one of the X-ray generation unit and the holding unit and another object are within the same angle of view. and an image processing unit for processing the acquired image, the image processing unit specifying at least one of the X-ray generating unit and the holding unit in the image, and processing at least one of the specified X-ray generating unit and the holding unit. Calculating a distance in the horizontal plane between at least one of the X-ray generating unit and the holding unit specified by the identifying unit for identifying another object located in the same horizontal plane as the one in the image, and the other object and a calculator for

According to the present invention, as described above, the image acquisition unit is attached at a position where at least one of the X-ray generation unit and the holding unit and another object are within the same angle of view, and image of a relatively wide range can be acquired by the image acquisition unit. As a result, other objects can be detected over a relatively wide range, so collisions with other objects can be appropriately avoided.

1 is a diagram showing the configuration of an X-ray imaging apparatus according to one embodiment; FIG. 1 is a schematic diagram showing the configuration of an X-ray imaging apparatus according to one embodiment; FIG. FIG. 2 illustrates a remote control for an X-ray imaging device according to one embodiment; It is a figure which shows the image detected by the image acquisition part (stereo camera). It is a figure which shows the relationship between the height position of an X-ray imaging device, and the height position of an object. It is a figure which shows the figure (two-dimensional map of a vertical distance) which shows the vertical distance to an object. Fig. 3 shows the horizontal distance between the X-ray imaging device and the object; FIG. 10 is a schematic diagram showing the configuration of an X-ray imaging apparatus according to a modification;

Embodiments embodying the present invention will be described below with reference to the drawings.

[This embodiment]
A configuration of an X-ray imaging apparatus 100 according to an embodiment will be described with reference to FIGS. 1 to 7. FIG.

As shown in FIG. 1, the X-ray imaging apparatus 100 includes an X-ray generator 10. As shown in FIG. The X-ray generator 10 includes an X-ray source (X-ray tube) 11 that irradiates an object 200 with X-rays. A collimator 12 is provided below the X-ray source 11 . The collimator 12 is configured to narrow down the range of X-rays emitted from the X-ray source 11 .

A handle 13 is attached to the X-ray generator 10 . The handle 13 is configured to be grippable by the operator. The X-ray generating unit 10 is also provided with an operation panel 16 including operation switches 14 and a display unit 15 . By operating the operation panel 16 by the operator, the X-ray generation unit 10 is rotated about an axis along the vertical direction, and the X-ray generation unit 10 is moved in the vertical direction and in the horizontal direction.

Further, as shown in FIG. 2, the X-ray imaging apparatus 100 includes a holding section 1 that holds the X-ray generating section 10 so as to be horizontally movable. The holding portion 1 includes a support portion 20 , a support portion 30 and a carriage portion 40 .

The support section 20 is configured to support the X-ray generation section 10 . Moreover, the support part 20 is attached to the lower part of the support|pillar part 30 mentioned later. Further, the support section 20 includes a disk-shaped mounting section 21 mounted to the lower portion of the support section 30 and an arm section 22 connecting the mounting section 21 and the X-ray generating section 10 . The disc-shaped mounting portion 21 is configured to be rotatable with respect to the supporting column portion 30 about the vertical direction. In addition, the X-ray generator 10 is configured to be rotatable about the horizontal direction with respect to the arm section 22 .

The support section 30 is configured to move the support section 20 (X-ray generation section 10) in the vertical direction. Specifically, the support section 30 is configured to be extendable and contractible in the vertical direction. The support portion 20 is vertically moved by the expansion and contraction of the support portion 30 . A wire rope 31 is provided inside the support 30 . One end of the wire rope 31 is connected to the lower portion of the support 30 . The other end of the wire rope 31 is connected to a pulley 32b via a pulley 32a provided inside the carriage section 40, which will be described later. A motor 33 is connected to the pulley 32b. A brake 34 is provided on the pulley 32b. Rotation of the motor 33 causes the wire rope 31 to be wound around or unwound from the pulley 32b, so that the post 30 expands and contracts. Further, the motor 33 controls the speed of expansion and contraction of the column portion 30 (movement of the support portion 20 in the vertical direction). Further, the motor 33 and (or) the brake 34 stop (braking) the expansion and contraction of the column 30 (the vertical movement of the support 20). In addition, the support|pillar part 30 is an example of the "vertical movement part" of a claim.

