阅读说明：本技术 一种基于频率自动跟踪的超声理疗仪及频率自动跟踪方法 (Ultrasonic physiotherapy instrument based on frequency automatic tracking and frequency automatic tracking method ) 是由 庞宇 王志成 袁鹏飞 蒋伟 张博臻 赵鸿毅 雷鹏 何思佳 于 2020-04-16 设计创作，主要内容包括：本发明公开一种基于频率自动跟踪的超声理疗仪,包括：微控制器、信号发生模块、功率放大模块、阻抗匹配模块、频率跟踪模块；本发明的频率自动跟踪系统采用闭环反馈跟踪系统,在超声电源系统工作过程中,频率跟踪模块实时采集超声波换能器两端的电压信号和电流信号并转换成第四驱动信号送入微控制器进而输出脉冲信号至模糊控制器进行自适应调节,最后将自适应调节后的脉冲信号经过DDS电路输出超声激励信号,经过整形滤波电路输出第一驱动信号,经过占空比调节电路输出第二驱动信号,经过功率放大模块输出高稳定和高精度的超声激励信号,经过阻抗匹配模块输出电压信号和电流信号,使得信号输出频率与输入频率逐渐保持一致,实现频率自动跟踪。(The invention discloses an ultrasonic physiotherapy instrument based on frequency automatic tracking, which comprises: the device comprises a microcontroller, a signal generation module, a power amplification module, an impedance matching module and a frequency tracking module; the frequency automatic tracking system adopts a closed-loop feedback tracking system, in the working process of an ultrasonic power supply system, a frequency tracking module collects voltage signals and current signals at two ends of an ultrasonic transducer in real time and converts the voltage signals and the current signals into fourth driving signals to be sent to a microcontroller so as to output pulse signals to a fuzzy controller for self-adaptive adjustment, finally, the pulse signals after self-adaptive adjustment output ultrasonic excitation signals through a DDS circuit, first driving signals are output through a shaping filter circuit, second driving signals are output through a duty ratio adjusting circuit, high-stability and high-precision ultrasonic excitation signals are output through a power amplifying module, and voltage signals and current signals are output through an impedance matching module, so that the output frequency of the signals is gradually consistent with the input frequency, and the frequency automatic tracking is realized.)

1. An ultrasonic physiotherapy instrument based on frequency automatic tracking, comprising: the device comprises a microcontroller, a signal generation module, a power amplification module and an impedance matching module, and is characterized by also comprising a frequency tracking module;

the signal generation module comprises a fuzzy controller, a DDS circuit, a shaping filter circuit and a duty ratio regulation circuit;

the impedance matching module comprises an impedance matching network and an ultrasonic transducer;

the output end of the microcontroller is connected with the input end of the fuzzy controller, the output end of the fuzzy controller is connected with the input end of the DDS circuit, the output end of the DDS circuit is connected with the input end of the shaping filter circuit, the output end of the shaping filter circuit is connected with the input end of the duty ratio adjusting circuit, the output end of the duty ratio adjusting circuit is connected with the input end of the power amplification module, the output end of the power amplification module is connected with the impedance matching network, the output end of the impedance matching network is connected with the input end of the ultrasonic transducer, the sampling output end of the ultrasonic transducer is connected with the frequency tracking module, and the output end of the frequency tracking module is connected;

the microcontroller sends a pulse signal to the fuzzy controller;

the fuzzy controller converts and outputs the pulse signal into a pulse signal after self-adaptive adjustment and then transmits the pulse signal to the DDS circuit;

the DDS circuit converts the pulse signals subjected to self-adaptive adjustment into ultrasonic excitation signals and transmits the ultrasonic excitation signals to the shaping filter circuit;

the shaping filter circuit converts the ultrasonic excitation signal into a first driving signal and transmits the first driving signal to the duty ratio regulating circuit;

the duty ratio adjusting circuit converts and outputs the first driving signal into a second driving signal and then transmits the second driving signal to the power amplifying module;

the power amplification module converts and outputs the second driving signal into an ultrasonic excitation signal with high stability and high precision and then transmits the ultrasonic excitation signal to the impedance matching network;

