CN106897558A - A kind of Chinese medicine nursing percussion device for rehabilitation control system - Google Patents

Abstract

The present invention relates to a kind of Chinese medicine nursing with tapping device for rehabilitation control system, including for the pressure sensor that is detected of percussion dynamics of bucketing hammer；For the temperature sensor that temperature to external world is acquired；Respectively with pressure sensor, temperature sensor wired connection, for the single-chip microcomputer that the signal for receiving is analyzed and is processed；With single-chip microcomputer wired connection, for the heating cushion heated to device for rehabilitation seat base；With single-chip microcomputer by drive control device wired connection, the vibrating motor for providing power for percussion hammer；With single-chip microcomputer by drive control device wired connection, the electric rotating machine for adjusting device for rehabilitation seat back；With single-chip microcomputer wired connection, for the memory for being preserved service data, and single-chip microcomputer wired connection, for the operational control device being controlled.Control system of the present invention is simple to operate, easy to use, functional diversities, high working efficiency, can carry out wireless charging.

Description

A kind of Chinese medicine nursing percussion device for rehabilitation control system

Technical field

The invention belongs to technical field of medical equipment, more particularly to a kind of Chinese medicine nursing percussion device for rehabilitation control system.

Background technology

On department of traditional Chinese medicine clinical nursing, be patient do rehabilitation nurse when, typically can all use electric massage device or The manual knocking device of person.

Existing Chinese medicine nursing with tapping device for rehabilitation complex structure, control inconvenience, it is necessary to medical personnel are operated manually, It is unfavorable for promoting and uses, increased the work load of medical personnel, and reduces operating efficiency to a certain extent, it is most important Be can not adjust according to actual needs tap hammer percussion dynamics and tap speed.

The content of the invention

The present invention may cause, due to operating with inconvenience, to cause Practical Performance to drop significantly to solve existing control mode It is low, it is impossible to which that adjustment according to actual needs taps the percussion dynamics of hammer and taps speed, on the other hand, increased the work of medical personnel Bear, and reduce the technical problem of operating efficiency to a certain extent and a kind of Chinese medicine nursing is provided and taps device for rehabilitation Control system.

The present invention is adopted the technical scheme that to solve technical problem present in known technology：

The Chinese medicine nursing that the present invention is provided is controlled with device for rehabilitation control system, the Chinese medicine nursing is tapped with device for rehabilitation is tapped System includes：

For the pressure sensor that the percussion dynamics of bucketing hammer is detected；The measurement model of the pressure sensor is such as Under：

A is pressure sensor；Y_A(t_k-1)、Y_A(t_k)、Y_A(t_k+1) A is respectively to target in t_k-1,t_k,t_k+1Moment it is local Measuring value under cartesian coordinate system, respectively：

Wherein, Y'_A(t_k-1)、Y'_A(t_k)、Y'_A(t_k+1) A is respectively in t_k-1,t_k,t_k+1The local cartesian coordinate system at moment Under actual position；C_AT () is the transformation matrix of error；ξ_AT () is the systematic error of sensor；It is system noise, it is assumed thatIt is zero-mean, separate Gaussian stochastic variable, noise covariance matrix is respectively R_A(k- 1)、R_A(k)、R_A(k+1)；

For the temperature sensor that temperature to external world is acquired；

Respectively with pressure sensor, temperature sensor wired connection, for what the signal for receiving was analyzed and was processed Single-chip microcomputer；

With single-chip microcomputer wired connection, for the heating cushion heated to device for rehabilitation seat base；

With single-chip microcomputer by drive control device wired connection, the vibrating motor for providing power for percussion hammer；

With single-chip microcomputer by drive control device wired connection, the electric rotating machine for adjusting device for rehabilitation seat back；

With single-chip microcomputer wired connection, for the memory for being preserved service data；

With single-chip microcomputer wired connection, for the operational control device being controlled；The frequency hopping mixing letter of the operational control device Number time-frequency domain matrix(p, q) represents time-frequency index, and specific time-frequency value isHere N_fftThe length of FFT is represented, p represents adding window number of times, T_sRepresent sampling interval, f_sExpression is adopted Sample frequency, C is integer, represents the sampling number at Short Time Fourier Transform adding window interval, C ＜ N_fft, and K_c=N_fft/ C is integer, That is the Short Time Fourier Transform for overlapping adding window is used；