The carriage section 40 moves the support section 30 in the horizontal direction (X direction) with respect to the ceiling 210 . Specifically, the ceiling 210 is provided with a fixed rail 50 fixed to the ceiling 210 . Further, the fixed rail 50 is provided with a movable rail 51 that is movable with respect to the fixed rail 50 . The moving rail 51 is provided so as to extend in a direction (X direction) perpendicular to the direction (Y direction) in which the fixed rail 50 extends. The carriage unit 40 is movably attached to a moving rail 51 via rollers 41, for example. In a state in which the carriage portion 40 is stationary with respect to the moving rail 51, the moving rail 51 moves on the fixed rail 50, thereby moving the column portion 30, the supporting portion 20, and the X-ray generating portion 10 in the Y direction. . Further, when the carriage portion 40 moves on the moving rail 51 while the moving rail 51 is stationary with respect to the fixed rail 50, the column portion 30, the support portion 20, and the X-ray generating portion 10 move in the X direction. . The carriage portion 40 and the moving rails 51 are an example of the "horizontal direction moving portion" in the scope of claims.

A motor 42 for moving, decelerating, and stopping the carriage portion 40 with respect to the moving rails 51 is provided inside the carriage portion 40 . A brake 43 for stopping (braking) the carriage portion 40 with respect to the moving rail 51 is provided inside the carriage portion 40 . Further, the moving rail 51 is provided with a motor 52 for moving, decelerating, and stopping the moving rail 51 with respect to the fixed rail 50 . Further, the moving rail 51 is provided with a brake 53 for stopping (braking) the moving rail 51 with respect to the fixed rail 50 .

The X-ray imaging apparatus 100 also includes a cable 60 for supplying current to the X-ray generator 10 . Note that the cable 60 is omitted in FIG. Also, the cable 60 is provided between the carriage section 40 and the X-ray generating section 10 . Further, the cable 60 extends along the support section 30 and is curved in an S shape in the vicinity of the support section 20 and the X-ray generation section 10 .

In addition, the X-ray imaging apparatus 100 is provided with an auto-positioning function. The auto-positioning function is a function of storing the three-dimensional positions of the operation panel 16, the X-ray generator 10, and the collimator 12, the positions around the horizontal axis, and the positions around the vertical axis.

As shown in FIG. 3 , the X-ray imaging apparatus 100 has a remote control 70 . The remote controller 70 is provided with buttons 71 for moving the X-ray source 11, the collimator 12, and the operation panel 16 to predetermined positions. When the operator presses the button 71, the X-ray source 11, collimator 12 and operation panel 16 are automatically moved to predetermined positions (registered positions). Also, a plurality of buttons 71 are provided. By pressing the button 71, the operator can move the X-ray source 11, the collimator 12, and the operation panel 16 to a plurality of registered positions. Further, the remote control 70 is provided with an emergency stop button 72, an emergency stop release button 73, a position registration button 74, a photographing program button 75, a drive status instruction LED 76, and the like.

Here, in this embodiment, as shown in FIG. 2, the X-ray imaging apparatus 100 is provided with an image acquisition unit 80 . The image acquisition unit 80 is attached at a position where at least one of the X-ray generation unit 10 and the holding unit 1 and the other object 220 are within the same angle of view, and acquires an image in a non-vertical plane. The “non-vertical plane” is a plane that is not a vertical plane, and means a horizontal plane in this embodiment.

The image acquisition unit 80 also acquires the vertical distance LV along the vertical direction to the object 220 (see FIGS. 4 and 5) placed on the lower side. Specifically, the image acquisition unit 80 includes a first image acquisition unit 81 provided in the carriage unit 40 and a second image acquisition unit 81 provided in a portion of the carriage unit 40 where the blind spot of the detection area of the first image acquisition unit 81 can be detected. and an image acquisition unit 82 . Specifically, the first image acquisition section 81 is provided on the side surface 40a of the carriage section 40 on the Y1 direction side. The second image acquisition section 82 is provided on the side opposite to the first image acquisition section 81 with respect to the column section 30 . Specifically, the second image acquisition section 82 is arranged on the lower surface 40 b of the carriage section 40 on the Y2 direction side. The arrangement positions of the first image acquisition unit 81 and the second image acquisition unit 82 are not limited to the positions described above. It is sufficient that the image acquisition section 82 is provided on the back side of the support section 30 . Further, the first image acquisition section 81, the strut section 30, and the second image acquisition section 82 do not have to be arranged on a straight line.

Further, in the present embodiment, the image acquisition section 80 includes a third image acquisition section 83 . The third image acquisition section 83 is arranged below the support section 30 (support section 20). Also, the third image acquisition unit 83 is provided to acquire the vertical distance LV to the object 220 placed on the lower side.

Further, in the present embodiment, the image acquisition section 80 (the first image acquisition section 81, the second image acquisition section 82 and the third image acquisition section 83) is composed of a stereo camera. A stereo camera simultaneously photographs an object 220 from a plurality of different directions using two cameras (dual cameras). This makes it possible to measure the distance (vertical distance LV) to the object 220 from the position information of the pixels of the stereo camera.

