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US 12,763,201 B2Granted
Medical device undercarriage
AssigneeSiemens Shanghai Medical Equipment Ltd.
InventorsLi Wang, Min Li, Yin Jie Xiang
Life of this patent
Estimating the term…
Abstract
A medical device undercarriage including a pair of front wheels, a pair of rear wheels, a first position sensitive detector located between the pair of front wheels, a second position sensitive detector located between the pair of rear wheels, and a controller. The controller is operable to calculate a gear ratio of the rear wheels according to a position of the first position sensitive detector and a position of the second position sensitive detector.
Claims6
A medical device undercarriage, comprising:
- a pair of front wheels;
- a pair of rear wheels;
- a first position sensitive detector located between the pair of front wheels;
- a second position sensitive detector located between the pair of rear wheels;
- and
- a controller operable to calculate a gear ratio of the rear wheels according to a position of the first position sensitive detector and a position of the second position sensitive detector,
- wherein if a position deviation of the first position sensitive detector is Ep(n), the controller is operable to calculate Ep(n) according to the following formula:
- E
- p
- (
- n
- )
- =
- K
- p
-
- p
- *
- E
- p
- (
- n
- -
- 1
- )
- dt
- +
- K
- p
-
- i
- *
- ∑
- i
- =
- 0
- N
-
- E
- p
- (
- n
- -
- i
- )
- N
- *
- dt
- +
- K
- p
-
- d
- *
- ∑
- i
- =
- 0
- N
- [
- E
- p
- (
- n
- -
- i
- )
- -
- 2
-
- E
- p
- (
- n
- -
- i
- -
- 1
- )
- +
- E
- p
- (
- n
- -
- i
- -
- 2
- )
- N
- *
- dt
- ,
- wherein N is a positive integer, and dt is a sampling interval, Kpp, Kpi, and Kpd are respectively proportional integral differential coefficients of related positions.
91 more elements
Dependencies are inferred from the claim text.