KR20220147039A - Apparatus and method for controlling movement of ultrasonic generator - Google Patents

Abstract

The present disclosure relates to an apparatus for controlling movement of an ultrasonic generation part. The apparatus comprises: a transfer part for moving the ultrasonic generation part; and a control part for controlling the operation of the ultrasonic generation part and the transfer part. The control part may control the ultrasonic generation part to continuously emit ultrasonic waves during a reciprocating movement, and may control the generation of a rest period in which ultrasonic irradiation is stopped for a predetermined period in a turning section within the reciprocating movement.

Description

Apparatus and method for controlling the movement of an ultrasonic generator

The present disclosure relates to an apparatus and method for controlling movement of an ultrasonic wave generator. More particularly, the present disclosure relates to an apparatus and method for controlling movement of an ultrasonic wave generator using high-intensity focused ultrasonic waves.

Ultrasound refers to a wave with a frequency of 20 KHz or higher, and has a property of penetrating water, and is widely used in medical fields such as ultrasound diagnostic devices and ultrasound treatment devices.

The most representative use of ultrasound in the medical field is an ultrasound imaging apparatus using transmission and reflection properties of ultrasound. For example, there is an apparatus for obtaining a cross-sectional image in the human body by visualizing the time and intensity of ultrasonic waves being reflected while passing through each organ.

In addition, by using the heat generated by High Intensity Focused Ultrasound (HIFU) to burn and remove specific subcutaneous tissues such as tumors in the skin, or induce degeneration and regeneration of skin tissues, skin beauty such as wrinkle improvement Alternatively, there is a device for generating a skin cosmetic effect.

However, the conventional ultrasonic generator does not cause any damage to the skin surface, and non-invasively concentrates energy on a selected part, that is, focuses the emitted ultrasonic waves on a specific point, which is a focal point, and generates heat. It causes a sudden increase in temperature in the area.

Therefore, the conventional ultrasound generating apparatus has a limit in shortening the procedure time because the doctor must carefully perform the procedure, and there is a limit in maximizing the effect of the procedure.

In addition, in the case of irradiating high heat and high ultrasonic waves to the skin surface in the conventional ultrasonic generator, there is a risk of burns.

Republic of Korea Patent Publication No. 10-2168246 (2020.10.20. Announcement)

The embodiment disclosed in the present disclosure has an object to provide a thing that can maximize the effect of the treatment while shortening the treatment time.

Another object of the embodiments disclosed in the present disclosure is to provide a device capable of preventing the risk of burns from occurring in advance.

The problems to be solved by the present disclosure are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

According to an aspect of the present disclosure, there is provided an apparatus for controlling movement of an ultrasonic generator, comprising: a transfer unit for moving the ultrasonic generator; and a controller for controlling the operation of the ultrasonic generator and the transfer part, wherein the controller controls the ultrasonic generator to continuously irradiate ultrasonic waves during reciprocating movement, and in the turning section within the reciprocating movement, the ultrasonic waves for a preset period It may be characterized in that it is controlled to have a rest period during which the irradiation of

In addition, the control unit continuously irradiates ultrasonic waves when the ultrasonic generator moves from a first point to a second point, and continuously irradiates ultrasonic waves while having the rest period when moving from the second point to the first point. It can be characterized by controlling.

In addition, the controller may further control the ultrasonic wave generator to continuously irradiate the ultrasonic wave while having the rest period when the ultrasonic generator moves back from the first point to the second point.

In addition, the ultrasonic generator further comprises a measuring unit for measuring an ambient temperature immediately before moving from the second point to the first point, wherein the control unit generates the ultrasonic wave when the ambient temperature is higher than a preset first reference temperature In addition, in the turning section within the reciprocating movement higher than the first reference temperature, it may be characterized in that it is further controlled to have the rest period.

In addition, the ultrasonic generator further comprises a measuring unit for measuring an ambient temperature immediately before the ultrasonic generator moves back to the second point from the first point, wherein the controller is higher than a preset second reference temperature, the ultrasonic wave It may be characterized in that the generator further controls to have the rest period in the turning section within the reciprocating movement higher than the second reference temperature.