FIG. 4 shows an image detected (captured) by the image acquisition section 80 (for example, the first image acquisition section 81). This image is obtained by imaging the interior of the room in which the X-ray imaging apparatus 100 is arranged. This image also shows the X-ray generation unit 10, the support unit 20, the support unit 30, and a plurality of objects 220. FIG. Further, since the image acquisition unit 80 is a stereo camera, the image shown in FIG. 4 and the image taken from a direction different from the image shown in FIG. 4 are captured. In addition, the second image acquisition section 82 and the third image acquisition section 83 capture an image of a blind spot in the detection area (imaging area) of the first image acquisition section 81 . Specifically, the second image acquisition unit 82 captures an image of the periphery of the support 30 in the Y2 direction, which is opposite to the periphery of the support 30 in the Y1 direction captured by the first image acquisition unit 81 . be. In addition, the third image acquisition section 83 captures an image of the lower side (Z2 direction side) of the support section 30 .

In addition, in this embodiment, the X-ray imaging apparatus 100 includes a warning unit 84 as shown in FIG. The warning unit 84 issues a warning based on the distance (horizontal distance LH) in the horizontal plane between at least one of the X-ray generating unit 10 and the holding unit 1, which will be described later, and another object 220. FIG. For example, the warning unit 84 issues a warning to the operator using sound, light, or the like.

Here, in this embodiment, as shown in FIG. 2, the X-ray imaging apparatus 100 includes an image processing section 90 that processes acquired images. The image processing section 90 is configured to process the image (visible image) acquired by the image acquiring section 80 . Specifically, the image processing unit 90 includes a specifying unit 91 . The specifying unit 91 specifies at least one of the X-ray generating unit 10 and the holding unit 1 (both in this embodiment) in an image (visible image), and also specifies the specified X-ray generating unit 10 and the holding unit 1. Another object 220 located in the same horizontal plane as at least one is identified in the image. The image processing section 90 also includes a calculation section 92 . The calculation unit 92 calculates the distance (horizontal distance LH) between at least one of the X-ray generation unit 10 and the holding unit 1 identified by the identification unit 91 and the other object 220 in the horizontal plane. Specifically, the X-ray generating unit 10, the holding unit 1, and the other object 220 are identified in the image (visible image) by edge detection or the like. Then, the horizontal distance LH between the X-ray generating unit 10 (holding unit 1) and another object 220 having the same height position as the X-ray generating unit 10 (holding unit 1) is calculated.

In addition, in the present embodiment, the identifying unit 91 identifies the cable 60 for supplying current to the X-ray generating unit 10 in the image, and also detects another object 220 located in the same horizontal plane as the identified cable 60. in the image. The calculation unit 92 also calculates the horizontal distance LH between the cable 60 identified by the identification unit 91 and the other object 220 .

Here, in this embodiment, the X-ray imaging apparatus 100 includes a collision avoidance unit 93 . Based on the horizontal distance LH calculated by the calculation unit 92, the collision avoidance unit 93 causes at least one of the X-ray generation unit 10 and the holding unit 1 (both in this embodiment) and the other object 220 to be separated. control to avoid collisions. Specifically, as shown in FIG. 6, the collision avoidance unit 93 obtains output results (parallax image), the vertical distance LV (see FIG. 5) to the object 220 placed below the image acquisition unit 80 is acquired. In FIG. 6, the vertical distance LV from the image acquisition unit 80 to the object 220 is represented by hatching (actually, color). Specifically, the hatching (color) is changed according to the magnitude of the vertical distance LV. That is, if the vertical distance LV is the same, the hatching (color) will be the same. For example, FIG. 6 shows that the vertical distance LV (hatched) to the X-ray generator 10 and the vertical distance LV (hatched) to the object 220a are the same. Thus, FIG. 6 shows a two-dimensional map of the vertical distance LV. In the image shown in FIG. 6, the ranges (contours) of the X-ray generating portion 10, the support portion 20, the strut portion 30 and the object 220 are recognized by image processing such as edge detection.

Next, as shown in FIG. 6, the collision avoidance unit 93 determines at least one of the X-ray generation unit 10 and the holding unit 1 (in this embodiment, Detect an object 220 that may collide with both). Specifically, as shown in FIG. 5, the collision avoidance section 93 includes the lower portions of the X-ray generation section 10, the support section 20, and the support section 30 (for example, the collimator 12 of the X-ray generation section 10). The height position of the lower part (hereinafter referred to as height position h1) is input. Then, if the height position h2 of the object 220 is equal to or higher than the height position h1, this object 220 is at least one of the X-ray generation unit 10, the support unit 20, and the strut unit 30 (for example, the X-ray generation It is determined that there is a possibility of collision with the part 10).

