阅读说明：本技术 一种医学成像转运车系统及其控制方法 (Medical imaging transfer car system and control method thereof ) 是由 刘伟 马宁宁 曾海宁 刘力 韩立 顾天龙 于 2019-09-27 设计创作，主要内容包括：本发明公开了一种医学成像转运车系统及其控制方法。本发明采用轮式底盘、升降装置、转运导轨、成像床导轨、托架、摄像头、控制台、载人平台和防辐射挡板；在轮式底盘上安装升降装置和转运导轨,在转运导轨上安装托架,控制台控制转运车带动托架位移,使得转运导轨对接成像床导轨,将托架从转运导轨滑动至成像床导轨,从而转运到成像床上；本发明用于大型受检样品的实验转运,能够方便将受检样品转运至成像设备的成像床上,并能够实现在不同成像设备之间的转运；在转运过程中,通过摄像头导航定位,能够实现与现有的通用非特制的成像床的精确平稳对接,并保证在成像床上放置位置的精确可调。(the invention discloses a medical imaging transfer car system and a control method thereof. The invention adopts a wheel type chassis, a lifting device, a transfer guide rail, an imaging bed guide rail, a bracket, a camera, a control console, a manned platform and a radiation-proof baffle; a lifting device and a transfer guide rail are installed on the wheel type chassis, a bracket is installed on the transfer guide rail, the console controls the transfer trolley to drive the bracket to move, so that the transfer guide rail is in butt joint with the imaging bed guide rail, and the bracket slides to the imaging bed guide rail from the transfer guide rail so as to be transferred to the imaging bed; the invention is used for experimental transfer of large-scale detected samples, can conveniently transfer the detected samples to the imaging bed of the imaging equipment, and can realize transfer among different imaging equipment; in the transfer process, the camera is used for navigation and positioning, so that the imaging bed can be accurately and stably butted with the conventional general non-special imaging bed, and the accurate adjustment of the placement position on the imaging bed is ensured.)

1. a medical imaging transfer cart system, the medical imaging transfer cart system comprising: the device comprises a wheel type chassis, a lifting device, a transfer guide rail, an imaging bed guide rail, a bracket, a camera, a console, a manned platform and a radiation-proof baffle; the wheel type chassis, the lifting device, the transfer guide rail, the bracket, the camera, the console, the manned platform and the radiation-proof baffle form a transfer vehicle; a lifting device along the vertical direction is arranged on the wheel type chassis; a pair of transfer guide rails is arranged on the lifting device along the horizontal direction, and the transfer guide rails can move along the lifting device in the vertical direction; the two side edges of the bracket along the length direction are respectively arranged on a pair of transfer guide rails, and the bracket can move along the transfer guide rails in the horizontal direction; arranging radiation-proof baffles around the bracket; the rear end of the wheel type chassis is provided with a manned platform which is connected with the wheel type chassis into a whole; a control console is arranged on the manned platform; the two pairs of cameras are respectively positioned at the front end and the rear end of the transfer trolley, and the lenses of the two pairs of cameras respectively face to the front and the rear of the transfer trolley; the camera is connected to the console; the wheel type chassis and the lifting device are respectively connected to a control console through respective motors and drivers; a pair of imaging bed guide rails are arranged on two sides of the imaging bed along the length direction, and the horizontal plane where the imaging bed guide rails are located is higher than the imaging bed; the sample to be detected is placed on the bracket along the length direction; the medical imaging transfer trolley system comprises an automatic mode and a manual mode; in the manual mode, an operator is positioned on the manned platform, and the movement route of the wheeled chassis is controlled by the console to move to one end of the imaging bed and face the imaging bed; the control console controls the lifting device to drive the transfer guide rail to move along the vertical direction, the transfer guide rail and the imaging bed guide rail are positioned on the same horizontal plane, the transfer guide rail is butted with the imaging bed guide rail by controlling the wheel type chassis, the transfer guide rail and the guide rails on the two sides of the imaging bed guide rail are respectively positioned on the same straight line and are connected end to end, the bracket is pushed to horizontally slide to the imaging bed guide rail along the transfer guide rail, the height of the imaging bed is adjusted, the bracket can be supported, and therefore the bracket is transferred to the imaging bed; after imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley; in an automatic mode, a control console stores a starting point and an end point of a movement path, two pairs of cameras acquire images around a transfer vehicle in real time and transmit the images to the control console, the control console obtains images in front of and behind a bracket through a binocular imaging principle so as to position the transfer vehicle and further obtain the movement path to navigate the transfer vehicle, the control console controls a wheel type chassis to move to one end of an imaging bed according to the movement path, the control console positions the positions of the imaging bed and a guide rail of the imaging bed through the images acquired by the cameras and controls a transfer guide rail to move vertically along a lifting device, the transfer guide rail and the guide rail of the imaging bed are positioned on the same horizontal plane and are butted with the guide rail of the imaging bed through controlling the wheel type chassis, the transfer guide rail and the guide rails on two sides of the guide rail of the imaging bed are respectively positioned on the same straight line and connected end to end, and end to end, adjusting the height of the imaging bed to enable the imaging bed to support the bracket, so that the bracket is transferred to the imaging bed; after imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley.