Using clustering algorithm estimate each jump jumping moment and respectively jump corresponding normalized hybrid matrix column vector, During Hopping frequencies, comprise the following steps：

The first step is right at p (p=0,1,2 ... the P-1) momentThe frequency values of expression are clustered, in the cluster for obtaining Heart numberThe carrier frequency number that the expression p moment is present,Individual cluster centre then represents the size of carrier frequency, uses respectivelyRepresent；

Second step, to each sampling instant p (p=0,1,2 ... P-1), using clustering algorithm pairClustered, It is same availableIndividual cluster centre, usesRepresent；

3rd step, to allAverage and round, obtain the estimation of source signal numberI.e.

4th step, finds outMoment, use p_hRepresent, to each section of p of continuous value_hIntermediate value is sought, is usedRepresent the l sections of p that is connected_hIntermediate value, thenRepresent l-th estimation at frequency hopping moment；

5th step, obtains according to estimation in second stepAnd the 4th estimate to obtain in step The frequency hopping moment estimate it is each jump it is correspondingIndividual hybrid matrix column vectorSpecifically formula is：

HereRepresent that l is jumped correspondingIndividual mixing Matrix column vector estimate；

6th step, estimates the corresponding carrier frequency of each jump, usesRepresent that l is jumped correspondingIndividual frequency estimation, computing formula is as follows：

The top for tapping hammer is provided with indicator lamp, indicator lamp and single-chip microcomputer wired connection；

The top for tapping hammer is installed with speed governing knob；

The power module and single-chip microcomputer wired connection, for providing power supply, wireless charging device is wired with power module Connection, for carrying out wireless charging.

Further, the single-chip microcomputer docks collection of letters s (t) and carries out nonlinear transformation, carries out as follows：

WhereinA represents the amplitude of signal, and a (m) represents letter Number symbol, p (t) represent shaping function, f_cThe carrier frequency of signal is represented,The phase of signal is represented, by this Be can obtain after nonlinear transformation：

Further, the single-chip microcomputer be based on frequency F, time T, for observation station spatial domain angle Θ, polarised direction Γ and The interference characteristic space HS that coded system C characteristic parameters are set up_IIn, calculate interference signal vectorTo contrast signal vector's Displacement vector

Further, the single-chip microcomputer calculates cross correlation value E according to sampled signal r n, and specific method includes：

The first step, structure is made up of length on identical sampling location in continuous m OFDM symbol l sequence of consecutive samples Associated window, then log-likelihood function Λ τ corresponding with the associated window be expressed as：

Second step, N+L sampled point length is slided by associated window, obtains the maximum of log-likelihood function Λ τ, the value institute Corresponding sampling instant is the original position of OFDM symbol

Wherein,The value of independent variable τ when representative function obtains maximum, Λ τ represent log-likelihood function, m The number of continuous OFDM symbol is represented, l represents the length of sequence of consecutive samples on identical sampling location, and r n represent sampling letter Number, N represents the subcarrier number that OFDM symbol is included, and L represents the number of Cyclic Prefix part sampled point in OFDM symbol, | | It is modulo operator；

3rd step, according to the original position of OFDM symbolCalculate cross correlation value E：

Wherein,^*Represent conjugate operation.

The present invention has the advantages and positive effects that：The Chinese medicine nursing is passed with device for rehabilitation control system is tapped using pressure Sensor real-time monitoring taps the percussion dynamics of hammer, using the temperature that temperature sensor real-time monitoring is extraneous, and is manipulated by Device is operated with and adjusted, and controls vibrating motor to drive percussion hammer to be tapped by drive control device, is controlled by driving Device control electric rotating machine processed adjusts the position of device for rehabilitation seat back, and power module is charged using wireless charging device, Simple to operate, easy to use, functional diversities, high working efficiency can carry out wireless charging.

Brief description of the drawings

Fig. 1 is the theory diagram that Chinese medicine nursing provided in an embodiment of the present invention taps device for rehabilitation control system；

In figure：1st, pressure sensor；2nd, temperature sensor；3rd, single-chip microcomputer；4th, heating cushion；5th, drive control device；6th, vibrate Motor；7th, electric rotating machine；8th, memory；9th, power module；10th, wireless charging device；11st, operational control device.