In addition, the rest period may be characterized in that it has a distance of a preset ratio compared to the one-way distance of the reciprocating movement so that the ultrasonic waves are not repeatedly irradiated to both end points according to the reciprocating movement.

In addition, a method for controlling movement of an ultrasonic generator according to another aspect of the present disclosure is a method performed by a movement control apparatus of an ultrasonic generator, the method comprising: moving the ultrasonic generator; and controlling the ultrasonic generator to continuously irradiate ultrasonic waves during reciprocating movement, wherein the controlling includes a pause in which the ultrasonic wave generator stops irradiation of ultrasonic waves for a preset period in a turning section within the reciprocating movement. It may be characterized in that it is controlled to have a period.

In addition, the controlling may include continuously irradiating ultrasonic waves when the ultrasonic generator moves from a first point to a second point, and continuously with the rest period when moving from the second point to the first point. It may be characterized by controlling to irradiate.

In addition, the controlling may further include controlling the ultrasonic generator to continuously irradiate ultrasonic waves while having the rest period when the ultrasonic generator moves back from the first point to the second point.

In addition, the method further comprises the step of measuring an ambient temperature immediately before the ultrasonic generator moves from the second point to the first point, wherein the controlling comprises: if the ambient temperature is higher than a preset first reference temperature, In a turning section within the reciprocating movement higher than the first reference temperature, the ultrasonic generator may further control to have the rest period.

In addition, the method further includes the step of measuring an ambient temperature immediately before the ultrasonic generator moves back from the first point to the second point, and the controlling may include: when the ambient temperature is higher than a preset second reference temperature , the ultrasonic generator may be further controlled to have the rest period in a turning section within the reciprocating movement higher than the second reference temperature.

In addition, the controlling may be characterized in that the ultrasonic waves of the same condition or the ultrasonic waves of different conditions are further controlled to be output.

In addition, the rest period may be characterized in that it has a distance of a preset ratio compared to the one-way distance of the reciprocating movement so that the ultrasonic waves are not repeatedly irradiated to both end points according to the reciprocating movement.

According to the above-described problem solving means of the present disclosure, it provides an effect that can maximize the effect of the treatment while shortening the treatment time.

In addition, according to the above-described problem solving means of the present disclosure, there is provided an effect that can prevent the occurrence of danger due to burns in advance.

Effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram illustrating a configuration of an apparatus for controlling movement of an ultrasonic generator according to the present disclosure.
FIG. 2 is a diagram illustrating an example of a process in which the ultrasonic generator of FIG. 1 is moved.
3 is a diagram illustrating a pattern in which the ultrasonic generator of FIG. 2 reciprocates as an example.
4 is a flowchart illustrating an example of a method for controlling movement of an ultrasonic generator according to the present disclosure.
FIG. 5 is a diagram illustrating a process of irradiating ultrasonic waves through the movement control method of the ultrasonic generator of FIG. 4 as an example.
6 is a flowchart illustrating another example of a method for controlling movement of an ultrasonic generator according to the present disclosure.
FIG. 7 is a diagram illustrating a process of irradiating ultrasonic waves through the movement control method of the ultrasonic generator of FIG. 6 as an example.

Like reference numerals refer to like elements throughout this disclosure. The present disclosure does not describe all elements of the embodiments, and general contents in the technical field to which the present disclosure pertains or overlapping contents between the embodiments are omitted. The term 'unit, module, member, block' used in the specification may be implemented in software or hardware, and a plurality of 'part, module, member, block' may be implemented as one component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" with another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

Terms such as 1st, 2nd, etc. are used to distinguish one component from another component, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, the working principle and embodiments of the present disclosure will be described with reference to the accompanying drawings.