2. The medical imaging transfer cart system of claim 1, wherein the wheeled chassis comprises a base and a plurality of symmetrical universal wheels disposed on a lower surface of the base; each of the universal wheels is connected to the console by a respective motor and drive.

3. the medical imaging transfer cart system of claim 1, wherein the radiation shield comprises two side shields, a back shield and an upper shield, the two side shields are respectively vertically positioned on two sides of the carriage along the length direction and are positioned outside the transfer rail; the rear baffle is vertically positioned behind the bracket along the width direction and in front of the console; an upper baffle is arranged on the two side baffles and the rear baffle and is higher than the transfer guide rail; the upper surface of the base of the wheel type chassis is provided with a groove, and the bottom edges of the two side baffles and the one rear baffle are clamped in the groove on the upper surface of the base; the lower surface of the upper baffle is provided with a groove, and the top edges of the two side baffles and the rear baffle are clamped in the groove on the lower surface of the upper baffle, so that the radiation-proof baffle can be detached.

4. A medical imaging transfer cart system according to claim 1, wherein the carriage is provided with pulleys at both edges along the length direction, respectively, the pulleys being located in the transfer rail to be horizontally displaceable along the transfer rail and the imaging bed rail, thereby sliding the carriage from the transfer rail to the imaging bed rail.

5. the medical imaging transfer cart system of claim 1, wherein the lifting device employs one or more lead screw lifts; each lead screw lifter comprises a bracket, a lead screw and a slide block; wherein, the screw rod is arranged on the bracket along the vertical direction; the bracket is arranged on the base of the wheel type chassis; the screw rod is provided with an external thread, the sliding block is provided with an internal thread, and the sliding block is sleeved on the screw rod; the lead screws are connected to the console through corresponding motors and drivers; the motor drives the lead screw to rotate, so that the sliding block is driven to move in the vertical direction.

6. the medical imaging transfer car (buggy) system of claim 5, wherein said lifting means employs four lead screw lifts; the four lead screw lifters are respectively arranged on two sides of the wheel type chassis along the length direction of the bracket, and two lead screw lifters are arranged on one side of the wheel type chassis; the top ends of the supports of the two lead screw lifters on each side are provided with a cross beam for fixing; a horizontal transfer guide rail is mounted on the slide blocks of the two screw elevators on each side.

7. a medical imaging transfer cart system as claimed in claim 6, wherein a camera is provided at each end of each cross-beam.

8. a control method for a medical imaging transfer cart system of claim 1, comprising an automatic mode and a manual mode:

firstly, a manual mode:

1) The sample to be detected is placed on the bracket along the length direction;

2) Installing radiation-proof baffles around the bracket;

3) An operator is positioned on the manned platform, and the movement route of the wheeled chassis is controlled by the console to move to one end of the imaging bed and face the imaging bed;

4) The control console controls the lifting device to drive the transfer guide rail to move along the vertical direction, the transfer guide rail and the imaging bed guide rail are positioned on the same horizontal plane, the transfer guide rail is butted with the imaging bed guide rail by controlling the wheel type chassis, and the transfer guide rail and the guide rails on the two sides of the imaging bed guide rail are respectively positioned on the same straight line and are connected end to end;

5) Pushing the bracket to horizontally slide to the imaging bed guide rail along the transfer guide rail;

6) adjusting the height of the imaging bed to enable the imaging bed to support the bracket, so that the bracket is transferred to the imaging bed;

7) After imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley;

II, automatic mode:

1) the sample to be detected is placed on the bracket along the length direction;

2) Installing radiation-proof baffles around the bracket;