Specific embodiment

For the content of the invention of the invention, feature and effect can be further appreciated that, following examples are hereby enumerated, and coordinate accompanying drawing Describe in detail as follows.

Structure of the invention is explained in detail with reference to Fig. 1.

The Chinese medicine nursing taps device for rehabilitation control system to be included：

For the pressure sensor 1 that the percussion dynamics of bucketing hammer is detected；

For the temperature sensor 2 that temperature to external world is acquired；

Respectively with pressure sensor 1, the wired connection of temperature sensor 2, for the signal for receiving to be analyzed and is processed Single-chip microcomputer 3；

With the wired connection of single-chip microcomputer 3, for the heating cushion 4 heated to device for rehabilitation seat base；

With single-chip microcomputer 3 by the wired connection of drive control device 5, the vibrating motor 6 for providing power for percussion hammer；

With single-chip microcomputer 3 by the wired connection of drive control device 5, the electric rotating machine 7 for adjusting device for rehabilitation seat back；

With the wired connection of single-chip microcomputer 3, for the memory 8 for being preserved service data；

With the wired connection of single-chip microcomputer 3, for the operational control device 11 being controlled.

Further, the top for tapping hammer is provided with indicator lamp, indicator lamp and the wired connection of single-chip microcomputer 3.

Further, the top for tapping hammer is installed with speed governing knob.

Further, the power module 9 and the wired connection of single-chip microcomputer 3, for providing power supply, wireless charging device 10 and electricity The wired connection of source module 9, for carrying out wireless charging.

The measurement model of the pressure sensor is as follows：

A is pressure sensor；Y_A(t_k-1)、Y_A(t_k)、Y_A(t_k+1) A is respectively to target in t_k-1,t_k,t_k+1Moment it is local Measuring value under cartesian coordinate system, respectively：

Wherein, Y'_A(t_k-1)、Y'_A(t_k)、Y'_A(t_k+1) A is respectively in t_k-1,t_k,t_k+1The local cartesian coordinate system at moment Under actual position；C_AT () is the transformation matrix of error；ξ_AT () is the systematic error of sensor；It is system noise, it is assumed thatIt is zero-mean, separate Gaussian stochastic variable, noise covariance matrix is respectively R_A(k- 1)、R_A(k)、R_A(k+1)；

With single-chip microcomputer wired connection, for the operational control device being controlled；The frequency hopping mixing letter of the operational control device Number time-frequency domain matrix(p, q) represents time-frequency index, and specific time-frequency value isHere N_fftThe length of FFT is represented, p represents adding window number of times, T_sRepresent sampling interval, f_sExpression is adopted Sample frequency, C is integer, represents the sampling number at Short Time Fourier Transform adding window interval, C ＜ N_fft, and K_c=N_fft/ C is integer, That is the Short Time Fourier Transform for overlapping adding window is used；

Using clustering algorithm estimate each jump jumping moment and respectively jump corresponding normalized hybrid matrix column vector, During Hopping frequencies, comprise the following steps：

The first step is right at p (p=0,1,2 ... the P-1) momentThe frequency values of expression are clustered, in the cluster for obtaining Heart numberThe carrier frequency number that the expression p moment is present,Individual cluster centre then represents the size of carrier frequency, uses respectivelyRepresent；

Second step, to each sampling instant p (p=0,1,2 ... P-1), using clustering algorithm pairClustered, It is same availableIndividual cluster centre, usesRepresent；

3rd step, to allAverage and round, obtain the estimation of source signal numberI.e.