First, High Intensity Focused Ultrasound (HIFU) technology is the latest thermal cauterization treatment that uses heat generated when high-intensity ultrasound is focused on a single point in the skin to burn specific subcutaneous tissues such as tumors in the skin. This is similar to starting a fire by gathering warm sunlight with a magnifying glass. Because ultrasound easily penetrates body tissues, HIFU treatment is performed in a completely non-invasive manner without a knife or even a needle. In other words, if the skin of the patient's treatment area is in close contact with the ultrasound generating surface, a specific subcutaneous tissue such as a tumor is burned for treatment. In addition to this, HIFU treatment is currently used to treat uterine fibroids, bone metastases, prostate cancer, breast cancer, pancreatic cancer, liver cancer, kidney cancer, and the like.

Such high-intensity focused ultrasound technology may be implemented through an ultrasound generator. The ultrasound generator may irradiate ultrasound to the skin surface of the patient.

In the present specification, the control unit of the motion control device of the ultrasonic generator according to the present disclosure includes various devices capable of providing a result to a user by performing an arithmetic process. For example, the controller of the motion control device of the ultrasonic generator according to the present disclosure may include all of a computer, a server device, and a portable terminal, or may have any one form.

Here, the computer may include, for example, a laptop equipped with a web browser, a desktop, a laptop, a tablet PC, a slate PC, and the like.

The server device is a server that processes information by communicating with an external device, and may include an application server, a computing server, a database server, a file server, a mail server, a proxy server, a web server, and the like.

A portable terminal is, for example, a wireless communication device that guarantees portability and mobility, and includes a Personal Communication System (PCS), a Global System for Mobile communications (GSM), a Personal Digital Cellular (PDC), a Personal Handyphone System (PHS), and a PDA (Personal Communication System). Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminal, smart phone All kinds of handheld-based wireless communication devices, such as watches, rings, bracelets, anklets, necklaces, glasses, contact lenses, or wearable devices such as head-mounted-devices (HMDs) may include

The apparatus for controlling the movement of the ultrasonic generator according to the present disclosure controls the ultrasonic generator to continuously irradiate ultrasonic waves during reciprocating movement, but in the turning section within the reciprocating movement, it is possible to control to have a rest period in which the irradiation of ultrasonic waves is stopped for a preset period. have.

The device for controlling the movement of the ultrasonic generator can maximize the treatment effect while shortening the treatment time.

In addition, the movement control device of the ultrasonic generator may prevent the occurrence of danger due to an image in advance.

Hereinafter, the movement control device of the ultrasonic generator will be described in detail.

1 is a diagram illustrating a configuration of an apparatus for controlling movement of an ultrasonic generator according to the present disclosure. FIG. 2 is a diagram illustrating an example of a process in which the ultrasonic generator of FIG. 1 is moved.

1 and 2 , the apparatus 100 for controlling the movement of the ultrasonic generator may include a transfer unit 110 and a control unit 120 . The transfer unit 110 is for moving the ultrasonic generator 10 to the left or right, and may be provided to support the ultrasonic generator 10 . The transfer unit 110 may move the ultrasonic wave generator 10 to the left or right according to the control of the controller 120 . The ultrasonic generator 10 having the transducer 11 may be moved left or right along the horizontal direction while maintaining the ultrasonic focus depth by the movement of the transfer part 110 . The ultrasonic generator 10 may irradiate ultrasonic waves to the skin S on the movement path of the transporter 110 .

3 is a diagram illustrating a pattern in which the ultrasonic generator of FIG. 2 reciprocates as an example.

Referring to FIG. 3 , the transfer unit 110 may move the ultrasonic wave generator 10 in a preset pattern. The preset pattern may include a pattern in which the ultrasonic generator 10 reciprocates between the first point (A) and the second point (B). Information on the pattern of reciprocating between the first point A and the second point B may be stored in the memory 121 .

The controller 120 performs the above-described operation using the data stored in the memory 121 and the data stored in the memory 121 for storing data about an algorithm or a program reproducing the algorithm for controlling the operation of the components in the device. It may be implemented with at least one processor 122 . Here, the memory 121 and the processor 122 may be implemented as separate chips. Also, the memory 121 and the processor 122 may be implemented as a single chip.

