CN112755404B - Traditional Chinese medicine endocrinology department physical therapy baking lamp, control system and control method - Google Patents
Traditional Chinese medicine endocrinology department physical therapy baking lamp, control system and control method Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
- A61N5/0625—Warming the body, e.g. hyperthermia treatment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0626—Monitoring, verifying, controlling systems and methods
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0632—Constructional aspects of the apparatus
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/065—Light sources therefor
- A61N2005/0654—Lamps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0658—Radiation therapy using light characterised by the wavelength of light used
- A61N2005/0659—Radiation therapy using light characterised by the wavelength of light used infrared
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0664—Details
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention belongs to the technical field of a traditional Chinese medicine endocrinology department physical therapy baking lamp, and discloses a traditional Chinese medicine endocrinology department physical therapy baking lamp, a control system and a control method; three degrees of freedom of the baking lamp correspond to the three groups of telescopic rod kits, and the baking lamp is driven by a motor and controlled by a single chip microcomputer; the baking lamp is provided with an automatic position tracking control module to automatically control the angle of the baking lamp; a manual key control module is also configured to send control stop, forward rotation and reverse rotation instructions; the stop, forward rotation and reverse rotation instructions are transmitted to the wireless control module; separating the synchronous orthogonal frequency hopping signal blind sources of the stop, forward rotation and reverse rotation commands; recovering a time domain frequency hopping source signal, and controlling the power output module to correspondingly stop, positively rotate and reversely rotate by the wireless control module according to stop, positively rotate and reversely rotate instructions; the power output module correspondingly stops, positively rotates and reversely rotates to stop, extend and shorten the telescopic control module; when the control module to be stretched enables the electromagnetic wave energy output module to be adjusted to a proper position, the key control module sends a stop instruction.
Description
Technical Field
The invention belongs to the technical field of physiotherapy baking lamps for the endocrinology department of traditional Chinese medicine, and particularly relates to a physiotherapy baking lamp, a control system and a control method for the endocrinology department of traditional Chinese medicine.
Background
At present: the infrared baking lamp for medical treatment of endocrine in traditional Chinese medicine can promote blood circulation, regulate autonomic nerves, relieve arthralgia and the like, and plays an important role in nursing work. The intelligent degree of current roast lamp is lower, and too much dependence nursing staff's experience, patient's impression adjust roast lamp's position, height, angle, very inconvenient.
Disclosure of Invention
The invention provides a physiotherapy baking lamp for the endocrinology department of traditional Chinese medicine, a control system and a control method, aiming at the problems that the intelligentization degree of the existing baking lamp is low, the position, the height and the angle of the baking lamp are inconvenient to adjust by depending on the experience of nursing staff and the feeling of a patient.
The invention is realized in this way, a physiotherapy roast lamp for traditional Chinese medicine endocrinology department, characterized in that, the physiotherapy roast lamp for traditional Chinese medicine endocrinology department is provided with: a base;
the bottom of the base is fixed by four traveling wheels through bolts, a first telescopic rod is arranged inside the base and is sleeved with a second telescopic rod, the second telescopic rod is connected with a fifth telescopic rod through a movable pin, the fifth telescopic rod is sleeved with a sixth telescopic rod, a third telescopic rod is welded on the outer side of the second telescopic rod and is sleeved with a fourth telescopic rod, a lamp body is installed at the tail end of the sixth telescopic rod, and a lampshade is installed at the tail end of the lamp body;
a first spring and a first motor are arranged in the first telescopic rod, the bottom of the first spring is welded at the bottom of the first telescopic rod, the top end of the first spring is welded with a base of the first motor, and the first motor is connected with a second telescopic rod shaft;
a second spring and a second motor are installed in the third telescopic rod, the bottom of the second spring is welded to the bottom of the third telescopic rod, the top end of the second spring is welded to a base of the second motor, and the second motor is connected with a fourth telescopic rod shaft;
and a third spring and a third motor are installed in the fifth telescopic rod, the bottom of the third spring is welded at the bottom of the fifth telescopic rod, the top end of the third spring is welded with a base of the third motor, and the third motor is connected with a sixth telescopic rod shaft.
A sealing ring is arranged between the first telescopic rod and the second telescopic rod, and the outsides of the first telescopic rod and the second telescopic rod are fixed through a screw locker; the screw rod locking device is used for limiting the telescopic range of the first telescopic rod and the second telescopic rod: within the limit range, first telescopic link, second telescopic link can freely stretch out and draw back. The principle of the third telescopic rod, the fourth telescopic rod, the fifth telescopic rod and the sixth telescopic rod is the same as that of the first telescopic rod and the second telescopic rod.
The first motor, the second motor and the third motor respectively correspond to an independent H-bridge circuit and an STM8S103 single chip microcomputer, and the motors are connected with the STM8S103 single chip microcomputer through the motor control H-bridge circuit; the input signal of the STM8S103 singlechip is a control signal sent by an automatic position tracking system or a control signal sent by a manual position control system; the output signal of the STM8S103 single chip microcomputer controls the running of the motor through the motor control H-bridge circuit.
The wireless module of the invention adopts an interference model, thus improving the efficiency and the signal strength of wireless communication; the standard Sigmoid function model is:
in order to simulate a PRR-SINR model more accurately, a stretching coefficient s and a translation coefficient mu are added, parameter adjustment is carried out on a Sigmoid function, the PRR is recorded as y, and the SINR is recorded as x:
according to the empirical value, when the SINR is 2dB, the PRR is 80%, when the SINR is 0dB, the PRR is 10%, and the result is that:
in order to improve the noise tolerance of the low level output by the singlechip, the method of reducing the internal resistance of a signal source can be adopted, and the effect of a singlechip control system is improved by using a voltage follower with the amplification factor of 1; the circuit diagram of the voltage follower is shown in fig. 7.
