A motion control method for an internal motor of a 4D ultrasound probe and a 4D ultrasound probe

Abstract

This application discloses a motion control method for a motor within a 4D ultrasonic probe and a 4D ultrasonic probe itself. The method includes: acquiring a first zero-finding signal output by the 4D ultrasonic probe when the motor is in its current position; determining a first direction based on the level attribute of the first zero-finding signal; controlling the motor to rotate in the first direction until the level attribute of the output zero-finding signal differs from the level attribute of the first zero-finding signal, then controlling the motor to stop rotating and determining a first position of the motor; controlling the motor to rotate from the first position to a second position by a first angle in the first direction, and acquiring a second zero-finding signal output by the motor in the second position; controlling the motor to rotate from the second position to a second direction until the level attribute of the output zero-finding signal differs from the level attribute of the second zero-finding signal, then controlling the motor to stop rotating and determining a third position; and determining the zero-point position of the motor based on the first and third positions. This improves the accuracy of the zero-point position and enhances the probe's detection performance.

Description

Technical Field

[0001] This application relates to the field of ultrasonic technology, and in particular to a motion control method for an internal motor of a 4D ultrasonic probe and a 4D ultrasonic probe. Background Technology

[0002] A four-dimensional ultrasonic probe, also known as a 4D ultrasonic probe, uses a Hall effect sensor or photoelectric sensor to detect the zero-point signal of the motor. The position of the detected zero-point signal is used as the probe's zero-point position. If the motor is running normally and there are no abnormal human operations or power outages, the zero-point position is the physically centered position. If the zero-point position is not detected correctly, it may lead to motion detection errors, such as misjudging that the motor is stalled.

[0003] In related technologies, the determination of whether a motor is actually stalled is only performed during full-roll scanning. Full-roll scanning refers to the 4D ultrasonic probe scanning from the leftmost to the rightmost side, or from the rightmost to the leftmost side. However, the zero-finding signal is in a stable state during full-roll scanning, and registering and judging the zero-finding signal in this method cannot detect abnormalities.

[0004] Therefore, accurately detecting the zero point position of the motor is of great significance for improving the detection performance of 4D ultrasound. Summary of the Invention

[0005] The exemplary embodiments of this application provide a motion control method for a motor inside a 4D ultrasonic probe and a 4D ultrasonic probe, which improves the accuracy of the zero-point position of the motor detected by the 4D ultrasonic probe, thereby enhancing the detection performance of 4D ultrasound.

[0006] According to a first aspect of an exemplary embodiment, a motion control method for a motor inside a 4D ultrasound probe is provided. This method, applicable to a 4D ultrasound probe, includes at least the following steps:

[0007] Acquire the first zero-finding signal output by the 4D ultrasonic probe when the motor is in its current position;

[0008] The first direction is determined based on the level properties of the first zero-finding signal;

[0009] The motor is controlled to rotate in the first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the first zero-finding signal. The motor is then controlled to stop rotating, and the first position of the motor is determined.

[0010] The motor is controlled to rotate from a first position to a second position in a first direction by a first angle, and the second zero-finding signal output by the 4D ultrasound probe is acquired when the motor is in the second position.

[0011] The motor is controlled to rotate from the second position to the second direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the second zero-finding signal. The motor is then controlled to stop rotating, thus determining the second position of the motor. The second direction is opposite to the first direction.

[0012] The zero position of the motor is determined based on the first position and the second position.

[0013] According to a second aspect of an exemplary embodiment, a 4D ultrasound probe is provided, including a motor, a high-frequency ADC sampling circuit, and a processor; the processor is connected to both the motor and the high-frequency ADC sampling circuit.

[0014] A high-frequency ADC sampling circuit is used to detect the zero-finding signal output by the 4D ultrasound probe.

[0015] The processor is used to execute the method of the first aspect to control the rotation of the motor and determine the zero position of the motor.

[0016] According to a third aspect of an exemplary embodiment, a 4D ultrasound probe is provided, including a motor, a processor, and a data transmission unit:

[0017] The data transmission unit is configured to perform:

[0018] Acquire the first zero-finding signal output by the 4D ultrasonic probe when the motor is in its current position;

[0019] The processor is configured to execute:

[0020] The first direction is determined based on the level properties of the first zero-finding signal;

[0021] The motor is controlled to rotate in the first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the first zero-finding signal. The motor is then controlled to stop rotating, and the first position of the motor is determined.