The memory 121 may store data supporting various functions of the device, a program for operation of the controller, store input/output data, and a plurality of application programs (application programs or applications) driven in the device. (application)), data for operation of the device, and commands may be stored. At least some of these application programs may be downloaded from an external server through wireless communication.

The memory 121 may include a flash memory type, a hard disk type, a solid state disk type (SSD), a silicon disk drive type (SDD), and a multimedia card micro type. micro type), card type memory (such as SD or XD memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable memory (EEPROM) It may include a storage medium of at least one type of a programmable read-only memory), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. In addition, although the memory 121 is separated from the present device, it may be a database connected by wire or wirelessly.

The processor 122 may control the ultrasonic generator 10 to continuously irradiate ultrasonic waves during reciprocating movement, but in a turning section within the reciprocating movement, control to have a rest period during which ultrasonic irradiation is stopped for a preset period.

Here, the turning section within the reciprocating movement may be a section for the ultrasonic generator 10 to change the direction from the forward movement to the return movement or from the return movement to the forward movement.

In addition, the preset period means the entire time period or the entire distance of the rest period, and the rest period is at both ends of the reciprocating movement to prevent the risk of burns due to overlapping ultrasound irradiation at both ends of the reciprocating movement. It means the time period or distance in which the irradiation of ultrasonic waves is stopped only during the turning section corresponding to . For example, the rest period has a distance of a preset ratio (eg, 1% to 10%) relative to the total one-way distance of the round trip or a preset ratio (eg, 1% to 10%) to the total time required for the one-way movement 10%) of the time. Here, the rest period having a preset ratio of 1% to 10% may bring about a treatment effect while preventing burns due to overlapping irradiation. In particular, during the rest period in which the preset ratio is 10%, the time period or distance during which the ultrasound irradiation is stopped is optimized, and the skin improvement effect can be further enhanced while effectively preventing burns caused by the overlapping irradiation.

The apparatus 100 for controlling the movement of the ultrasonic generator according to the present disclosure may further include a measuring unit 130 for measuring an ambient temperature in a turning section within a reciprocating movement. The measuring unit 130 may be provided inside the cartridge housing accommodating the ultrasonic generator 10 , and may be provided inside the handpiece coupled to the cartridge housing. For example, the measurement unit 130 may be provided as a temperature sensor.

Here, when the ambient temperature is higher than the reference temperature preset in the memory 121 , the processor 122 may further control the ultrasonic generator 10 to have a rest period in the turning section within the reciprocating movement higher than the reference temperature. .

In addition, the processor 122 may further control to output ultrasound under the same condition or ultrasound under different conditions. Here, the condition may include at least one of a time period for which the irradiation of ultrasonic energy is maintained and an intensity of ultrasonic energy.

4 is a flowchart illustrating an example of a method for controlling movement of an ultrasonic generator according to the present disclosure.

Referring to FIG. 4 , the method of controlling the movement of the ultrasonic generator may include a moving step of the ultrasonic generator ( S420 ), an irradiation control step ( S440 ), and an ultrasonic irradiation step ( S460 ).

In the step of moving the ultrasonic generator, the ultrasonic generator 10 may be moved in a preset pattern through the transfer unit 110 (S420). The preset pattern may include a pattern in which the ultrasonic generator 10 reciprocates between the first point (A) and the second point (B).

In the irradiation control step, the ultrasonic generator 10 may control to continuously irradiate ultrasonic waves through the processor 122 during reciprocating movement (S440). Here, the processor 122 may control the ultrasonic generator 10 to have a rest period during which the ultrasonic wave is stopped for a preset period in the turning section within the reciprocating movement.