3) The control console stores the starting point and the end point of the movement route, and the two pairs of cameras acquire images around the transfer trolley in real time and transmit the images to the control console;

4) the control console obtains images in front of and behind the bracket through a binocular imaging principle, so that the trolley is positioned, a movement route is further obtained, the trolley is navigated, and the control console controls the wheel type chassis to move to one end of the imaging bed according to the movement route;

5) the control console positions the imaging bed and the imaging bed guide rail through images acquired by the camera, controls the transfer guide rail to move in the vertical direction along the lifting device, the transfer guide rail and the imaging bed guide rail are positioned on the same horizontal plane, and controls the wheel type chassis to enable the transfer guide rail to be in butt joint with the imaging bed guide rail, and the transfer guide rail and the two side guide rails of the imaging bed guide rail are respectively positioned on the same straight line and are connected end to end;

6) manually pushing the bracket to horizontally slide to the imaging bed guide rail along the transfer guide rail;

7) adjusting the height of the imaging bed to enable the imaging bed to support the bracket, so that the bracket is transferred to the imaging bed;

8) after imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley.

Technical Field

the invention relates to a medical imaging technology, in particular to a medical imaging transfer car system and a control method thereof.

background

transport problems can be involved in the examination or experiment of subjects such as humans or large animals using various types of medical imaging equipment, such as Positron Emission Tomography (PET), CT (X-ray computed Tomography), Magnetic resonance imaging (Magnetic resonance imaging), and the like. The person being examined can bring inconvenience for the transport because of great volume and weight in the transportation, simultaneously, in carrying out the PET scanning experimentation, because the person being examined can be injected the tracer of radionuclide, so still need consider medical personnel or experimental staff's radiation protection's problem.

Disclosure of Invention

aiming at the problems in the prior art, the invention provides a medical imaging transfer car system and a control method thereof, which are convenient for transferring a sample to be detected to an imaging bed of imaging equipment, can realize the transfer among different imaging equipment, can realize the accurate and stable butt joint with the imaging bed in the transfer process, and ensure the accurate adjustment of the placement position on the imaging bed.

one object of the present invention is to provide a medical imaging transfer car system.

The medical imaging transfer trolley system comprises: the device comprises a wheel type chassis, a lifting device, a transfer guide rail, an imaging bed guide rail, a bracket, a camera, a console, a manned platform and a radiation-proof baffle; the transfer trolley comprises a wheel type chassis, a lifting device, a transfer guide rail, a bracket, a camera, a console, a manned platform and a radiation-proof baffle; a lifting device along the vertical direction is arranged on the wheel type chassis; a pair of transfer guide rails is arranged on the lifting device along the horizontal direction, and the transfer guide rails can move along the lifting device in the vertical direction; the two side edges of the bracket along the length direction are respectively arranged on a pair of transfer guide rails, and the bracket can move along the transfer guide rails in the horizontal direction; arranging radiation-proof baffles around the bracket; the rear end of the wheel type chassis is provided with a manned platform which is connected with the wheel type chassis into a whole; a control console is arranged on the manned platform; the two pairs of cameras are respectively positioned at the front end and the rear end of the transfer trolley, and the lenses of the two pairs of cameras respectively face to the front and the rear of the transfer trolley; the camera is connected to the console; the wheel type chassis and the lifting device are respectively connected to a control console through respective motors and drivers; a pair of imaging bed guide rails are arranged on two sides of the imaging bed along the length direction, and the horizontal plane where the imaging bed guide rails are located is higher than the imaging bed; the sample to be detected is placed on the bracket along the length direction; the medical imaging transfer trolley system comprises an automatic mode and a manual mode; in the manual mode, an operator is positioned on the manned platform, and the movement route of the wheeled chassis is controlled by the console to move to one end of the imaging bed and face the imaging bed; the control console controls the lifting device to drive the transfer guide rail to move along the vertical direction, the transfer guide rail and the imaging bed guide rail are positioned on the same horizontal plane, the transfer guide rail is butted with the imaging bed guide rail by controlling the wheel type chassis, the transfer guide rail and the guide rails on the two sides of the imaging bed guide rail are respectively positioned on the same straight line and are connected end to end, the bracket is pushed to horizontally slide to the imaging bed guide rail along the transfer guide rail, the height of the imaging bed is adjusted, the bracket can be supported, and therefore the bracket is transferred to the imaging bed; after imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley; in an automatic mode, a control console stores a starting point and an end point of a movement path, two pairs of cameras acquire images around a transfer vehicle in real time and transmit the images to the control console, the control console obtains images in front of and behind a bracket through a binocular imaging principle so as to position the transfer vehicle and further obtain the movement path to navigate the transfer vehicle, the control console controls a wheel type chassis to move to one end of an imaging bed according to the movement path, the control console positions the positions of the imaging bed and a guide rail of the imaging bed through the images acquired by the cameras and controls a transfer guide rail to move vertically along a lifting device, the transfer guide rail and the guide rail of the imaging bed are positioned on the same horizontal plane and are butted with the guide rail of the imaging bed through controlling the wheel type chassis, the transfer guide rail and the guide rails on two sides of the guide rail of the imaging bed are respectively positioned on the same straight line and connected end to end, and end to end, adjusting the height of the imaging bed to enable the imaging bed to support the bracket, so that the bracket is transferred to the imaging bed; after imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley.