The blind source separation method of the synchronous orthogonal frequency hopping signals estimates the frequency hopping source signals only according to the received mixed signals of the plurality of frequency hopping signals under the condition of not knowing any channel information, can carry out blind estimation on the plurality of frequency hopping signals under the condition that the number of receiving antennas is less than that of the source signals, only utilizes short-time Fourier transform, has small calculation amount and easy realization, can estimate partial parameters while carrying out blind separation on the frequency hopping signals, and has strong practicability and strong popularization and application values.
Drawings
FIG. 1 is a schematic structural diagram of a physiotherapy baking lamp for the endocrinology department of traditional Chinese medicine according to an embodiment of the present invention;
in the figure: 1. a base; 2. a traveling wheel; 3. a first telescopic rod; 4. a second telescopic rod; 5. a third telescopic rod; 6. a fourth telescopic rod; 7. a fifth telescopic rod; 8. a sixth telescopic rod; 9. a lamp body; 10. a lamp shade; 11. a first spring; 12. a first motor; 13. a second spring; 14. a second motor; 15. a third spring; 16. a third motor.
Fig. 2 is a schematic structural view of a first telescopic rod and a second telescopic rod provided in the embodiment of the present invention;
in fig. 2: 22. a seal ring; 23. screw locking device.
Fig. 3 is a schematic diagram of an STM8S103 single chip microcomputer provided by the embodiment of the present invention.
Fig. 4 is a schematic diagram of a motor control H-bridge circuit provided in an embodiment of the present invention.
FIG. 5 is a schematic structural diagram of a control system of a physiotherapy baking lamp for the endocrinology department of traditional Chinese medicine according to an embodiment of the present invention;
in fig. 5: 17. a telescoping control module; 18. a power take-off module; 19. a wireless control module; 20. a key control module; 21. and an electromagnetic wave energy output module.
Fig. 6 is a flowchart of a control method of a physiotherapy baking lamp for the traditional Chinese medicine endocrinology department according to an embodiment of the present invention.
Fig. 7 is a circuit diagram of a voltage follower provided by an embodiment of the present invention.
Fig. 8 is a schematic diagram of a position detection circuit according to an embodiment of the present invention.
Detailed Description
Example 1
As shown in fig. 1, a physiotherapy roasting lamp for the traditional Chinese medicine endocrinology department provided by the embodiment of the invention comprises: the lamp comprises a base 1, a travelling wheel 2, a first telescopic rod 3, a second telescopic rod 4, a third telescopic rod 5, a fourth telescopic rod 6, a fifth telescopic rod 7, a sixth telescopic rod 8, a lamp body 9, a lampshade 10, a first spring 11, a first motor 12, a second spring 13, a second motor 14, a third spring 15 and a third motor 16.
The bottom of base 1 is passed through the bolt fastening and is walked wheel 2 by four, first telescopic link 3 dress is in base 1's inside, first telescopic link 3 cup joints with second telescopic link 4, second telescopic link 4 is connected with fifth telescopic link 7 through the removable pin, fifth telescopic link 7 cup joints with sixth telescopic link 8, the outside welding of second telescopic link 4 has third telescopic link 5, third telescopic link 5 cup joints with fourth telescopic link 6, lamp body 9 is installed to the end of sixth telescopic link 8, lamp body 10 is installed to the end of lamp body 9.
Install first spring 11, first motor 12 in the first telescopic link 3, the bottom welding of first spring 11 is in the bottom of first telescopic link 3, and the top of first spring 11 and the base welding of first motor 12, first motor 12 is connected with 4 hub connections of second telescopic link.
A second spring 13 and a second motor 14 are installed in the third telescopic rod 5, the bottom of the second spring 13 is welded at the bottom of the third telescopic rod 5, the top end of the second spring 13 is welded with a base of the second motor 14, and the second motor 14 is connected with a shaft of the fourth telescopic rod 6.
A third spring 15 and a fourth motor 16 are installed in the fifth telescopic rod 7, the bottom of the third spring 15 is welded at the bottom of the fifth telescopic rod 7, the top end of the third spring 15 is welded with a base of the fourth motor 16, and the third motor 16 is connected with a shaft of the sixth telescopic rod 8.
As shown in fig. 2, the first telescopic rod 3 and the second telescopic rod 4 have a schematic structural view, and the third telescopic rod 5, the fourth telescopic rod 6, the fifth telescopic rod 7 and the sixth telescopic rod 8 have the same principle as the first telescopic rod 3 and the second telescopic rod 4. A sealing ring 22 is arranged between the first telescopic rod 3 and the second telescopic rod 4, and the outsides of the first telescopic rod 3 and the second telescopic rod 4 are fixed through a screw locker 23. The screw locking device 23 is used for limiting the extension range of the first telescopic rod 3 and the second telescopic rod 4: within the limit range, the first telescopic rod 3 and the second telescopic rod 4 can freely stretch out and draw back.
Example 2
As shown in fig. 5, a control system of a physiotherapy baking lamp for a traditional Chinese medicine endocrinology department provided by the embodiment of the invention comprises: the system comprises a telescopic control module 17, a power output module 18, a wireless control module 19, a manual key control module 20, an electromagnetic wave energy output module 21, an automatic position tracking control module 22 and a wired control module 23.