In the ultrasonic irradiation step, when the ultrasonic generator 10 is moved in a preset pattern through the transfer unit 110, the processor 122 may determine whether it is a turning section within the reciprocating movement to irradiate the ultrasonic waves (S460). The ultrasonic generator 10 may continuously irradiate the skin S through the processor 122 if it is not a turning section within the reciprocating movement, and has a rest period in which the irradiation of the ultrasonic wave is stopped if the reciprocating movement is a turning section. can

FIG. 5 is a diagram illustrating a process of irradiating ultrasonic waves through the movement control method of the ultrasonic generator of FIG. 4 as an example.

Referring to FIG. 5 , when the ultrasonic generator 10 moves from the first point (A) to the second point (B), the ultrasonic generator 10 moves to each of the irradiation positions P1-1 to P1-17. ) can be continuously irradiated with ultrasound.

Here, in step (a), a normal treatment may be performed with a treatment distance of d. For example, the normal operation distance d may be 25 mm.

Thereafter, when the ultrasonic generator 10 moves from the second point (B) to the first point (A) or moves back from the first point (A) to the second point (B), the ultrasonic generator ( 10) has a rest period in which the irradiation of ultrasonic waves is stopped in the turning sections (K1, K2) in the reciprocating movement, and continuously at each irradiation position (P2-2 to P2-17) (P1-2 to P1-17) Ultrasound can be irradiated.

Here, in steps (b) and (c), the ultrasonic waves may not be output to the irradiation positions P2-1 and P1-1 in order to prevent skin troubles such as burns due to in-situ ultrasonic irradiation. In steps (b) and (c), a partial treatment may be performed with the treatment distance of d2, except for the treatment distance of d1. For example, the excluded treatment distance d1 is 1 mm to 2.5 mm, and the partial treatment distance d2 is d-d1, and may be 22.5 mm to 24 mm.

At this time, the irradiation position of P2-2 is the same as the irradiation position of P1-16, and the irradiation position in the P2-2 -> P2-17 direction is the same as the irradiation position in the P1-16 -> P1-1 direction, respectively. It can be a location.

6 is a flowchart illustrating another example of a method for controlling movement of an ultrasonic generator according to the present disclosure.

Referring to FIG. 6 , the method of controlling the movement of the ultrasonic generator may further include a measuring step ( S430 ).

In the measuring step, the ambient temperature in the turning section within the reciprocating movement may be measured through the measuring unit 130 ( S430 ). Here, the ambient temperature may include at least one of a temperature generated by ultrasonic irradiation and an external temperature.

In this case, in the irradiation control step, the ultrasonic generator 10 may control to continuously radiate ultrasonic waves through the processor 122 during reciprocating movement ( S440 ). Here, when the ambient temperature is higher than the preset reference temperature, the processor 122 may control the ultrasonic generator 10 to have a rest period in the turning section within the reciprocating movement higher than the reference temperature.

In addition, in the ultrasonic irradiation step, when the ultrasonic generator 10 is moved in a preset pattern through the transfer unit 110, the processor 122 determines whether the ambient temperature is higher than the preset reference temperature to irradiate the ultrasonic waves. There is (S460). The ultrasonic generator 10 can continuously irradiate ultrasonic waves to the skin S through the processor 122 when the ambient temperature is lower than the reference temperature, and when the ambient temperature is higher than the reference temperature, the ultrasonic wave is stopped during a rest period can have

FIG. 7 is a diagram illustrating a process of irradiating ultrasonic waves through the movement control method of the ultrasonic generator of FIG. 6 as an example.

Referring to FIG. 7 , when the ultrasonic generator 10 moves from the first point A to the second point B, the ultrasonic generator 10 moves to each of the irradiation positions P1-1 to P1-17. ) can be continuously irradiated with ultrasound. Here, in step (a), a normal treatment may be performed with a treatment distance of d.

Thereafter, when the ultrasonic generator 10 moves from the second point B to the first point A or moves back from the first point A to the second point B, the measurement unit 130 ) is the ambient temperature just before the ultrasonic generator 10 is moved from the second point (B) to the first point (A) or the ambient temperature just before moving back from the first point (A) to the second point (B). temperature can be measured.