the wheel type chassis comprises a base and a plurality of symmetrical universal wheels arranged on the lower surface of the base; each of the universal wheels is connected to the console by a respective motor and drive.

The radiation-proof baffle comprises two side baffles, a rear baffle and an upper baffle, wherein the two side baffles are respectively vertically positioned at two sides of the bracket along the length direction and are positioned outside the transfer guide rail; the rear baffle is vertically positioned behind the bracket along the width direction and in front of the console; an upper baffle is arranged on the two side baffles and the rear baffle and is higher than the transfer guide rail; the upper surface of the base of the wheel type chassis is provided with a groove, and the bottom edges of the two side baffles and the one rear baffle are clamped in the groove on the upper surface of the base; the lower surface of the upper baffle is provided with a groove, and the top edges of the two side baffles and the rear baffle are clamped in the groove on the lower surface of the upper baffle, so that the radiation-proof baffle can be detached.

the bracket is provided with the pulley respectively along length direction's both sides edge, and the pulley is located the transfer guide rail and can be followed transfer guide rail and formation of image bed guide rail and do the displacement of horizontal direction to slide the bracket to formation of image bed guide rail from the transfer guide rail.

the lifting device adopts one or more screw lifters. Each lead screw lifter comprises a bracket, a lead screw and a slide block; wherein, the screw rod is arranged on the bracket along the vertical direction; the bracket is arranged on the base of the wheel type chassis; the screw rod is provided with an external thread, the sliding block is provided with an internal thread, and the sliding block is sleeved on the screw rod; the lead screws are connected to the console through corresponding motors and drivers; the motor drives the lead screw to rotate, so that the sliding block is driven to move in the vertical direction. A pair of horizontal transfer guide rails is arranged on the sliding block. The top end of the support is provided with a beam for fixing the support, and two pairs of cameras are respectively arranged at two ends of the beam.

The invention further aims to provide a control method of the medical imaging transfer car system.

the control method of the medical imaging transfer car system comprises an automatic mode and a manual mode:

Firstly, a manual mode:

1) The sample to be detected is placed on the bracket along the length direction;

2) installing radiation-proof baffles around the bracket;

3) An operator is positioned on the manned platform, and the movement route of the wheeled chassis is controlled by the console to move to one end of the imaging bed and face the imaging bed;

4) the control console controls the lifting device to drive the transfer guide rail to move along the vertical direction, the transfer guide rail and the imaging bed guide rail are positioned on the same horizontal plane, the transfer guide rail is butted with the imaging bed guide rail by controlling the wheel type chassis, and the transfer guide rail and the guide rails on the two sides of the imaging bed guide rail are respectively positioned on the same straight line and are connected end to end;

5) pushing the bracket to horizontally slide to the imaging bed guide rail along the transfer guide rail;

6) Adjusting the height of the imaging bed to enable the imaging bed to support the bracket, so that the bracket is transferred to the imaging bed;

7) After imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley;

II, automatic mode:

1) The sample to be detected is placed on the bracket along the length direction;

2) installing radiation-proof baffles around the bracket;

3) The control console stores the starting point and the end point of the movement route, and the two pairs of cameras acquire images around the transfer trolley in real time and transmit the images to the control console;

4) the control console obtains images in front of and behind the bracket through a binocular imaging principle, so that the trolley is positioned, a movement route is further obtained, the trolley is navigated, and the control console controls the wheel type chassis to move to one end of the imaging bed according to the movement route;