The electromagnetic wave energy output module 21 is used for realizing electromagnetic wave energy output;
the telescopic control module 17 is used for realizing the adjustment of the angle of the electromagnetic wave energy output module 21;
a power output module 18 for providing power to the telescopic control module 17;
a wired control module 23 for implementing wired control of the power output module 18;
a wireless control module 19 for implementing wireless control of the power output module 18;
the automatic position tracking control module 22 is used for outputting a signal for adjusting the position of the baking lamp as an input signal of the wired control module 23;
the manual key control module 20 is used for realizing the instruction sending of the wireless control module 19 and is used as an input signal of the wireless control module 19;
the baking lamp is provided with an automatic position tracking system which comprises a position emitter and a position detection circuit.
The position detection circuit is installed on the lampshade 10, the position transmitter is placed at the position of a human body needing physical therapy, the position transmitter transmits position signals, the detector of the position detection circuit receives the transmitted position signals and sends the signals to the three single-chip microcomputers, and the three single-chip microcomputers adjust the positions of the respective telescopic rods.
The position transmitter adopts an LED light source transmitter.
The position detection circuit adopts a photoelectric detection circuit, is a four-quadrant double-hole interference detector, is formed by packaging four detectors which have better consistency and are mutually independent, and is respectively T1, T2, T3 and T4, each detector consists of a position receiver, and a detector T0 is additionally arranged in the center of the position receiver. The detectors are then mounted on a lamp housing 10, the photoelectric detection circuit comprising 5 detectors each having a plurality of position receivers thereon.
As shown in FIG. 8, a single position receiver (K0-K4) on the detector is used for circuit analysis, and besides the position receiver, the detector also comprises corresponding 5 slide rheostats R0-R4 and an LM148 operational amplifier (comprising four groups of operational amplifiers L1-L4).
In the circuit, the anodes of K1-K4 are connected together and connected to a power supply together with the anode of K0, the cathode of K0 is connected to 4 non-inverting input ends of an amplifier LM148 through a slide rheostat R0, the cathodes of K1-K4 are respectively connected with 4 inverting input ends of the LM148 through slide rheostats R1-R4, so that K0 and K1-K4 respectively form a comparison circuit, and four ports of the singlechip are respectively correspondingly connected with 4 output ends of the LM 148. Therefore, the high-order or low-order electric signal generated by the comparison circuit can be conveniently transmitted to the singlechip.
The specific circuit working principle is as follows: k0 is at the center of the detector, when the detector is facing to the LED emission light source, K0 receives the position emitter signal, the position receiver K0 is conducted, because of the external +5V voltage, the non-inverting input terminals of 4 groups of operational amplifiers are connected with the negative electrode of K0 through R0, then 4 groups of non-inverting input terminals can detect the high potential at the same time, at this time, 4 groups of position receivers K1-K4 distributed near K0 can not receive the light signal under the shielding of the detector, and the negative electrodes of K1-K4 are respectively connected with the inverting input terminals of 4 groups of operational amplifiers of the LM148 chip through R1-R4, because the light signal can not be received, the position receivers K1-K4 are cut off, the inverting input terminals of the 4 groups of operational amplifiers connected with the position receivers can detect the low voltage, thus, by the comparison working principle of the operational amplifiers, it can be obtained, at this time, the output ports of the 4 groups of operational amplifiers can output the high potential signal at the same time, that is: when K0 receives optical signals, 4 pins PA 1-PA 4 of the single chip microcomputer simultaneously detect and receive high-potential signals.
It is also worth mentioning that: the circuit adopts the principle of operational amplifier to compare K0 with K1-K4, in order to detect the stable operation of the system, 5 sliding rheostats are additionally added in the circuit, and experiments show that a proper resistance value is adjusted, so that under the condition that the K0 does not receive signals of the position receiver, if K1-K4 do not receive signals of the position receiver at the moment, the fact that the output of the signals generated by the comparison of the operational amplifier when the signals of the position receiver are not received in the K0 and the K1-K4 is high is ensured, and the output of the signals generated by the comparison of the operational amplifier when the signals of the position receiver are received in the K0 and the K1-K4 is low is ensured. For example: when the K1 receives the signal of the position transmitter, the position receiver is conducted, the operational amplifier generates a low potential signal through the comparison of K1 and K0, and generates a high potential signal through the comparison of K0 and K2-K4. Therefore, the motor operation of the next step can be well controlled through the signal detected by the single chip pin.
The baking lamp is also provided with a position manual control system which is used as a supplement of the position automatic tracking system. The first motor 12, the second motor 14 and the third motor 16 are respectively provided with a manual remote control switch which is controlled by a wireless control module.
The motor operation control of the baking lamp is realized specifically as follows:
the first motor 12, the second motor 14 and the third motor 16 respectively correspond to an independent H-bridge circuit and an STM8S103 single chip microcomputer, and the motors are connected with the STM8S103 single chip microcomputer through the motor control H-bridge circuit; the input signal of the STM8S103 singlechip is a control signal sent by an automatic position tracking system or a control signal sent by a manual position control system; the output signal of the STM8S103 singlechip controls the running of the motor through the motor control H-bridge circuit.
The first motor 12, the second motor 14 and the third motor 16 adopt an IX linear push rod motor of a three-phase motor. When the M + ends of the first motor 12, the second motor 14 and the third motor 16 input high level and the M-ends of the first motor 12, the second motor 14 and the third motor 16 input low level, the motors rotate forwards, and the push rod extends; when a high level is input at the M + end and a low level is input at the M-end, the motor rotates reversely, and the push rod is shortened; when the M + and M-ends input low level, the motor stops rotating, and the push rod is fixed.