4th step, finds outMoment, use p_hRepresent, to each section of p of continuous value_hIntermediate value is sought, is usedRepresent the l sections of p that is connected_hIntermediate value, thenRepresent l-th estimation at frequency hopping moment；

5th step, obtains according to estimation in second stepAnd the 4th estimate to obtain in step The frequency hopping moment estimate it is each jump it is correspondingIndividual hybrid matrix column vectorSpecifically formula is：

HereRepresent that l is jumped correspondingIndividual mixing Matrix column vector estimate；

6th step, estimates the corresponding carrier frequency of each jump, usesRepresent that l is jumped correspondingIndividual frequency estimation, computing formula is as follows：

Further, the single-chip microcomputer docks collection of letters s (t) and carries out nonlinear transformation, carries out as follows：

WhereinA represents the amplitude of signal, and a (m) represents letter Number symbol, p (t) represent shaping function, f_cThe carrier frequency of signal is represented,The phase of signal is represented, by this Be can obtain after nonlinear transformation：

Further, the single-chip microcomputer be based on frequency F, time T, for observation station spatial domain angle Θ, polarised direction Γ and The interference characteristic space HS that coded system C characteristic parameters are set up_IIn, calculate interference signal vectorTo contrast signal vector's Displacement vector

Further, the single-chip microcomputer calculates cross correlation value E according to sampled signal r n, and specific method includes：

The first step, structure is made up of length on identical sampling location in continuous m OFDM symbol l sequence of consecutive samples Associated window, then log-likelihood function Λ τ corresponding with the associated window be expressed as：

Second step, N+L sampled point length is slided by associated window, obtains the maximum of log-likelihood function Λ τ, the value institute Corresponding sampling instant is the original position of OFDM symbol

Wherein,The value of independent variable τ when representative function obtains maximum, Λ τ represent log-likelihood function, m The number of continuous OFDM symbol is represented, l represents the length of sequence of consecutive samples on identical sampling location, and r n represent sampling letter Number, N represents the subcarrier number that OFDM symbol is included, and L represents the number of Cyclic Prefix part sampled point in OFDM symbol, | | It is modulo operator；

3rd step, according to the original position of OFDM symbolCalculate cross correlation value E：

Wherein,^*Represent conjugate operation.

Structure of the invention is further described with reference to operation principle.

The percussion dynamics of hammer is tapped by the real-time monitoring of pressure sensor 1, extraneous using the real-time monitoring of temperature sensor 2 Temperature, and be manipulated by device 11 and operated with and adjusted, control vibrating motor 6 to drive by drive control device 5 and strike Hammer is tapped, and controls electric rotating machine 7 to adjust the position of device for rehabilitation seat back by drive control device 5, using wireless charging Electric installation 10 charges to power module 9, and the treatment parameter and service data of each patient will be carried out using memory 8 Preserve, to facilitate use next time, the base of device for rehabilitation heated using heating cushion 4, it is convenient cold weather when Time is used, functional diversities, easy for operation, and the speed of vibrating motor 6 is adjusted using speed governing knob.

The above is only the preferred embodiments of the present invention, and any formal limitation is not made to the present invention, It is every according to technical spirit of the invention to any simple modification made for any of the above embodiments, equivalent variations and modification are belonged to In the range of technical solution of the present invention.

Claims (4)

1. a kind of Chinese medicine nursing is used and taps device for rehabilitation control system, it is characterised in that Chinese medicine nursing percussion device for rehabilitation control System processed includes：

For the pressure sensor that the percussion dynamics of bucketing hammer is detected；The measurement model of the pressure sensor is as follows：

A is pressure sensor；Y_A(t_k-1)、Y_A(t_k)、Y_A(t_k+1) A is respectively to target in t_k-1,t_k,t_k+1The local flute card at moment Measuring value under your coordinate system, respectively：

$Y_A\left(t_{k-1}\right)={Y^{\′}}_A\left(t_{k-1}\right)-C_A\left(t_{k-1}\right){\mathrm{\ξ}}_A\left(t_{k-1}\right)+n_{Y_A\left(t_{k-1}\right)};$

$Y_A\left(t_k\right)={Y^{\′}}_A\left(t_k\right)-C_A\left(t_k\right){\mathrm{\ξ}}_A\left(t_k\right)+n_{Y_A\left(t_k\right)};$

$Y_A\left(t_{k+1}\right)={Y^{\′}}_A\left(t_{k+1}\right)-C_A\left(t_{k+1}\right){\mathrm{\ξ}}_A\left(t_{k+1}\right)+n_{Y_A\left(t_{k+1}\right)};$

Wherein, Y'_A(t_k-1)、Y'_A(t_k)、Y'_A(t_k+1) A is respectively in t_k-1,t_k,t_k+1Under the local cartesian coordinate system at moment Actual position；C_AT () is the transformation matrix of error；ξ_AT () is the systematic error of sensor；It is system noise, it is assumed thatIt is zero-mean, separate Gaussian stochastic variable, noise covariance matrix is respectively R_A(k- 1)、R_A(k)、R_A(k+1)；