When the ambient temperature is higher than the first reference temperature, the processor 122 controls the ultrasonic generator 10 to have a rest period in the turning section K3 within the reciprocating movement higher than the first reference temperature, and the ambient temperature is higher than the first reference temperature. When the preset second reference temperature is higher than the preset second reference temperature, the ultrasonic generator 10 may be controlled to have a rest period in the turning section K4 within the reciprocating movement higher than the second reference temperature.

The ultrasonic generator 10 has a rest period in which the irradiation of ultrasonic waves is stopped in the turning section K3 in the reciprocation higher than the first reference temperature or the turning section K4 in the reciprocation higher than the second reference temperature, and each Ultrasound may be continuously irradiated to the irradiation positions (P2-3 to P2-17) (P1-3 to P1-17).

Here, in the processes (b) and (c), in consideration of the high temperature, the ultrasonic waves may not be output to the irradiation positions P2-1 and P2-2 (P1-1, P1-2). In steps (b) and (c), a partial treatment may be performed with the treatment distance of d4 except for the treatment distance of d3.

At this time, the irradiation position of P2-3 is the same as the irradiation position of P1-15, and the irradiation position in the P2-3 -> P2-17 direction is the same as the irradiation position in the P1-15 -> P1-1 direction, respectively. It can be a location.

Meanwhile, the processor 122 may further control to output ultrasound under the same condition or ultrasound under different conditions. In this case, the condition may include at least one of a time period for which the irradiation of ultrasonic energy is maintained and the intensity of ultrasonic energy.

In addition, the processor 122 controls the intensity (E) of the ultrasonic energy output to P1-1 to P1-17 and the intensity (E) of the ultrasonic energy output to P2-2 to P2-17 to be the same or different from each other. can do.

In addition, the processor 122 determines a time (t) for which the irradiation of ultrasonic energy output to P1-1 to P1-17 is maintained, and a time (t) for which the irradiation of ultrasonic energy output to P2-2 to P2-17 is maintained. ) can be controlled to be the same or different from each other. For example, the processor 122 determines a time (t) during which the irradiation of ultrasonic energy output to P1-1 to P1-17 is maintained, and a time during which irradiation of ultrasonic energy output to P2-2 to P2-17 is maintained. It can be controlled to be faster or slower than (t).

In addition, when the processor 122 moves from the first point (A) to the second point (B) or moves again, the irradiation of ultrasonic energy output to P1-1 to P1-17 or P1-2 to P1-17 is It is possible to control the maintained time (t) and the intensity (E) of the ultrasonic energy to be the same. Thereafter, when the processor 122 moves from the second point (B) to the first point (A), the intensity (E) of the ultrasonic energy output to P2-2 to P2-17 is gradually increased, and The time (t) during which the irradiation of ultrasonic energy is maintained may be controlled so that it becomes gradually delayed.

In addition, when the processor 122 moves from the first point (A) to the second point (B) or moves again, the intensity of ultrasonic energy output to P1-1 to P1-17 or P1-2 to P1-17 ( E) can be controlled to gradually decrease, and when moving from the second point (B) to the first point (A), the intensity (E) of the ultrasonic energy output to P2-2 to P2-17 is controlled to gradually increase Thus, it is possible to prevent the temperature from becoming higher than the standard.

In addition, the processor 122 controls the time (t) during which the irradiation of ultrasonic energy output to P1-1 to P1-17, P2-2 to P2-17 is maintained at a quick interval, before the temperature is lowered, the temperature again By increasing the, it is possible to increase the skin treatment effect.

In this way, the movement control device 100 of the ultrasonic generator can prevent the cartridge output from being concentrated in the turning sections (K1, K2, K3, K4) within the reciprocating movement during the reciprocating operation, so that the treatment effect is reduced while the treatment time is shortened. can be maximized, and the risk of burns can be prevented in advance.

At least one component may be added or deleted according to the performance of the components shown in FIG. 1 . In addition, it will be readily understood by those of ordinary skill in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the system.