As shown in fig. 3, K1 and K2 are signal input terminals, and PC3 and PC4 are respectively connected to the P1 terminal and the P2 terminal of the motor control H-bridge circuit in fig. 4. The K1 end and the K2 end are connected with a wireless communication module, the wireless communication module adopts an SI4463-B1B chip originally imported from SILABS, a self-limiting motor forward and reverse rotation circuit is provided with four input ends of P1, P2, KG1+ and KG2+, and the forward rotation, the reverse rotation and the stop rotation of the motor are realized by controlling the high and low levels of the four ports. The levels of the PC3 and PC4 inputs are always opposite.
As shown in FIG. 4, P1 and P2 are motor control ports, the motor control H bridge circuit controls the forward rotation, the reverse rotation and the stop rotation of the motor, and the M + port and the M-port are respectively connected with the positive pole and the negative pole of the motor. When the P1 outputs high level and the P2 outputs low level, the triode Q3, the field effect transistor Q1 and the Q6 are conducted, the triode Q4, the field effect transistor Q2 and the Q5 are cut off, current flows from M + (the positive pole of the motor) to M- (the negative pole of the motor), and the motor rotates forwards. When the P1 outputs low level and the P2 outputs high level, the triode Q3, the field effect transistor Q1 and the Q6 are cut off, the triode Q4, the field effect transistor Q2 and the Q5 are conducted, current flows to M + (the positive pole of the motor) from M- (the negative pole of the motor), and the motor rotates reversely. When the P1 and the P2 both output low level, the triodes Q3 and Q4 and the field effect transistors Q1, Q2, Q5 and Q6 are all cut off, no current flows between M + (the positive pole of the motor) and M- (the negative pole of the motor), and the motor stops rotating. The motor controls a limiting circuit in the H-bridge circuit, KG1+ and KG2+ are self-limiting control ports, when the P1 outputs high level and the P2 outputs low level, the motor rotates forwards, if KG1+ is grounded at the moment, the low level is input, and the P1 and the P2 both output low level and stop the motor; when P1 outputs low level and P2 outputs high level, the motor rotates reversely, and when KG2+ is grounded and inputs low level, both P1 and P2 output low level motor stall.
The wireless control module control includes: a wireless transmitting section and a wireless receiving section.
In the wireless transmitting part circuit, an STM8L101F3P6 singlechip is used as a CPU, a wireless communication module with Si4463 as a core chip and 433MHz as a central frequency is used as a wireless transmitter, and a key is used as a control input signal. Three independent buttons in the wireless transmitting circuit respectively show corotation, stop, reversal to correspond the running state of three LED lamp instruction current motor respectively, when the button was pressed, STM8L101F3P6 singlechip gathered key signal and handled and judged which kind of function button pressed, and sent receiving module through 433MHz wireless module to corresponding key signal data. Encoding the key value: stop at 0x01, go forward to 0x02, go back to 0x03, and send the pressed key value to the wireless receiving module according to the self-defined communication protocol. The key power-on initial value is 0x00, the key value is 0x01 after the key is stopped being pressed, the key value is 0x02 after the forward rotation key is pressed, and the key value is 0x03 after the reverse rotation key is pressed.
The wireless receiving part still adopts an STM8L101F3P6 singlechip as a CPU, and adopts a wireless communication module which takes Si4463 as a core chip and 433MHz as a central frequency as a wireless receiver. The wireless module receives the data, processes and judges the data and makes corresponding relay closing and opening actions to control the opening and closing of the two alternating current contactors, and further controls the forward rotation, the reverse rotation and the stop of the motor.
The wireless module of the invention adopts an interference model, thus improving the efficiency and signal intensity of wireless communication; the standard Sigmoid function model is:
in order to simulate the PRR-SINR model more accurately, a stretching coefficient s and a translation coefficient mu are added, parameter adjustment is carried out on a Sigmoid function, the PRR is recorded as y, and the SINR is recorded as x:
according to the empirical value, when the SINR is 2dB, the PRR is 80%, when the SINR is 0dB, the PRR is 10%, and the result is that:
in order to improve the noise tolerance of the low level output by the singlechip, the method of reducing the internal resistance of a signal source can be adopted, and the effect of a singlechip control system is improved by using a voltage follower with the amplification factor of 1; the circuit diagram of the voltage follower is shown in fig. 7, wherein M1, M3, M5 and M7 form a two-stage common drain, NMOS and PMOS transistors (M2-M4, M6-M8) with a transfer current ratio of α form a current mirror device, and the 4 transistors M1, M3, M5 and M7 are biased by the current mirror device. M1 and M2 have the same leakage current, M3 and M4 have the same leakage current, all NMOS and PMOS have the same size, and the gate-source voltage of M1 and the gate-source voltage of M3 are nearly equal. This gate-source voltage matching method can also be applied to the followers M5-M8. Eventually, the compensation voltage of the improved voltage follower will be minimized. By using two composite tubes (M1-M4, M5-M8), the transconductance of the output of the MOS tube can be increased. The transconductances of the followers M1-M4 and M5-M8 can be represented by equation (1) and equation (2), respectively.
As shown in equations (1) and (2), the transconductance of the output transistor can be adjusted by controlling the transfer current ratio α. Simulations show that a very high transconductance can be obtained when a takes an appropriate value. The amplitude of the input voltage is VlowAnd VhighMeanwhile, the circuit is used as a traditional voltage follower which has high transconductance and low grid-source voltage mismatching. The output impedance can be calculated by the equations (1) and (2), and is represented by the equation (3).