the impedance matching network converts the high-stability and high-precision ultrasonic excitation signal into a third driving signal and transmits the third driving signal to the ultrasonic transducer;

the ultrasonic transducer converts and outputs a third driving signal into a voltage signal and a current signal and then transmits the voltage signal and the current signal to the frequency tracking module;

the frequency tracking module converts the voltage signal and the current signal into a fourth driving signal and transmits the fourth driving signal to the microcontroller;

the frequency tracking module collects voltage signals and current signals at two ends of the ultrasonic transducer in real time and converts the voltage signals and the current signals into fourth driving signals to be sent to the microcontroller so as to output pulse signals to the fuzzy controller for self-adaptive adjustment, finally, the pulse signals after self-adaptive adjustment output ultrasonic excitation signals through the DDS circuit, first driving signals are output through the shaping filter circuit, second driving signals are output through the duty ratio adjusting circuit, high-stability and high-precision ultrasonic excitation signals are output through the power amplification module, voltage signals and current signals are output through the impedance matching module, the signal output frequency is gradually kept consistent with the input frequency, and automatic frequency tracking is achieved.

2. The ultrasonic physiotherapy instrument based on the automatic frequency tracking of claim 1,

the frequency tracking module includes: the device comprises a voltage sampling circuit, a current sampling circuit, a signal amplification filter circuit, a phase-locked loop and a low-pass filter;

the phase-locked loop includes: a phase discriminator, a loop filter and a voltage-controlled oscillator;

the sampling output end of the ultrasonic transducer is connected with the input ends of the voltage sampling circuit and the current sampling circuit, the output ends of the voltage sampling circuit and the current sampling circuit are both connected with the signal amplifying and filtering circuit, the output end of the signal amplifying and filtering circuit is connected with the phase discriminator, the output end of the phase discriminator is connected with the loop filter, the output end of the loop filter is connected with the voltage-controlled oscillator, the output end of the voltage-controlled oscillator is connected with the low-pass filter, and the output end of the low-pass filter is connected;

the voltage sampling circuit and the current sampling circuit of the frequency tracking module collect voltage signals and current signals at two ends of the ultrasonic transducer in real time, the collected voltage signals and current signals are sent to the phase discriminator through the signal amplifying and filtering circuit to obtain phase difference signals, the phase difference signals are sent to the loop filter for shaping and frequency adjustment through the voltage-controlled oscillator, and fourth driving signals are output through the low-pass filter and sent to the microcontroller.

3. The ultrasonic physiotherapy instrument based on the automatic frequency tracking of claim 1, further comprising a human-computer interaction module;

the human-computer interaction module comprises: an nrf24l01 module;

the nrf24l01 module is used for wireless control supersound physiotherapy equipment, utilizes the button to realize the switching of two frequencies and the increase and decrease of gear, adopts the L ED lamp of different colours to realize the warning of different frequencies.

4. The ultrasonic physiotherapy instrument based on the automatic frequency tracking of claim 3,

the human-computer interaction module further comprises: a fault detection circuit;

the fault detection circuit is used for real-time detection type ultrasonic physiotherapy equipment.

5. The ultrasonic physiotherapy apparatus based on frequency automatic tracking of claim 1, wherein the ultrasonic physiotherapy apparatus is a portable frequency automatic tracking ultrasonic physiotherapy apparatus.

6. The ultrasonic physiotherapy instrument based on the automatic frequency tracking of claim 1, which is characterized in that the ultrasonic physiotherapy instrument adopts double physiotherapy heads and intelligent double-frequency output.

7. The ultrasonic physiotherapy instrument based on the automatic frequency tracking of claim 1, wherein the ultrasonic physiotherapy instrument can output ultrasonic waves with two central frequencies, which are 1MHz and 3MHz respectively.

8. The ultrasonic physiotherapy instrument based on frequency automatic tracking of claim 1, wherein the effective sound intensity of the ultrasonic physiotherapy instrument reaches 3W/cm²Plus or minus 30 percent and effective output sound intensity of 0W/cm²To 3W/cm²The range is continuously adjustable.