For the temperature sensor that temperature to external world is acquired；

Respectively with pressure sensor, temperature sensor wired connection, for the monolithic that the signal for receiving is analyzed and is processed Machine；

With single-chip microcomputer wired connection, for the heating cushion heated to device for rehabilitation seat base；

With single-chip microcomputer by drive control device wired connection, the vibrating motor for providing power for percussion hammer；

With single-chip microcomputer by drive control device wired connection, the electric rotating machine for adjusting device for rehabilitation seat back；

With single-chip microcomputer wired connection, for the memory for being preserved service data；

With single-chip microcomputer wired connection, for the operational control device being controlled；The frequency hopping mixing letter of the operational control device Number time-frequency domain matrix(p, q) represents time-frequency index, and specific time-frequency value isHere N_fftThe length of FFT is represented, p represents adding window number of times, T_sRepresent sampling interval, f_sExpression is adopted Sample frequency, C is integer, represents the sampling number at Short Time Fourier Transform adding window interval, C ＜ N_fft, and K_c=N_fft/ C is integer, That is the Short Time Fourier Transform for overlapping adding window is used；

Estimate the jumping moment of each jump using clustering algorithm and respectively jump corresponding normalized hybrid matrix column vector, frequency hopping During frequency, comprise the following steps：

The first step is right at p (p=0,1,2 ... the P-1) momentThe frequency values of expression are clustered, the cluster for obtaining Center NumberThe carrier frequency number that the expression p moment is present,Individual cluster centre then represents the size of carrier frequency, uses respectivelyRepresent；

Second step, to each sampling instant p (p=0,1,2 ... P-1), using clustering algorithm pairClustered, equally It is availableIndividual cluster centre, usesRepresent；

3rd step, to allAverage and round, obtain the estimation of source signal numberI.e.

$\hat{N}=round\left(\frac{1}{p}\underset{p=0}{\overset{P-1}{\Σ}}{\hat{N}}_p\right);$

4th step, finds outMoment, use p_hRepresent, to each section of p of continuous value_hIntermediate value is sought, is usedRepresent the l sections of p that is connected_hIntermediate value, thenRepresent l-th estimation at frequency hopping moment；

5th step, obtains according to estimation in second stepAnd the 4th estimate the frequency that obtains in step It is corresponding that rate jumping moment estimates each jumpIndividual hybrid matrix column vectorSpecifically formula is：

${\hat{a}}_n\left(l\right)=\left\{\begin{array}{cc}\frac{1}{{\stackrel{\‾}{p}}_h\left(1\right)}\·\underset{p=1,p\≠p_h}{\overset{{\stackrel{\‾}{p}}_h\left(1\right)}{\Σ}}{b}_{n,p}^0& l=1,\\ \frac{1}{{\stackrel{\‾}{p}}_h\left(l\right)-{\stackrel{\‾}{p}}_h(l-1)}\·\underset{p={\stackrel{\‾}{p}}_h(l-1)+1,p\≠p_h}{\overset{{\stackrel{\‾}{p}}_h\left(l\right)}{\Σ}}{b}_{n,p}^0& l>1,\end{array}\right.,n=1,2,\mathrm{...},\hat{N}$

HereRepresent that l is jumped correspondingIndividual hybrid matrix Column vector estimate；

6th step, estimates the corresponding carrier frequency of each jump, usesRepresent that l is jumped correspondingIt is individual Frequency estimation, computing formula is as follows：

${\hat{f}}_{c,n}\left(l\right)=\left\{\begin{array}{cc}\frac{1}{{\stackrel{\‾}{p}}_h\left(1\right)}\·\underset{p=1,p\≠p_h}{\overset{{\stackrel{\‾}{p}}_h\left(1\right)}{\Σ}}{f}_o^n\left(p\right)& l=1,\\ \frac{1}{{\stackrel{\‾}{p}}_h\left(l\right)-{\stackrel{\‾}{p}}_h(l-1)}\·\underset{p={\stackrel{\‾}{p}}_h(l-1)+1,p\≠p_h}{\overset{{\stackrel{\‾}{p}}_h\left(l\right)}{\Σ}}{f}_o^n\left(p\right)& l>1,\end{array}\right.,n=1,2,\mathrm{...},\hat{N};$

The top for tapping hammer is provided with indicator lamp, indicator lamp and single-chip microcomputer wired connection；

The top for tapping hammer is installed with speed governing knob；

The power module and single-chip microcomputer wired connection, for providing power supply, wireless charging device and power module wired connection, For carrying out wireless charging.