Transistors M1 and M9 are connected as a differential amplifier, provided that the input voltage is compared to VlowLow, bias current I of M1 and M9 at this timeb2Becomes leakage current, I, of M9b2Is mirror-copied by two current mirrors M11-M12 and M13-M14. The width of M14 is N times that of M13. The output value can swing in the range of over-drive of the cathode (VDSAT14), when the output impedance R0(low) is given by the formula 1/gM7- α/gM 5. Similarly, transistors M5 and M10 are connected as a differential amplifier, provided that the input voltage is compared to VhighHigh, bias current I of M5 and M10 at this timeb1Becomes leakage current, I, of M10b1Is mirror-copied by two current mirrors M15-M16 and M17-M18. The width of M18 is N times that of M17. The output value can swing within the over-drive (VDSAT18) range of the anode, when the output impedance R0(high) is given by the formula 1/gM3- α/gM 1.
Example 3
As shown in fig. 6, the control method of the physiotherapy baking lamp for the traditional Chinese medicine endocrinology department provided by the embodiment of the invention comprises the following steps:
s101: the key control module sends out control stop, forward rotation and reverse rotation instructions;
s102: the stop, forward rotation and reverse rotation instructions are transmitted to the wireless control module; separating the synchronous orthogonal frequency hopping signal blind sources of stop, forward rotation and reverse rotation commands;
s103: recovering a time domain frequency hopping source signal, and controlling the power output module to correspondingly stop, positively rotate and reversely rotate by the wireless control module according to stop, positively rotate and reversely rotate instructions;
s104: the power output module correspondingly stops, positively rotates and reversely rotates to stop, extend and shorten the telescopic control module;
s105: when the control module to be stretched and contracted enables the electromagnetic wave energy output module to be adjusted to a proper position, the key control module sends out a stop instruction.
The process of the wireless control module stopping, forwarding and reversing instruction transmission in the step S102 includes:
step one, according to the power sum of signals of receiving stop, forward rotation and reverse rotation; demodulating stop, forward rotation and reverse rotation signals of a short preamble burst with low signal-to-noise ratio, setting a decision threshold according to noise energy, judging whether a received signal contains a phase coding signal or not, and if the received signal contains the phase coding signal, giving a position control signal of the phase coding signal; detecting whether the signals of stopping receiving, forward rotating and reverse rotating contain phase coding signals or not in real time, and if the phase coding signals exist, giving initial and end positions of the phase coding signals; secondly, the coarse frequency synchronization and time synchronization module realizes time synchronization point tracking and coarse frequency offset correction of the signals according to the preamble head of the burst signals and the initial positions of the phase coding signals; the signals sequentially pass through the timing synchronization module and the fine frequency synchronization module to respectively realize sampling timing synchronization, fine frequency offset compensation and phase offset correction; finally, phase ambiguity resolution and bit decoding are completed through phase ambiguity resolution and demapping, and demodulation of stop, forward rotation and reverse rotation signals is completed;
calculating a fraction low-order fuzzy function of the demodulated signal; the received signal y (t) is represented as:
y(t)＝x(t)+n(t)；
wherein, x (t) is a digital modulation signal, and n (t) is pulse noise distributed by standard S alpha S; MASK and MPSK modulation, the analytic form of x (t) is represented as:
wherein N is the number of sampling points, anFor the transmitted information symbols, in the MASK signal, an0, 1, 2, …, M-1, M being the modulation order, in MPSK signals, an＝ej2πε/MWhere e is 0, 1, 2, …, M-1, g (T) denotes a rectangular shaping pulse, TbDenotes the symbol period, fcIndicating carrier frequency, carrier initial phase
Is at [0, 2 π]Random numbers uniformly distributed in the interior;
MFSK modulation, the analytic form of x (t) is represented as:
wherein f ismIf the carrier frequency of the MFSK signal is deviated by delta f, f is the deviation amount of the mth carrier frequencym- (M-3) Δ f, …, (M-3) Δ f, (M-1) Δ f, carrier initial phase
Is at [0, 2 π]Random numbers uniformly distributed therein;
the following characteristic functions describe the distribution characteristics:
wherein
In order to be a function of the sign,
alpha (alpha is more than 0 and less than or equal to 2) is a characteristic index, gamma is a dispersion coefficient, beta is a symmetric parameter, and zeta is a position parameter; when ζ is 0, β is 0, and γ is 1, the distribution is referred to as a standard S α S distribution;
the fractional low-order blur function of the digitally modulated signal x (t) is expressed as:
wherein tau is time delay deviation, f is Doppler frequency shift, 0 is more than a, b is more than alpha/2, x*(t) represents the conjugate of x (t); when x (t) is a real signal, x (t)<p>＝|x(t)|<p>sgn (x (t)); when x (t) is a complex signal, [ x (t)]<p>＝|x(t)|p-1x*(t)。
Calculating the in-band noise power of the real signal and the complex signal according to the bandwidths of the real signal and the complex signal, and estimating the signal-to-noise ratio of the real signal and the complex signal; coding a transmitting signal at a signal source end by using KRST and coding, wherein an information symbol matrix transmitted by a signal source is
Wherein each information symbol vector is
snSatisfy power limitation conditions
By using
For each information symbol vector snEncoding and then determining the encoded signal xi snDiagonalizing to obtain a signal
Final post-multiplying signal by spreading code matrix
Time diversity is obtained, and the transmission signal matrix of the source is represented as:
U＝diag(Ξsn)C；
at the nth information symbol vector, the received signal at the sink is:
wherein
In order to combine the channel matrices, the channel matrices are combined,
in the form of a noise matrix, the noise matrix,
Dn(. cndot.) represents a diagonalization operation, taking the nth row element of the matrix in parentheses to be placed on the diagonal of the resulting matrix, with the other position elements of the resulting matrix all being 0.