In this embodiment, as shown in FIG. 7, the collision avoidance unit 93 is arranged horizontally between at least one of the X-ray generation unit 10 and the holding unit 1 and an object 220 that may collide. Calculate the horizontal distance LH along. For example, as shown in FIG. 7, a horizontal distance LH between the X-ray generator 10 and an object 220a that may collide is calculated. Note that when there is an object 220 that may collide with the supporting portion 20, the horizontal distance LH between the supporting portion 20 and the object 220 is calculated. Further, when there is an object 220 that may collide with the support 30, the horizontal distance LH between the support 30 and the object 220 is calculated. Note that the collision avoidance unit 93 reduces the horizontal distance LH between at least one of the X-ray generation unit 10 and the holding unit 1 and the object 220 when the vertical distance LV to the object 220 is equal to or less than a predetermined vertical distance. calculate. That is, as described above, if the height position h2 of the object 220 is equal to or greater than the height position h1, the horizontal distance LH is calculated. As a result, only the horizontal distance LH to the object 220 with which there is a possibility of collision is calculated.

In this embodiment, the collision avoidance unit 93 prevents at least one of the X-ray generation unit 10 and the holding unit 1 from colliding with the object 220 when the horizontal distance LH becomes smaller than the predetermined horizontal distance. Take control to avoid it. Specifically, based on the horizontal distance LH between the object 220 and the object 220, the collision avoidance unit 93 decelerates the movement of the holding unit 1, stops the movement of the holding unit 1, At least one (in this embodiment, all) of retracting at least one of 10 and holding part 1 from another object 220 is performed.

Further, in the present embodiment, the collision avoidance unit 93 avoids collision between the cable 60 and the other object 220 based on the horizontal distance LH between the cable 60 and the other object 220 calculated by the calculation unit 92. control as follows.

Specifically, the collision avoidance section 93 decelerates the horizontal movement of the carriage section 40 and/or the movement rail 51 and stops the horizontal movement of the carriage section 40 and/or the movement rail 51. and retracting at least one (in this embodiment, all) of the X-ray generating unit 10, the support unit 20, and the strut unit 30, and the cable 60 from the object 220 (horizontal retraction operation); to perform at least one of Note that the above operations (deceleration, stop and retreat) are performed when the horizontal distance LH (see FIG. 7) becomes smaller than a predetermined horizontal distance. Alternatively, the output result for calculating the horizontal distance LH (the output result of the first image acquisition unit 81 or the second image acquisition unit 82 output results) may be selected.

The deceleration of the carriage portion 40 and the stop of the carriage portion 40 (braking of the carriage portion 40 ) are performed by a motor 42 and a brake 43 . Further, deceleration and stopping of the moving rail 51 (braking of the moving rail 51) are performed by a motor 52 and a brake 53. FIG. Further, the horizontal retraction operation is performed by moving the carriage portion 40 and/or the moving rails 51 .

A motor 33 and a brake 34 decelerate (deceleration of expansion and contraction) and stop (braking of the column 30 ) the column 30 . Further, the retraction operation in the vertical direction is performed by expanding and contracting the column portion 30 . The horizontal and vertical braking operations described above may be performed by the motor alone or by the brake alone.

An example of the operation of the X-ray imaging apparatus 100 will be described below.

First, the horizontal distance LH calculated based on the output result of any one of the first image acquisition unit 81, the second image acquisition unit 82, and the third image acquisition unit 83 is longer than the first horizontal distance LH1. If it becomes smaller, the warning unit 84 issues a warning.

Next, the horizontal distance LH calculated based on the output result of any one of the first image acquisition unit 81, the second image acquisition unit 82, and the third image acquisition unit 83 is the second horizontal distance LH2 ( If it becomes smaller than a second horizontal distance LH2) which is smaller than the first horizontal distance LH1, deceleration of the holding part 1 takes place.

Next, the horizontal distance LH calculated based on the output result of any one of the first image acquisition unit 81, the second image acquisition unit 82, and the third image acquisition unit 83 is the third horizontal distance LH3 ( When it becomes smaller than a third horizontal distance LH3) which is smaller than the second horizontal distance LH2, the holding part 1 is stopped and/or retracted.

Note that the above operation is performed in real time (for example, at intervals of several fps) during operation of the X-ray imaging apparatus 100 . Also, fps means the frame rate of the image acquisition unit 80 .

(Effect of this embodiment)
The following effects can be obtained in this embodiment.