9. A frequency automatic tracking method of an ultrasonic physiotherapy instrument based on frequency automatic tracking is characterized by comprising the following steps:

s1: the frequency tracking module collects voltage signals and current signals at two ends of the ultrasonic transducer in real time, and the collected voltage signals and current signals are sent to the phase discriminator through the signal amplification filter circuit to obtain phase difference signals;

s2: the phase difference signal is sent to a loop filter for shaping;

s3: the frequency of the shaped phase difference signal is adjusted through a voltage-controlled oscillator;

s4: the phase difference signal after the frequency adjustment through the voltage-controlled oscillator is converted through a low-pass filter to output a fourth driving signal and is sent to a microcontroller, and the microcontroller outputs a pulse signal to a fuzzy controller for self-adaptive adjustment;

s5: finally, outputting an ultrasonic excitation signal from the pulse signal subjected to self-adaptive adjustment through a DDS circuit, outputting a first driving signal through a shaping filter circuit, outputting a second driving signal through a duty ratio adjusting circuit, outputting a high-stability and high-precision ultrasonic excitation signal through a power amplification module, and outputting a voltage signal and a current signal through an impedance matching module;

the closed loop feedback tracking system of the microcontroller, the signal generation module, the power amplification module, the impedance matching module, the frequency tracking module and the microcontroller is used for adjusting, so that the output frequency of the signal is gradually kept consistent with the input frequency, the automatic frequency tracking is realized, and the electro-acoustic conversion efficiency of the ultrasonic physiotherapy instrument is improved.

Technical Field

The invention relates to an ultrasonic physiotherapy instrument, in particular to an ultrasonic physiotherapy instrument based on frequency automatic tracking and a frequency automatic tracking method.

Background

The etiology of chronic soft tissue injury as a frequently encountered disease is not yet determined. The conventional treatment mode is ultrasonic therapy, and ultrasonic waves have mechanical effect, thermal effect and physicochemical effect and have positive treatment effect on different types of chronic soft tissue injury.

With the development of intellectualization and high precision, the performance of the ultrasonic power supply has more and more strict requirements in ultrasonic application. Due to the uncertainty of the external environment, the natural resonant frequency of the ultrasonic transducer is easy to drift, and when the transducer works on a non-resonant point, not only can the required effect not be generated, but also the transducer can be damaged.

A large number of ultrasonic instrument physiotherapy equipment appear in the market at present, and more are applied to some hospitals, and too high price and great volume are not suitable for household use and do not have wearability. The common household ultrasonic physiotherapy instrument has low electro-acoustic conversion efficiency, and does not realize real portability by adopting commercial power as the input of the power module. Through the analysis to the present some supersound physiotherapy equipment that appears, the main problem that exists at present:

(1) the device is large-sized. Most of the therapeutic instruments are large in size and complex in charging, and are not really portable.

(2) The frequency automatic tracking function is not available, and the sound-electricity conversion efficiency is low. Due to the uncertainty of the external environment, the natural resonant frequency of the ultrasonic transducer is easy to drift, and when the transducer works on a non-resonant point, not only can the required effect not be generated, but also the transducer can be damaged.

(3) The problem of adjustable power. Because different users have different degrees of sensitivity to ultrasound, that is, the maximum ultrasound dose they can bear is also different, the current ultrasonic physiotherapy instrument does not realize real adjustable output ultrasonic power.

(4) The intelligent degree is low. The conventional physiotherapy instrument has single input frequency, single-frequency output and single pulse waveform.

(5) The safety performance is low. Conventional physiotherapy equipment lacks fault detection circuit and safety precaution function.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention aims to provide a portable ultrasonic physiotherapy instrument based on frequency automatic tracking, which can effectively avoid the defects in the prior art.