In step S102: the step of separating the blind sources of the synchronous orthogonal frequency hopping signals of the stop, forward rotation and reverse rotation commands specifically comprises the following steps:
step one, a wireless control module containing M array elements is used for receiving frequency hopping signals from a plurality of synchronous orthogonal frequency hopping radio stations, each path of received signals is sampled, and M paths of sampled discrete time domain mixed signals are obtained
Step two, carrying out overlapping windowing short-time Fourier transform on the M paths of discrete time domain mixed signals to obtain time-frequency domain matrixes of the M mixed signals
Where P represents the total number of windows, NfftRepresenting the FFT transform length; (p, q) represents a time frequency index, and the specific time frequency value is
Where N isfftDenotes the length of the FFT transform, p denotes the number of windowing times, TsDenotes the sampling interval, fsRepresenting sampling frequency, C being an integer, representing the number of sampling points at short-time Fourier transform windowing intervals, C < NfftAnd K isc＝Nfftthe/C is an integer, namely, a short-time Fourier transform of overlapping windowing is adopted;
step three, the frequency hopping mixed signal time-frequency domain matrix obtained in the step two
Carrying out pretreatment;
for frequency hopping mixed signal time-frequency domain matrix
The pretreatment comprises the following steps:
first step, to
With a low-energy-removing pre-treatment, i.e. at each sampling instant p, will
Setting the amplitude value smaller than the threshold epsilon to 0 to obtain
The setting of the threshold epsilon can be determined according to the average energy of the received signal;
secondly, find the nonzero time-frequency domain data of P time (P is 0, 1, 2, … P-1) and use
Is shown in which
Representing time-frequency response at time p
Normalizing and preprocessing the non-zero data by the corresponding frequency index when the non-zero data is not 0 to obtain a preprocessed vector b (p, q) ═ b1(p，q)，b2(p，q)，…，bM(p，q)]TWherein
Step four, estimating the hopping moment of each hop and the normalized mixed matrix column vector and the hopping frequency corresponding to each hop by using a clustering algorithm; when the clustering algorithm is used for estimating the hopping moment of each hop, the normalized mixed matrix column vector and the hopping frequency corresponding to each hop, the method comprises the following steps:
a first step, at time P (P ═ 0, 1, 2.. P-1), is performed on
Clustering the expressed frequency values to obtain the number of clustering centers
Indicating the number of carrier frequencies present at time p,
the cluster centers represent the carrier frequencies, respectively
Represents;
secondly, for each sampling time P (P is 0, 1, 2.. times.p-1), a clustering algorithm is used to pair
Clustering is carried out to obtain
A cluster center of
To represent；
Third, for all
Averaging and rounding to obtain an estimate of the number of source signals
Namely that
The fourth step is to find out
At the time of (1), by phRepresenting, for each segment, the successive values of phFinding the median value by
Indicates that the l-th segment is connected with phMedian value of (1), then
Represents an estimate of the ith frequency hop time instant;
a fifth step of estimating the estimated values obtained in the second step
And estimating the frequency hopping time estimated in the fourth step to obtain the frequency hopping time corresponding to each hop
A mixed matrix column vector
The concrete formula is as follows:
here, the
Indicating correspondence of the l-th hop
A plurality of mixed matrix column vector estimates;
sixthly, estimating the carrier frequency corresponding to each hop, and using
Indicating the correspondence of the first hop
The calculation formula of the frequency estimated value is as follows:
step five, estimating a time-frequency domain frequency hopping source signal according to the normalized mixed matrix column vector estimated in the step four; estimating a time-frequency domain frequency hopping source signal according to the normalized mixed matrix column vector estimated in the fourth step, which comprises the following specific steps:
step one, judging which hop the time index belongs to for all sampling time indexes p, and the specific method is as follows: if it is not
Then it means that time p belongs to the ith hop; if it is not
Then it means that time p belongs to hop 1;
second, for all moments p of the l (1, 2, …) th jumplEstimating the time-frequency domain data of each hopping frequency source signal, wherein the calculation formula is as follows:
splicing time-frequency domain hopping source signals among different hopping points; splicing time-frequency domain frequency hopping source signals among different frequency hopping points, specifically comprising the following steps:
first, estimating the corresponding of the first hop
At an angle of incidence of
Indicating the incident angle corresponding to the nth source signal of the ith hop,
the calculation formula of (c) is as follows:
and a second step of judging the corresponding relation between the source signal estimated by the first hop and the source signal estimated by the first hop, wherein the judgment formula is as follows:
wherein m isn (l)M < th > hop estimaten (l)The signal and the nth signal of the first hop estimation belong to the same source signal;
thirdly, splicing the signals which are estimated from different frequency hopping points and belong to the same source signal into a wholeStarting from the final time-frequency domain source signal estimation, use Yn(P, q) represents a time-frequency domain estimation value of the nth source signal at a time frequency point (P, q), where P is 0, 1, 2fft1, i.e.
And step seven, recovering the time domain frequency hopping source signal according to the time domain and frequency domain estimated value of the source signal. When the time domain frequency hopping source signal is restored according to the time domain frequency domain estimated value of the source signal, the specific steps are as follows:
in a first step, frequency domain data Y is sampled at each sampling time p (p is 0, 1, 2)n(p，q)，q＝0，1，2，…，Nfft-1 is NfftIFFT conversion of points is carried out to obtain a time domain frequency hopping source signal corresponding to the p sampling time, and y is usedn(p，qt)(qt＝0，1，2，…，Nfft-1) represents;
secondly, the time domain frequency hopping source signal y obtained at all the moments is processedn(p，qt) And carrying out merging processing to obtain the final time domain frequency hopping source signal estimation, wherein the specific formula is as follows:
here Kc＝NfftC, C is the number of sampling points at the windowing interval of the short-time Fourier transform, NfftIs the length of the FFT transform.