In the present embodiment, as described above, the image acquisition unit 80 is attached at a position where at least one of the X-ray generation unit 10 and the holding unit 1 and the other object 220 are within the same angle of view. Since it is configured to acquire an image in the vertical plane, the image acquiring section 80 can acquire an image of a relatively wide range. As a result, the other object 220 can be detected over a relatively wide range, so collisions with other objects can be appropriately avoided.

Further, in the present embodiment, as described above, the holding section 1 includes the support section 20 for moving the X-ray generation section 10 in the vertical direction, and the carriage section 40 for moving the support section 20 in the horizontal direction with respect to the ceiling 210. The image acquisition section 80 includes a first image acquisition section 81 provided in at least one of the support section 20 and the carriage section 40, and image acquisition in at least one of the support section 20 and the carriage section 40. and a second image acquisition unit 82 provided in a portion of the detection area of the unit 80 where a blind spot can be detected. As a result, the second image acquisition section 82 is provided in the detection area of the first image acquisition section 81 where the blind area can be detected, so that the blind area of the detection area of the first image acquisition section 81 can be reduced. be able to. As a result, it is possible to prevent obstacles 220 from being properly detected due to blind spots in the detection area. In addition, unlike the case where the image acquisition unit 80 is fixed to the ceiling 210 or the like, changes in the relative distances between the image acquisition unit 80 and the X-ray generation unit 10 and the holding unit 1 are small. LV can be obtained with high accuracy.

In addition, in the present embodiment, as described above, the second image acquisition section 82 is provided on the side opposite to the first image acquisition section 81 with respect to the support section 30 . As a result, the second image acquisition section 82 is provided on the side opposite to the first image acquisition section 81 with respect to the support section 30, so that blind spots due to the support section 30 can be reduced. .

Further, in the present embodiment, the image acquisition section 80 is provided in the carriage section 40 as described above. Accordingly, since the image acquisition unit 80 is provided at a relatively high position, the vertical distance LV between the X-ray generation unit 10/holding unit 1 and the object 220 can be easily acquired.

In addition, in the present embodiment, as described above, the image acquisition unit 80 further includes the third image acquisition unit 83 that is arranged below the support 30 and acquires an image in the lower non-vertical plane. . As a result, the vertical distance LV to the object 220 can be obtained even below the support 30, so that the obstacle 220 cannot be detected properly due to the blind spot of the detection area. can be further suppressed.

Further, in the present embodiment, as described above, based on the distance (horizontal distance LH) in the horizontal plane between at least one of the X-ray generating unit 10 and the holding unit 1 and the other object 220 calculated by the calculating unit 92, A collision avoidance unit 93 is provided to perform control for avoiding collision between at least one of the X-ray generation unit 10 and the holding unit 1 and another object 220 . This allows the collision avoidance section 93 to automatically avoid a collision with another object 220 .

Further, in the present embodiment, as described above, when the horizontal distance LH becomes smaller than the predetermined horizontal distance, the collision avoidance unit 93 causes at least one of the X-ray generation unit 10 and the holding unit 1 and the object 220 to avoid collision. As a result, control for avoiding collision can be easily performed based on the predetermined horizontal distance.

Further, in the present embodiment, as described above, the collision avoidance unit 93 calculates the distance ( Based on the horizontal distance LH), the movement of the holding unit 1 is decelerated, the movement of the holding unit 1 is stopped, and at least one of the X-ray generating unit 10 and the holding unit 1 is withdrawn from the other object 220. control to perform at least one of: As a result, multiple operations such as deceleration, stoppage, and retraction can be performed based on the output result from the image acquisition unit 80 (that is, automatically without the operator's operation). (depending on the distance to the object 220), collision avoidance actions can be taken.

Further, in this embodiment, the cable 60 for supplying current to the X-ray generator 10 is provided as described above. The specifying unit 91 specifies the cable 60 in the image, and also specifies another object 220 located in the same horizontal plane as the specified cable 60 in the image. The calculation unit 92 calculates the distance (horizontal distance LH) in the horizontal plane between the cable 60 identified by the identification unit 91 and the other object 220 . Then, the collision avoidance unit 93 performs control to avoid a collision between the cable 60 and the other object 220 based on the distance in the horizontal plane between the cable 60 and the other object 220 calculated by the calculation unit 92. conduct. This makes it possible to avoid collisions between the cable 60 and the object 220 in addition to the X-ray generator 10 and the holder 1 .

Further, in the present embodiment, as described above, when the vertical distance LV to the object 220 is equal to or less than the predetermined vertical distance, the collision avoidance unit 93 causes at least one of the X-ray generation unit 10 and the holding unit 1, A horizontal distance LH to the object 220 is calculated. As a result, the horizontal distance LH is calculated only when the vertical distance LV is equal to or less than the predetermined vertical distance. can be mitigated.