4 and 6 are described as sequentially executing a plurality of steps, but this is merely illustrative of the technical idea of this embodiment, and those of ordinary skill in the art to which this embodiment belongs Since it will be possible to apply various modifications and variations to executing by changing the order described in FIGS. 4 and 6 or executing one or more steps among a plurality of steps in parallel without departing from the essential characteristics of the example, FIGS. 4 and 6 is not limited to chronological order.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present disclosure pertains will understand that the present disclosure may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present disclosure. The disclosed embodiments are illustrative and should not be construed as limiting.

100: movement control device 110: transfer unit
120: control unit 121: memory
122: processor 130: measurement unit

Claims (12)

In the movement control device of the ultrasonic generator,
a transfer unit for moving the ultrasonic generator; and
And a control unit for controlling the operation of the ultrasonic generator and the transfer unit,
The control unit is
The ultrasonic generator is controlled to continuously irradiate ultrasonic waves during reciprocating movement, and controlling to have a rest period during which the ultrasonic wave irradiation is stopped for a preset period in the turning section within the reciprocating movement. According to claim 1,
The control unit is
The ultrasonic generator continuously irradiates ultrasonic waves when moving from a first point to a second point, and controls to continuously irradiate ultrasonic waves while having the rest period when moving from the second point to the first point. to do, device. 3. The method of claim 2,
The control unit is
When the ultrasonic generator moves back from the first point to the second point, the apparatus further controls to continuously irradiate ultrasonic waves while having the rest period. 3. The method of claim 2,
Further comprising a measuring unit for measuring the ambient temperature immediately before the ultrasonic generator is moved from the second point to the first point,
The control unit is
When the ambient temperature is higher than the preset first reference temperature,
The apparatus, characterized in that the ultrasonic generator further controls to have the rest period in a turning section within the reciprocating movement higher than the first reference temperature. 4. The method of claim 3,
Further comprising a measuring unit for measuring the ambient temperature immediately before the ultrasonic generator is moved back from the first point to the second point,
The control unit is
When the ambient temperature is higher than the preset second reference temperature,
In a turning section within the reciprocating movement higher than the second reference temperature, the ultrasonic generator further controls to have the rest period. According to claim 1,
The rest period, device characterized in that it has a distance of a preset ratio compared to the one-way distance of the reciprocating movement so that the ultrasonic waves are not repeatedly irradiated to both end points according to the reciprocating movement. In the method performed by the movement control device of the ultrasonic generator,
moving the ultrasonic generator; and
Controlling the ultrasonic generator to continuously irradiate ultrasonic waves when reciprocating,
The controlling step is
In a turning section within the reciprocating movement, the ultrasonic generator controls to have a rest period during which irradiation of the ultrasonic wave is stopped for a preset period, the method. 8. The method of claim 7,
The controlling step is
The ultrasonic generator continuously irradiates ultrasonic waves when moving from a first point to a second point, and controls to continuously irradiate ultrasonic waves while having the rest period when moving from the second point to the first point. How to. 9. The method of claim 8,
The controlling step is
When the ultrasonic generator moves back from the first point to the second point, the method further controls to continuously irradiate the ultrasonic wave while having the rest period. 9. The method of claim 8,
Further comprising the step of measuring the ambient temperature immediately before the ultrasonic generator is moved from the second point to the first point,
The controlling step is
When the ambient temperature is higher than the preset first reference temperature,
In a turning section within the reciprocating movement higher than the first reference temperature, the ultrasonic generator further controls to have the rest period. 10. The method of claim 9,
Further comprising the step of measuring an ambient temperature immediately before the ultrasonic generator moves back from the first point to the second point,
The controlling step is
When the ambient temperature is higher than the preset second reference temperature,
In a turning section within the reciprocating movement higher than the second reference temperature, the ultrasonic generator further controls to have the rest period. 8. The method of claim 7,
The rest period, characterized in that it has a distance of a preset ratio compared to the one-way distance of the reciprocating movement so that the ultrasonic waves are not repeatedly irradiated to both end points according to the reciprocating movement.

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