The blind source separation method of the synchronous orthogonal frequency hopping signals estimates the frequency hopping source signals only according to the received mixed signals of the plurality of frequency hopping signals under the condition of not knowing any channel information, can carry out blind estimation on the plurality of frequency hopping signals under the condition that the number of receiving antennas is less than that of the source signals, only utilizes short-time Fourier transform, has small calculation amount and easy realization, can estimate partial parameters while carrying out blind separation on the frequency hopping signals, and has strong practicability and strong popularization and application values.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are for convenience of description only and do not require that the present invention be necessarily constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Claims (4)
1. The utility model provides a traditional chinese medical science division of endocrinology is with roast lamp of physiotherapy which characterized in that, traditional chinese medical science division of endocrinology is with roast lamp of physiotherapy is provided with: a base;
the bottom of the base is fixed by four travelling wheels through bolts, a first telescopic rod is arranged inside the base and is sleeved with a second telescopic rod, the second telescopic rod is connected with a fifth telescopic rod through a movable pin, the fifth telescopic rod is sleeved with a sixth telescopic rod, the outer side of the second telescopic rod is welded with a third telescopic rod, the third telescopic rod is sleeved with a fourth telescopic rod, the tail end of the sixth telescopic rod is provided with a lamp body, and the tail end of the lamp body is provided with a lampshade;
a first spring and a first motor are installed in the first telescopic rod, the bottom of the first spring is welded at the bottom of the first telescopic rod, the top end of the first spring is welded with a base of the first motor, and the first motor is connected with a shaft of the second telescopic rod;
a second spring and a second motor are installed in the third telescopic rod, the bottom of the second spring is welded to the bottom of the third telescopic rod, the top end of the second spring is welded to a base of the second motor, and the second motor is connected with a fourth telescopic rod shaft;
a third spring and a fourth motor are installed in the fifth telescopic rod, the bottom of the third spring is welded to the bottom of the fifth telescopic rod, the top end of the third spring is welded to a base of the fourth motor, and the third motor is connected with a shaft of the sixth telescopic rod;
a sealing ring is arranged between the first telescopic rod and the second telescopic rod, and the outsides of the first telescopic rod and the second telescopic rod are fixed through a screw locker; the screw rod locking device is used for limiting the telescopic range of the first telescopic rod and the second telescopic rod: within the limit range, the first telescopic rod and the second telescopic rod can freely extend and retract;
the baking lamp is provided with an automatic position tracking system which comprises a position emitter and a position detection circuit;
the lamp shade is provided with a position detection circuit, a position emitter is arranged at a position of a human body needing physical therapy, the position emitter emits a position signal, a detector of the position detection circuit receives the emitted position signal and sends the signal to three single-chip microcomputers, and the three single-chip microcomputers adjust the positions of respective telescopic rods;
the position emitter adopts an LED light source emitter;
the position detection circuit adopts a photoelectric detection circuit, is a four-quadrant double-hole interference detector and is formed by packaging four detectors which have better consistency and are mutually independent, wherein the four detectors are respectively T1, T2, T3 and T4, each detector consists of a position receiver, and a detector T0 is additionally arranged in the center of the position receiver; then the detector is arranged on the lamp shade, the photoelectric detection circuit comprises 5 detectors, and a plurality of position receivers are respectively arranged on the detectors;
the single position receivers K0-K4, the corresponding 5 slide rheostats R0-R4 and the LM148 operational amplifier comprise four groups of operational amplifiers L1-L4;
in the circuit, the anodes of K1-K4 are connected together and connected to a power supply together with the anode of K0, the cathode of K0 is connected to 4 non-inverting input ends of an amplifier LM148 through a slide rheostat R0, the cathodes of K1-K4 are respectively connected with 4 inverting input ends of the LM148 through slide rheostats R1-R4, so that K0 and K1-K4 respectively form a comparison circuit, and four ports of the singlechip are respectively correspondingly connected with 4 output ends of the LM 148;
k0 is at the center of the detector, when the detector faces the LED light source, K0 receives the position emitter signal, the position receiver K0 is conducted, the non-inverting input terminals of 4 groups of operational amplifiers are connected with the negative electrode of K0 through R0, the non-inverting input terminals of 4 groups of non-inverting input terminals can detect high potential at the same time, the 4 position receivers K1-K4 distributed near K0 can not receive light signal under the shielding of the detector, and the negative electrodes of K1-K4 are respectively connected with the inverting input terminals of 4 groups of operational amplifiers of LM148 chip through R1-R4, because the light signal can not be received, the position receivers K1-K4 are cut off, the inverting input terminals of the 4 groups of operational amplifiers connected with the position receivers can detect low voltage, therefore, through the comparison working principle of the operational amplifiers, the output ports of the 4 groups of operational amplifiers can output high potential signals at the same time, that is: when K0 receives an optical signal, 4 pins PA 1-PA 4 of the single chip microcomputer simultaneously detect that a high-potential signal is received;
the motor operation control of the baking lamp is realized specifically as follows: the first motor, the second motor and the third motor respectively correspond to an independent H-bridge circuit and an STM8S103 single chip microcomputer, and the motors are connected with the STM8S103 single chip microcomputer through the motor control H-bridge circuit; the input signal of the STM8S103 singlechip is a control signal sent by an automatic position tracking system or a control signal sent by a manual position control system; the output signal of the STM8S103 singlechip controls the running of the motor through the motor control H-bridge circuit;