Further, in the present embodiment, as described above, based on the distance (horizontal distance LH) in the horizontal plane between at least one of the X-ray generating unit 10 and the holding unit 1 and the other object 220 calculated by the calculating unit 92, A warning unit 84 is provided for generating a warning. Accordingly, the operator can withdraw from the X-ray imaging apparatus 100 based on the warning issued from the warning unit 84 .

Further, in the present embodiment, as described above, the image acquisition section 80 includes a stereo camera. As a result, the stereo camera can acquire the vertical distance LV (two-dimensional map of the vertical distance LV) in a relatively wide area compared to an ultrasonic sensor or an infrared sensor. As a result, the vertical distance LV can be obtained with a relatively small number of image obtaining units 80 .

[Modification]
It should be noted that the embodiments disclosed this time should be considered as examples and not restrictive in all respects. The scope of the present invention is indicated by the scope of the claims rather than the description of the above-described embodiments, and includes all modifications (modifications) within the meaning and scope equivalent to the scope of the claims.

For example, in the above embodiment, the image acquisition unit 80 includes three image acquisition units (first image acquisition unit 81, second image acquisition unit 82, and third image acquisition unit 83). It is not limited to this. In the present invention, the image acquisition section 80 may include one, two, four or more image acquisition sections.

Further, in the above-described embodiment, an example is shown in which the second image acquisition section 82 is provided on the side opposite to the first image acquisition section 81 with respect to the support section 30 in the carriage section 40, but the present invention is not limited to this. is not limited to In the present invention, the second image acquisition section 82 may be provided at a portion of at least one of the post section 30 and the carriage section 40 where the blind spot of the detection area of the image acquisition section 80 can be detected.

Further, in the above-described embodiment, an example in which the second image acquisition section 82 is provided in the carriage section 40 was shown, but the present invention is not limited to this. For example, as in an X-ray imaging apparatus 300 according to a modified example shown in FIG. Also, the second image acquisition section 82 is provided on the upper portion of the support section 30 . Accordingly, since the second image acquisition section 82 is provided at a relatively high position, the vertical distance LV between the object 220 and the X-ray generation section 10, the support section 20, and part of the support section 30 can be easily adjusted. can be obtained.

Further, in the above-described embodiment, the X-ray generation unit 10, the support unit 20, and the strut unit 30 all decelerate, stop, and retract, but the present invention is not limited to this. For example, the speed of rotation of the X-ray generation unit 10 and the support unit 20 around the axis along the vertical direction may be reduced. Alternatively, the X-ray generating section 10 and the supporting section 20 may be retracted by rotating the X-ray generating section 10 and the supporting section 20 around an axis along the vertical direction. Further, the rotation speed of the X-ray generation unit 10 about the axis along the horizontal direction may be reduced. Alternatively, the X-ray generator 10 may be rotated around an axis along the horizontal direction to retract the X-ray generator 10 .

Further, in the above-described embodiment, an example in which control is performed to avoid collision between the cable 60 and the object 220 has been described, but the present invention is not limited to this. For example, it is possible to apply the present invention to the X-ray imaging apparatus 100 in which the cable 60 is not exposed to the outside, such as when the cable 60 is built in. In this case, control for avoiding collision between the cable 60 and the object 220 is not performed.

Further, in the above-described embodiment, an example in which the image acquisition unit 80 is composed of a stereo camera was shown, but the present invention is not limited to this. For example, the image acquisition unit 80 may be composed of a time-of-flight camera. Note that the time-of-flight camera is a camera that detects the distance to the object 220 based on the flight time of the light that is applied to the object 220 and reflected from the object 220 . Also, the image acquisition unit 80 may be configured by an ultrasonic sensor, an infrared sensor, or the like. Also, the types of detection units that constitute the first image acquisition unit 81, the second image acquisition unit 82, and the third image acquisition unit 83 may be different.

Also, in the above-described embodiment, an example in which the image acquisition unit 80 acquires an image in the horizontal plane has been described, but the present invention is not limited to this. For example, the image acquisition section 80 may acquire an image within an inclined plane that intersects the vertical plane and the horizontal plane. Then, after the image in the inclined plane is acquired, the image in the horizontal plane may be generated from the image in the inclined plane by image processing.