The invention is realized by the following technical scheme:

an ultrasonic physiotherapy instrument based on frequency automatic tracking, comprising: the system comprises a microcontroller, a signal generation module, a power amplification module, an impedance matching module and a frequency tracking module;

the signal generation module comprises a fuzzy controller, a DDS circuit, a shaping filter circuit and a duty ratio regulation circuit;

the impedance matching module comprises an impedance matching network and an ultrasonic transducer;

the output end of the microcontroller is connected with the input end of the fuzzy controller, the output end of the fuzzy controller is connected with the input end of the DDS circuit, the output end of the DDS circuit is connected with the input end of the shaping filter circuit, the output end of the shaping filter circuit is connected with the input end of the duty ratio adjusting circuit, the output end of the duty ratio adjusting circuit is connected with the input end of the power amplification module, the output end of the power amplification module is connected with the impedance matching network, the output end of the impedance matching network is connected with the input end of the ultrasonic transducer, the sampling output end of the ultrasonic transducer is connected with the frequency tracking module, and the output end of the frequency tracking module is connected;

the microcontroller sends a pulse signal to the fuzzy controller;

the fuzzy controller converts and outputs the pulse signal into a pulse signal after self-adaptive adjustment and then transmits the pulse signal to the DDS circuit;

the DDS circuit converts the pulse signals subjected to self-adaptive adjustment into ultrasonic excitation signals and transmits the ultrasonic excitation signals to the shaping filter circuit;

the shaping filter circuit converts the ultrasonic excitation signal into a first driving signal and transmits the first driving signal to the duty ratio regulating circuit;

the duty ratio adjusting circuit converts and outputs the first driving signal into a second driving signal and then transmits the second driving signal to the power amplifying module;

the power amplification module converts and outputs the second driving signal into an ultrasonic excitation signal with high stability and high precision and then transmits the ultrasonic excitation signal to the impedance matching network;

the impedance matching network converts the high-stability and high-precision ultrasonic excitation signal into a third driving signal and transmits the third driving signal to the ultrasonic transducer;

the ultrasonic transducer converts and outputs a third driving signal into a voltage signal and a current signal and then transmits the voltage signal and the current signal to the frequency tracking module;

the frequency tracking module converts the voltage signal and the current signal into a fourth driving signal and transmits the fourth driving signal to the microcontroller;

the frequency tracking module collects voltage signals and current signals at two ends of the ultrasonic transducer in real time and converts the voltage signals and the current signals into fourth driving signals to be sent to the microcontroller so as to output pulse signals to the fuzzy controller for self-adaptive adjustment, finally, the pulse signals after self-adaptive adjustment output ultrasonic excitation signals through the DDS circuit, first driving signals are output through the shaping filter circuit, second driving signals are output through the duty ratio adjusting circuit, high-stability and high-precision ultrasonic excitation signals are output through the power amplification module, voltage signals and current signals are output through the impedance matching module, the signal output frequency is gradually kept consistent with the input frequency, and automatic frequency tracking is achieved.

Further, an ultrasonic physiotherapy instrument based on frequency automatic tracking, the frequency tracking module comprises: the device comprises a voltage sampling circuit, a current sampling circuit, a signal amplification filter circuit, a phase-locked loop and a low-pass filter;

the phase-locked loop includes: a phase discriminator, a loop filter and a voltage-controlled oscillator;

the sampling output end of the ultrasonic transducer is connected with the input ends of the voltage sampling circuit and the current sampling circuit, the output ends of the voltage sampling circuit and the current sampling circuit are both connected with the signal amplifying and filtering circuit, the output end of the signal amplifying and filtering circuit is connected with the phase discriminator, the output end of the phase discriminator is connected with the loop filter, the output end of the loop filter is connected with the voltage-controlled oscillator, the output end of the voltage-controlled oscillator is connected with the low-pass filter, and the output end of the low-pass filter is connected;

the voltage sampling circuit and the current sampling circuit of the frequency tracking module collect voltage signals and current signals at two ends of the ultrasonic transducer in real time, the collected voltage signals and current signals are sent to the phase discriminator through the signal amplifying and filtering circuit to obtain phase difference signals, the phase difference signals are sent to the loop filter for shaping and frequency adjustment through the voltage-controlled oscillator, and fourth driving signals are output through the low-pass filter and sent to the microcontroller.