the single chip microcomputer adopts a method for reducing the internal resistance of a signal source and uses a voltage follower with the amplification factor of 1; in the circuit of the voltage follower, M1, M3, M5 and M7 form a two-stage common drain, NMOS and PMOS tubes with a transfer current ratio of alpha are used for transferring, M2-M4 and M6-M8 form a current mirror device, and 4 transistors of M1, M3, M5 and M7 are biased by the current mirror device; m1 and M2 have the same leakage current, M3 and M4 have the same leakage current, all NMOS and PMOS have the same size, the grid-source voltage of M1 and the grid-source voltage of M3 are nearly equal, the grid-source voltage matching method can also be applied to the followers M5-M8, and the compensation voltage of the improved voltage followers is reduced to the minimum; the transconductance of the output of the MOS tube is increased by using two compound tubes M1-M4 and M5-M8; the transconductances of the followers M1-M4 and M5-M8 are expressed by equations (1) and (2), respectively:
as shown in the formulas (1) and (2), the transconductance of the output transistor can be adjusted by controlling the transfer current ratio alpha; the amplitude of the input voltage is VlowAnd VhighMeanwhile, the circuit can be used as a traditional voltage follower, the traditional voltage follower has the phenomena of high transconductance and low gate-source voltage mismatching, and the output impedance can be calculated through the formulas (1) and (2), as shown in the formula (3):
transistors M1 and M9 are connected as a differential amplifier, provided that the input voltage is compared to VlowLow, bias current I of M1 and M9 at this timeb2Becomes leakage current, I, of M9b2Is mirror-copied by two current mirrors M11-M12 and M13-M14, the width of M14 is N times of M13, the output value can swing in the range of the over-drive VDSAT14 of the cathode, the output impedance R0low is given by the formula 1/gM 7-alpha/gM 5, the transistors M5 and M10 are connected as a differential amplifier, and if the input voltage ratio V is larger than V, the output impedance R0low is larger than V, and the output impedance R26 is larger than V, and the output voltage ratio V is larger than V, so that the output voltage of the transistor M5 is larger than V, and the output voltage of the transistor M10 is larger than VhighHigh, bias current I of M5 and M10 at this timeb1Becomes leakage current, I, of M10b1The output impedance R0 is given by the formula 1/gM 3-alpha/gM 1 when the width of M18 is N times of M17 and the output value can swing in the overdrive range of the positive pole by being mirrored by two current mirrors M15-M16 and M17-M18.
2. The physiotherapy roasting lamp for the traditional Chinese medicine endocrinology department of claim 1, wherein a manual position control system is further installed on the roasting lamp as a supplement of the automatic position tracking system, and the first motor, the second motor and the third motor are respectively provided with a manual remote control switch and controlled by a wireless control module.
3. The control system of the physiotherapy roasting lamp for the traditional Chinese medicine endocrinology department according to any one of claims 1-2, wherein the control system comprises:
the electromagnetic wave energy output module is used for realizing electromagnetic wave energy output;
the telescopic control module is used for adjusting the angle of the electromagnetic wave energy output module;
the power output module is used for providing power for the telescopic control module;
the wired control module is used for realizing wired control of the power output module;
the wireless control module is used for realizing wireless control of the power output module;
the automatic position tracking control module is used for outputting a signal for adjusting the position of the baking lamp as an input signal of the wired control module;
the manual key control module is used for realizing the instruction sending of the wireless control module and is used as an input signal of the wireless control module;
the wireless control module control includes: a wireless transmitting section and a wireless receiving section;
in the wireless transmitting part circuit, an STM8L101F3P6 singlechip is used as a CPU, a wireless communication module with Si4463 as a core chip and 433MHz as a central frequency is used as a wireless transmitter, and a key is used as a control input signal; the wireless transmission circuit comprises a wireless transmission circuit, an STM8L101F3P6 singlechip, a 433MHz wireless module, a receiving module and a power supply module, wherein three independent keys in the wireless transmission circuit respectively represent forward rotation, stop and reverse rotation, and respectively correspond to three LED lamps to indicate the current running state of the motor; encoding the key value: stopping at 0x01, converting to 0x02, inverting to 0x03, and sending the pressed key value to the wireless receiving module according to the self-defined communication protocol; the key power-on initial value is 0x00, the key value is 0x01 after the key is stopped being pressed, the key value is 0x02 after the forward rotation key is pressed, and the key value is 0x03 after the reverse rotation key is pressed;
the wireless receiving part still adopts an STM8L101F3P6 singlechip as a CPU, and adopts a wireless communication module which takes Si4463 as a core chip and 433MHz as central frequency as a wireless receiver; the wireless module receives the data, processes and judges the data and makes corresponding relay closing and opening actions to control the opening and closing of the two alternating current contactors so as to control the forward rotation, the reverse rotation and the stop of the motor;
the wireless module adopts an interference model, and a standard Sigmoid function model is as follows:
increasing a stretching coefficient s and a translation coefficient mu, and performing parameter adjustment on the Sigmoid function, wherein PRR is recorded as y, SINR is recorded as x:
according to the empirical value, when the SINR is 2dB, the PRR is 80%, when the SINR is 0dB, the PRR is 10%, and the result is that:
4. a control method of the control system according to claim 3, characterized by comprising:
firstly, a key control module sends control stop, forward rotation and reverse rotation instructions;
secondly, transmitting stopping, forward rotating and reverse rotating instructions to the wireless control module; separating the synchronous orthogonal frequency hopping signal blind sources of the stop, forward rotation and reverse rotation commands;
thirdly, recovering the time domain frequency hopping source signal, and controlling the power output module to correspondingly stop, positively rotate and reversely rotate by the wireless control module according to the stop, positively rotate and reversely rotate instructions;
fourthly, the power output module correspondingly stops, positively rotates and reversely rotates to stop, extend and shorten the telescopic control module;
and fifthly, when the electromagnetic wave energy output module is adjusted to a proper position by the control module to be stretched, the key control module sends a stop instruction.
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