5) the control console positions the imaging bed and the imaging bed guide rail through images acquired by the camera, controls the transfer guide rail to move in the vertical direction along the lifting device, the transfer guide rail and the imaging bed guide rail are positioned on the same horizontal plane, and controls the wheel type chassis to enable the transfer guide rail to be in butt joint with the imaging bed guide rail, and the transfer guide rail and the two side guide rails of the imaging bed guide rail are respectively positioned on the same straight line and are connected end to end;

6) manually pushing the bracket to horizontally slide to the imaging bed guide rail along the transfer guide rail;

7) adjusting the height of the imaging bed to enable the imaging bed to support the bracket, so that the bracket is transferred to the imaging bed;

8) after imaging is finished, the imaging bed descends, the bracket is borne by the imaging bed guide rail, the bracket is pushed to slide to the transfer guide rail from the imaging bed guide rail, and the imaging bed is transferred to a specified position through the transfer trolley.

The invention has the advantages that:

the invention adopts a wheel type chassis, a lifting device, a transfer guide rail, an imaging bed guide rail, a bracket, a camera, a control console, a manned platform and a radiation-proof baffle; a lifting device and a transfer guide rail are installed on the wheel type chassis, a bracket is installed on the transfer guide rail, the console controls the transfer trolley to drive the bracket to move, so that the transfer guide rail is in butt joint with the imaging bed guide rail, and the bracket slides to the imaging bed guide rail from the transfer guide rail so as to be transferred to the imaging bed; the invention is used for experimental transfer of large-scale detected samples, can conveniently transfer the detected samples to the imaging bed of the imaging equipment, and can realize transfer among different imaging equipment; in the transfer process, the camera is used for navigation and positioning, so that the imaging bed can be accurately and stably butted with the conventional general non-special imaging bed, and the accurate adjustment of the placement position on the imaging bed is ensured.

Drawings

FIG. 1 is a schematic view of one embodiment of a medical imaging transfer cart system of the present invention;

FIG. 2 is a schematic view of one embodiment of the medical imaging transfer cart system of the present invention without the radiation shield installed;

FIG. 3 is a schematic view of a mounted radiation shield of one embodiment of the medical imaging transfer cart system of the present invention;

fig. 4 is a schematic diagram of an embodiment of the medical imaging transfer car system of the present invention at different angles, where (a) is a rear view, (b) is a side view, and (c) is a top view.

Detailed Description

the invention will be further elucidated by means of specific embodiments in the following with reference to the drawing.

as shown in fig. 1 to 4, the medical imaging transfer trolley system of the present embodiment includes: the device comprises a wheel type chassis 7, a lifting device 1, a transfer guide rail 2, an imaging bed guide rail 8, a bracket 3, a camera 4, a control console 6, a manned platform 10 and a radiation-proof baffle 5; wherein, the wheel type chassis 7, the lifting device 1, the transfer guide rail 2, the bracket 3, the camera 4, the console 6, the manned platform 10 and the radiation-proof baffle 5 form a transfer vehicle; a lifting device 1 along the vertical direction is arranged on the wheel type chassis 7; a pair of transfer guide rails 2 along the horizontal direction are arranged on the lifting device 1, and the transfer guide rails 2 can move along the lifting device 1 in the vertical direction; two side edges of the bracket 3 along the length direction are respectively arranged on the pair of transfer guide rails 2, and the bracket 3 can move along the transfer guide rails 2 in the horizontal direction; a radiation-proof baffle 5 is arranged around the bracket 3; a manned platform 10 connected with the rear end of the wheel type chassis 7 into a whole is arranged at the rear end of the wheel type chassis; a control console 6 is arranged on the manned platform 10; two pairs of cameras 4 are respectively arranged at the front end and the rear end of the transfer trolley, lenses of the two pairs of cameras 4 respectively face the front and the rear of the transfer trolley, and the imaging range reaches 360 degrees; the camera 4 is connected to the console 6; the wheel type chassis 7 and the lifting device 1 are respectively connected to the control platform 6 through respective motors and drivers; a pair of imaging bed guide rails 8 are arranged on two sides of the imaging bed along the length direction, and the horizontal plane where the imaging bed guide rails 8 are located is higher than the imaging bed; the specimen to be examined is placed on the carriage 3 in the longitudinal direction.