The power module converts 12V voltage into 5V to supply power to the signal generation module by using a voltage stabilizing chip L M2596-5.0, converts 5V voltage into 3.3V to supply power to the microprocessor module by using a voltage stabilizing chip T L V70033, simultaneously raises the 12V voltage into 48V by using a boost module to supply power to the power amplification module and drive the ultrasonic concave piezoelectric ceramic piece to generate ultrasonic waves, the charging module adopts a QI standard wireless charging module to provide energy for the whole device, the battery adopts a 12.6V 1800mAh rechargeable polymeric lithium battery pack, the size of the battery is 62mm × 52mm × 14mm 3514 mm, the battery has a self-protection function, when the electric quantity of the battery is lower than 9.5V, the temperature control module collects the temperature of the ultrasonic transducer by using a thermistor, inputs the temperature into a microcontroller, judges whether the temperature exceeds a set safety threshold value, and if the temperature exceeds the threshold value, two L ED lamps are used for reminding to ensure the safe flicker of a user.

Further, the ultrasonic physiotherapy instrument based on frequency automatic tracking also comprises a man-machine interaction module;

the human-computer interaction module comprises: an nrf24l01 module;

the nrf24l01 module is used for wireless control supersound physiotherapy equipment, utilizes the button to realize the switching of two frequencies and the increase and decrease of gear, adopts the L ED lamp of different colours to realize the warning of different frequencies.

Further, an supersound physiotherapy equipment based on frequency automatic tracking, the human-computer interaction module still includes: a fault detection circuit;

the fault detection circuit is used for real-time detection type ultrasonic physiotherapy equipment.

Further, the ultrasonic physiotherapy instrument based on frequency automatic tracking is a portable frequency automatic tracking ultrasonic physiotherapy instrument.

Further, the ultrasonic physiotherapy instrument based on frequency automatic tracking adopts double physiotherapy heads and intelligent double-frequency output.

Further, an ultrasonic physiotherapy instrument based on frequency automatic tracking can output ultrasonic waves with two central frequencies, namely 1MHz and 3MHz respectively.

Furthermore, the ultrasonic physiotherapy instrument based on frequency automatic tracking has the effective sound intensity reaching 3W/cm230 percent and the effective output sound intensity being continuously adjustable within the range of 0W/cm2 to 3W/cm 2.

A frequency automatic tracking method of an ultrasonic physiotherapy instrument based on frequency automatic tracking comprises the following steps:

s1: the frequency tracking module collects voltage signals and current signals at two ends of the ultrasonic transducer in real time, and the collected voltage signals and current signals are sent to the phase discriminator through the signal amplification filter circuit to obtain phase difference signals;

s2: the phase difference signal is sent to a loop filter for shaping;

s3: the frequency of the shaped phase difference signal is adjusted through a voltage-controlled oscillator;

s4: the phase difference signal after the frequency adjustment through the voltage-controlled oscillator is converted through a low-pass filter to output a fourth driving signal and is sent to a microcontroller, and the microcontroller outputs a pulse signal to a fuzzy controller for self-adaptive adjustment;

s5: finally, outputting an ultrasonic excitation signal from the pulse signal subjected to self-adaptive adjustment through a DDS circuit, outputting a first driving signal through a shaping filter circuit, outputting a second driving signal through a duty ratio adjusting circuit, outputting a high-stability and high-precision ultrasonic excitation signal through a power amplification module, and outputting a voltage signal and a current signal through an impedance matching module;

the closed loop feedback tracking system of the microcontroller, the signal generation module, the power amplification module, the impedance matching module, the frequency tracking module and the microcontroller is used for adjusting, so that the output frequency of the signal is gradually kept consistent with the input frequency, the automatic frequency tracking is realized, and the electro-acoustic conversion efficiency of the ultrasonic physiotherapy instrument is improved.