Further, in the above-described embodiment, the X-ray generating unit 10 and the holding unit 1 are specified from the visible image acquired by the image acquiring unit 80, and the X-ray generating unit 10, the holding unit 1 and other components are identified based on the parallax image. An example of detecting the height position of the object 220 and calculating the distance in the horizontal plane between the X-ray generating unit 10 and the holding unit 1 and another object 220 has been shown, but the present invention is not limited to this. . For example, the distance in the horizontal plane may be calculated as follows. First, the X-ray generating unit 10, the holding unit 1 and the other object 220 are specified from the visible image acquired by the image acquiring unit 80. FIG. Next, the height positions of the X-ray generating unit 10 and the holding unit 1 are acquired by a potentiometer or the like. Then, another object 220 having a height position (the same height position) corresponding to the height positions of the X-ray generation unit 10 and the holding unit 1 obtained by a potentiometer or the like is specified based on the parallax image. Then, the distance in the horizontal plane between the X-ray generating unit 10 and the holding unit 1 and the other object 220 is calculated.

[Aspect]
It will be appreciated by those skilled in the art that the exemplary embodiments described above are specific examples of the following aspects.

(Item 1)
an X-ray generator including an X-ray source for irradiating an object with X-rays;
a holding portion that holds the X-ray generating portion so as to be movable in the horizontal direction;
an image acquisition unit that is attached at a position where at least one of the X-ray generation unit and the holding unit and other objects are within the same angle of view and acquires an image in a non-vertical plane;
An image processing unit that processes the acquired image,
The image processing unit specifies at least one of the X-ray generating unit and the holding unit in the image, and is positioned in the same horizontal plane as at least one of the specified X-ray generating unit and the holding unit. an identifying unit that identifies another object in the image;
An X-ray imaging apparatus, comprising: a calculating unit that calculates a distance in a horizontal plane between at least one of the X-ray generating unit and the holding unit specified by the specifying unit and the other object.
(Item 2)
The holding unit includes a vertical moving unit that vertically moves the X-ray generating unit, and a horizontal moving unit that horizontally moves the vertical moving unit with respect to the ceiling,
The image acquisition section includes a first image acquisition section provided in at least one of the vertical movement section and the horizontal movement section, and at least one of the vertical movement section and the horizontal movement section. 2. The X-ray imaging apparatus according to item 1, further comprising a second image acquisition unit provided in a portion capable of detecting a blind spot in the detection area of the image acquisition unit in .
(Item 3)
3. The X-ray imaging apparatus according to item 2, wherein the second image acquisition section is provided on the side opposite to the first image acquisition section with respect to the vertical movement section.
(Item 4)
4. The X-ray imaging apparatus according to item 2 or 3, wherein the image acquisition section is provided on at least one of an upper portion of the vertical movement section and the horizontal movement section.
(Item 5)
5. The image acquisition unit according to any one of items 2 to 4, further comprising a third image acquisition unit arranged below the vertical movement unit and configured to acquire an image in a lower non-vertical plane. An X-ray imaging device as described.
(Item 6)
at least one of the X-ray generating unit and the holding unit based on the distance in the horizontal plane between at least one of the X-ray generating unit and the holding unit and the other object calculated by the calculating unit; 6. The X-ray imaging apparatus according to any one of items 1 to 5, further comprising a collision avoidance unit that performs control for avoiding collision with the other object.
(Item 7)
The collision avoidance section performs control for avoiding collision between at least one of the X-ray generation section and the holding section and the object when the distance in the horizontal plane becomes smaller than a predetermined horizontal plane distance. The X-ray imaging apparatus according to item 6, wherein
(Item 8)
The collision avoidance section decelerates the movement of the holding section based on the distance between at least one of the X-ray generating section and the holding section calculated by the calculation section and the other object in a horizontal plane. and stopping the movement of the holding section, and withdrawing at least one of the X-ray generating section and the holding section from the other object. 8. The X-ray imaging apparatus according to 6 or 7.
(Item 9)
further comprising a cable for supplying current to the X-ray generator;
The specifying unit specifies the cable in the image and specifies another object located in the same horizontal plane as the specified cable in the image,
The calculation unit calculates a distance in a horizontal plane between the cable identified by the identification unit and the other object,
The collision avoidance unit performs control to avoid collision between the cable and the other object based on the distance in the horizontal plane between the cable and the other object calculated by the calculation unit. The X-ray imaging apparatus according to any one of Items 6 to 8.
(Item 10)
When the vertical distance to the other object is equal to or less than a predetermined vertical distance, the calculation unit calculates a The X-ray imaging apparatus according to any one of Items 1 to 9, which calculates a distance.
(Item 11)
of items 1 to 10, further comprising a warning unit that generates a warning based on the distance between at least one of the X-ray generation unit and the holding unit and the other object in the horizontal plane calculated by the calculation unit. The X-ray imaging apparatus according to any one of claims 1 to 3.
(Item 12)
The image acquisition unit includes at least one of a stereo camera and a time-of-flight camera that detects the distance to the object based on the time-of-flight of light irradiated to the object and reflected from the object, The X-ray imaging apparatus according to any one of Items 1 to 11.