In this embodiment, the lifting device 1 employs four screw lifters. Each lead screw lifter comprises a bracket, a lead screw and a slide block; wherein, the screw rod is arranged on the bracket along the vertical direction; the bracket is arranged on the base of the wheel type chassis 7; the screw rod is provided with an external thread, the sliding block is provided with an internal thread, and the sliding block is sleeved on the screw rod; the lead screws are connected to the console 6 through respective corresponding motors and drivers; the motor drives the lead screw to rotate, so that the sliding block is driven to move in the vertical direction. The four lead screw lifters are respectively arranged on two sides of the wheel type chassis 7 along the length direction of the bracket 3, and two lead screw lifters are arranged on one side of the bracket; the top ends of the supports of the two lead screw lifters on each side are provided with a cross beam for fixing; a horizontal transfer rail 2 is mounted on the slides of the two screw elevators on each side. Two ends of each beam are respectively provided with a camera 4. The signals of the control console are transmitted to the four drivers simultaneously, so that the movement of the four screw rod lifters is synchronously controlled.

The control method of the medical imaging transfer car system of the embodiment comprises an automatic mode and a manual mode:

firstly, a manual mode:

1) The sample to be detected is placed on the bracket 3 along the length direction;

2) a radiation-proof baffle 5 is arranged around the bracket 3;

3) An operator is positioned on the manned platform 10, and the motion route of the wheeled chassis 7 is controlled by the console 6 to move to one end of the imaging bed and face the imaging bed;

4) The control console 6 controls the lifting device 1 to drive the transfer guide rail 2 to move along the vertical direction, and the transfer guide rail 2 and the imaging bed guide rail

8 are positioned on the same horizontal plane, and the transfer guide rail 2 is butted with the imaging bed guide rail 8 by controlling the wheel type chassis 7, and the transfer guide rail 2 and the guide rails on the two sides of the imaging bed guide rail 8 are respectively positioned on the same straight line and are connected end to end;

5) the pushing bracket 3 horizontally slides along the transfer guide rail 2 to the imaging bed guide rail 8;

6) adjusting the height of the imaging bed to enable the imaging bed to support the bracket 3, so that the bracket 3 is transferred to the imaging bed;

7) after imaging is finished, the imaging bed descends, the bracket 3 is carried by the imaging bed guide rail 8, the bracket 3 is pushed to slide to the transfer guide rail 2 from the imaging bed guide rail 8, and the imaging bed is transferred to a specified position through a transfer trolley;

II, automatic mode:

1) the sample to be detected is placed on the bracket 3 along the length direction;

2) A radiation-proof baffle 5 is arranged around the bracket 3;

3) the console 6 stores the starting point and the end point of the movement route, and the two pairs of cameras 4 acquire images of 360 degrees around the transfer trolley in real time and transmit the images to the console 6;

4) The control console 6 obtains images in front of and behind the bracket 3 through a binocular imaging principle, so that the trolley is positioned, a movement route is further obtained, the trolley is navigated, and the control console 6 controls the wheel type chassis 7 to move to one end of the imaging bed according to the movement route;

5) the console 6 positions the imaging bed and the imaging bed guide rail 8 through the image collected by the camera 4 and controls the transfer guide rail

2, the transfer guide rail 2 and the imaging bed guide rail 8 are positioned on the same horizontal plane, the transfer guide rail 2 is butted with the imaging bed guide rail 8 by controlling the wheel type chassis 7, and the two side guide rails of the transfer guide rail 2 and the imaging bed guide rail 8 are respectively positioned on the same straight line and are connected end to end;

6) Manually pushing the bracket 3 to horizontally slide along the transfer guide rail 2 to the imaging bed guide rail 8;

7) adjusting the height of the imaging bed to enable the imaging bed to support the bracket 3, so that the bracket 3 is transferred to the imaging bed;

8) After imaging is finished, the imaging bed descends, the bracket 3 is carried by the imaging bed guide rail 8, the bracket 3 is pushed to slide to the transfer guide rail 2 from the imaging bed guide rail 8, and the imaging bed is transferred to a specified position through the transfer trolley.

finally, it is noted that the disclosed embodiments are intended to aid in further understanding of the invention, but those skilled in the art will appreciate that: various substitutions and modifications are possible without departing from the spirit and scope of the invention and the appended claims. Therefore, the invention should not be limited to the embodiments disclosed, but the scope of the invention is defined by the appended claims.