The power supply system adopts an STM32 platform to build a dynamic matching circuit, adopts a low-power STM 32L 151 microcontroller combined with a fuzzy controller to adaptively adjust a Direct Digital Synthesizer (DDS) to generate an ultrasonic excitation signal, and realizes the adjustable input frequency and the adjustable output sound intensity of a driving signal after the ultrasonic excitation signal is processed by a power amplification moduleAnd finally, the signal generation module and the impedance matching network are reapplied, so that the output frequency of the signal is gradually kept consistent with the input frequency, and the automatic frequency tracking is realized. And outputting ultrasonic intensity through an ultrasonic power meter in the later stage test, and calculating the electro-acoustic conversion efficiency. The invention aims to provide a portable ultrasonic physiotherapy instrument which has the characteristics of adjustable input frequency, dynamically adjustable output sound intensity, automatic frequency tracking and the like. Meanwhile, the physiotherapy instrument adopts double physiotherapy heads and intelligent double-frequency output, and according to the tolerance and pain degree of a human body, the central frequencies of the physiotherapy instrument are determined to be 1MHz and 3MHz respectively through a large number of tests, and the effective sound intensity reaches 3W/cm²Plus or minus 30 percent and effective output sound intensity of 0W/cm²To 3W/cm²Is adjustable. And the portable ultrasonic physiotherapy instrument based on frequency automatic tracking can carry out wireless control, has the characteristics of small volume, strong mobility and high electroacoustic conversion efficiency, does not appear in the application of human soft tissue injury treatment, is low-cost household rehabilitation physiotherapy equipment, and has wide audience and huge market.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. the frequency automatic tracking system adopts a closed loop feedback tracking system, utilizes a phase-locked loop module to acquire voltage and current signals at two ends of a transducer in real time in the working process of an ultrasonic power supply system, obtains a phase difference, adjusts the phase difference through the closed loop feedback tracking system of the phase-locked loop module, performs PI control by combining with an STM32 main controller, inputs a fuzzy controller, adjusts the output frequency of a DDS signal generator, and finally acts on a signal generating module and an impedance matching network again, so that the output frequency of the signal is gradually consistent with the input frequency, and the frequency automatic tracking is realized.

2. The invention adopts double physical therapy heads, intelligent double-frequency output, adjustable pulse waveform, adjustable input frequency and dynamically adjustable output sound intensity, adopts a low-power STM 32L 151 microcontroller combined with a fuzzy controller to adaptively adjust a Direct Digital Synthesizer (DDS) to generate an ultrasonic excitation signal, and realizes the adjustable input frequency and the dynamically adjustable output sound intensity of a driving signal after the ultrasonic excitation signal is processed by a power amplification moduleThe therapeutic instrument adopts double physical therapy heads and intelligent double-frequency output, and according to the tolerance and pain degree of a human body, the central frequencies of the physical therapy instrument are determined to be 1MHz and 3MHz respectively through a large number of experiments, and the effective sound intensity reaches 3W/cm²Plus or minus 30 percent and effective output sound intensity of 0W/cm²To 3W/cm²Is adjustable.

3. The invention has high sound-electricity conversion efficiency. The design of dynamic impedance matching in the ultrasonic physiotherapy instrument adopts a novel T-shaped matching mode to eliminate capacitive reactance components in an equivalent circuit, so that the whole circuit is in a pure impedance state, and a closed loop structure is formed by the signal generation module, the impedance matching module, the frequency tracking module and the microcontroller, so that the effect of dynamic matching is improved, and the conversion efficiency of the ultrasonic physiotherapy instrument is improved.

4. The portable design of the invention has the characteristics of small volume, strong mobility and high treatment efficiency by reducing complex human-computer interaction interfaces, which is not used in the treatment application of soft tissue injury of people, is low-cost household rehabilitation physiotherapy equipment, and has wide audience and huge market.

5. The invention has high safety performance, has a fault detection circuit and a safety early warning function, and ensures the safety of users.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

figure 1 is a system block diagram of the preferred embodiment ultrasonic physiotherapy apparatus provided by the present invention.

Fig. 2 is a schematic diagram of a phase locked loop of the present invention.

Fig. 3 is a schematic diagram of a closed loop feedback tracking system adjustment of a phase locked loop module of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.