REFERENCE SIGNS LIST 1 holding portion 10 X-ray generating portion 11 X-ray source 20 supporting portion 30 support portion (vertical moving portion)
40 carriage unit (horizontal moving unit)
51 moving rail (horizontal moving part)
60 cable 80 image acquisition unit 81 first image acquisition unit 82 second image acquisition unit 83 third image acquisition unit 84 warning unit 90 image processing unit 91 identification unit 92 calculation unit 93 collision avoidance unit 100, 300 X-ray imaging device 200 subject 210 Ceiling 220, 220a Object

Claims (12)

an X-ray generator including an X-ray source for irradiating an object with X-rays;
a holding portion that holds the X-ray generating portion so as to be movable in the horizontal direction;
an image acquisition unit that is attached at a position where at least one of the X-ray generation unit and the holding unit and other objects are within the same angle of view and acquires an image in a non-vertical plane;
An image processing unit that processes the acquired image,
The image processing unit specifies at least one of the X-ray generating unit and the holding unit in the image, and is positioned in the same horizontal plane as at least one of the specified X-ray generating unit and the holding unit. an identifying unit that identifies another object in the image;
An X-ray imaging apparatus, comprising: a calculating unit that calculates a distance in a horizontal plane between at least one of the X-ray generating unit and the holding unit specified by the specifying unit and the other object. The holding unit includes a vertical moving unit that vertically moves the X-ray generating unit, and a horizontal moving unit that horizontally moves the vertical moving unit with respect to the ceiling,
The image acquisition section includes a first image acquisition section provided in at least one of the vertical movement section and the horizontal movement section, and at least one of the vertical movement section and the horizontal movement section. 2. The X-ray imaging apparatus according to claim 1, further comprising a second image acquisition section provided in a portion capable of detecting a blind spot in the detection area of said image acquisition section in . 3. The X-ray imaging apparatus according to claim 2, wherein said second image acquisition section is provided on a side opposite to said first image acquisition section with respect to said vertical movement section. 4. The X-ray imaging apparatus according to claim 2, wherein said image acquisition section is provided on at least one of an upper portion of said vertical movement section and said horizontal movement section. 4. The X-ray according to claim 2 or 3, wherein said image acquisition section is arranged below said vertical movement section and further includes a third image acquisition section for acquiring an image in a lower non-vertical plane. Imaging device. at least one of the X-ray generating unit and the holding unit based on the distance in the horizontal plane between at least one of the X-ray generating unit and the holding unit and the other object calculated by the calculating unit; 4. The X-ray imaging apparatus according to any one of claims 1 to 3, further comprising a collision avoidance section that performs control for avoiding collision with said other object. The collision avoidance section performs control for avoiding collision between at least one of the X-ray generation section and the holding section and the object when the distance in the horizontal plane becomes smaller than a predetermined horizontal plane distance. 7. The X-ray imaging apparatus according to claim 6, wherein The collision avoidance section decelerates the movement of the holding section based on the distance between at least one of the X-ray generating section and the holding section calculated by the calculation section and the other object in a horizontal plane. and stopping the movement of the holding part, and withdrawing at least one of the X-ray generating part and the holding part from the other object. Item 7. The X-ray imaging apparatus according to Item 6. further comprising a cable for supplying current to the X-ray generator;
The specifying unit specifies the cable in the image and specifies another object located in the same horizontal plane as the specified cable in the image,
The calculation unit calculates a distance in a horizontal plane between the cable identified by the identification unit and the other object,
The collision avoidance unit performs control to avoid collision between the cable and the other object based on the distance in the horizontal plane between the cable and the other object calculated by the calculation unit. The X-ray imaging apparatus according to claim 6. When a vertical distance from the image acquisition unit to the other object appearing in the image acquired by the image acquisition unit is equal to or less than a predetermined vertical distance, the calculation unit determines whether the X-ray generation unit and the holding unit 3. The X-ray imaging apparatus according to claim 1, wherein a distance in said horizontal plane between at least one of said part and said another object is calculated. 3. A warning unit that issues a warning based on the distance between at least one of said X-ray generator and said holder and said other object in a horizontal plane calculated by said calculator. The X-ray imaging apparatus according to . The image acquisition unit includes at least one of a stereo camera and a time-of-flight camera that detects the distance to the object based on the time-of-flight of light irradiated to the object and reflected from the object, The X-ray imaging apparatus according to any one of claims 1 to 3.

Images