2. Chinese medicine nursing as claimed in claim 1 is used and taps device for rehabilitation control system, it is characterised in that the single-chip microcomputer docking Collection of letters s (t) carries out nonlinear transformation, carries out as follows：

$f\[s\left(t\right)\]=\frac{s\left(t\right)*\ln \left|s\left(t\right)\right|}{\left|s\left(t\right)\right|}=s\left(t\right)c\left(t\right)$

WhereinA represents the amplitude of signal, and a (m) represents signal Symbol, p (t) represents shaping function, f_cThe carrier frequency of signal is represented,The phase of signal is represented, by the non-thread Property conversion after can obtain：

$f\[s\left(t\right)\]=s\left(t\right)\frac{ln\left|Aa\left(m\right)\right|}{\left|Aa\left(m\right)\right|}.$

3. Chinese medicine nursing as claimed in claim 1 is used and taps device for rehabilitation control system, it is characterised in that the single-chip microcomputer is based on Frequency F, time T, the interference spy set up for observation station spatial domain angle Θ, polarised direction Γ and coded system C characteristic parameters Levy space HS_IIn, calculate interference signal vectorTo contrast signal vectorDisplacement vector

4. Chinese medicine nursing as claimed in claim 1 is with tapping device for rehabilitation control system, it is characterised in that the single-chip microcomputer according to Sampled signal r n, calculate cross correlation value E, and specific method includes：

The first step, the phase that structure is made up of length on identical sampling location in continuous m OFDM symbol l sequence of consecutive samples Window is closed, then log-likelihood function Λ τ corresponding with the associated window is expressed as：

$\mathrm{\Λ}\mathrm{\τ}=\frac{\underset{m=0}{\overset{m-1}{\Σ}}\underset{i=0}{\overset{\mathrm{\τ}+l-1}{\Σ}}ri+tN+Lri+N+mN+L}{\underset{m=0}{\overset{m-1}{\Σ}}\underset{i=0}{\overset{\mathrm{\τ}+l-1}{\Σ}}\[|ri+tN+L{|}^2+|ri+N+tN+L{|}^2\]};$

Second step, N+L sampled point length is slided by associated window, the maximum of acquisition log-likelihood function Λ τ, corresponding to the value Sampling instant be the original position of OFDM symbol

$\begin{array}{c}\widehat{\mathrm{\τ}}=\underset{\mathrm{\τ}}{\arg \max }\mathrm{\Λ}\mathrm{\τ}\\ =\underset{\mathrm{\τ}}{\arg \max }\left\{\frac{\underset{m=0}{\overset{m-1}{\Σ}}\underset{i=0}{\overset{\mathrm{\τ}+l-1}{\Σ}}ri+tN+Lri+N+mN+L}{\underset{m=0}{\overset{m-1}{\Σ}}\underset{i=0}{\overset{\mathrm{\τ}+l-1}{\Σ}}\[|ri+tN+L{|}^2+|ri+N+tN+L{|}^2\]}\right\}\end{array};$

Wherein,The value of independent variable τ when representative function obtains maximum, Λ τ represent log-likelihood function, and m is represented The number of continuous OFDM symbol, l represents the length of sequence of consecutive samples on identical sampling location, and r n represent sampled signal, N The subcarrier number that OFDM symbol is included is represented, L represents the number of Cyclic Prefix part sampled point in OFDM symbol, | | it is to ask Modulus operator；

3rd step, according to the original position of OFDM symbolCalculate cross correlation value E：

$E=\underset{m=0}{\overset{m-1}{\Σ}}\underset{i=0}{\overset{\mathrm{\τ}+l-1}{\Σ}}ri+tN+Lri+N+mN+L;$

Wherein,^*Represent conjugate operation.