[0022] The motor is controlled to rotate from a first position to a second position in a first direction by a first angle, and the second zero-finding signal output by the 4D ultrasound probe is acquired when the motor is in the second position.

[0023] The motor is controlled to rotate from the second position to the second direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the second zero-finding signal. The motor is then controlled to stop rotating, thus determining the second position of the motor. The second direction is opposite to the first direction.

[0024] The zero position of the motor is determined based on the first position and the second position.

[0025] According to a fourth aspect of an exemplary embodiment, a computer storage medium is provided, which stores computer program instructions that, when executed on a computer, cause the computer to perform a motion control method for a motor within a 4D ultrasonic probe as described in the first aspect.

[0026] In this embodiment, two zero-finding operations are performed. The zero-point position determined by the first zero-finding operation is called the first position, and the zero-point position determined by the second zero-finding operation is called the third position. The final zero-point position of the motor is determined based on the first and third positions. In the first zero-finding process, the motor starts rotating from its current position. The signal output by the 4D probe when the motor is at the current position is called the first zero-finding signal. The first direction is determined based on the level attribute of the first zero-finding signal, and the motor is controlled to rotate in the first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from that of the first zero-finding signal. At this point, the motor stops rotating, and the position of the motor at this moment is determined as the first position. In the second zero-finding process, the motor is first controlled to rotate a first angle in the first direction to the second position. The second position is used as the starting point of the second zero-finding operation. The second zero-finding signal output by the 4D ultrasound probe when the motor is at the second position is obtained. The motor is controlled to rotate in the second direction, opposite to the first direction, until the level attribute of the zero-finding signal output by the 4D probe is different from that of the second zero-finding signal. At this point, the motor stops rotating, and the third position of the motor is determined. In the zero-finding operation, it is not limited by the physical zero point position of the motor. Furthermore, the two zero-finding operations with different directions make full use of the signal change characteristics on both sides of the zero point position, which can improve the accuracy of the zero point position of the motor detected by the 4D ultrasonic probe, thereby improving the detection performance of 4D ultrasound. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 An exemplary illustration shows an application scenario diagram of a motion control method for an internal motor of a 4D ultrasonic probe provided in an embodiment of this application;

[0029] Figure 2a An exemplary diagram illustrates the motor movement of a 4D ultrasound probe during scanning, as provided in an embodiment of this application.

[0030] Figure 2b An exemplary three-dimensional schematic diagram of a 4D ultrasound probe provided in an embodiment of this application is shown;

[0031] Figure 3 An exemplary diagram illustrating zero-position detection of a photoelectric sensor provided in an embodiment of this application is shown.

[0032] Figure 4 An exemplary schematic diagram of the motion of a 4D ultrasound probe provided in an embodiment of this application is shown;

[0033] Figure 5a An exemplary flowchart illustrates a motion control method for an internal motor of a 4D ultrasonic probe provided in an embodiment of this application;

[0034] Figure 5b An exemplary schematic diagram of motor movement during a zero-finding process provided in an embodiment of this application is shown;

[0035] Figure 6 An exemplary schematic diagram of a slotted photoelectric sensor provided in an embodiment of this application is shown;

[0036] Figure 7 An exemplary schematic diagram of the internal circuitry of a slotted photoelectric sensor provided in an embodiment of this application is shown;

[0037] Figure 8 An exemplary schematic diagram of the internal circuitry of a slotted photoelectric sensor provided in an embodiment of this application is shown;

[0038] Figure 9a An exemplary diagram illustrates the situation where the zero-finding signal changes from high to low when a 4D ultrasound probe rotates clockwise past the zero point, according to an embodiment of this application.

[0039] Figure 9b An exemplary diagram illustrating the movement of a motor when determining a first position is provided by an embodiment of this application;

[0040] Figure 10 An exemplary schematic diagram of a 4D ultrasound probe provided in an embodiment of this application is shown;

[0041] Figure 11 An exemplary schematic diagram of an ADC sampling circuit provided in an embodiment of this application is shown;

[0042] Figure 12 An exemplary schematic diagram of a motion control device for an internal motor of a 4D ultrasonic probe provided in an embodiment of this application is shown.

[0043] Figure 13 An exemplary schematic diagram of a 4D ultrasound probe provided in an embodiment of this application is shown. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0045] (1) The zero-finding signal, also known as the zero-position signal, is essentially a voltage signal output by the 4D ultrasound probe. In this embodiment, the signal at the starting position of the first zero-finding process is called the first zero-finding signal, and the signal at the starting position of the second zero-finding process is called the second zero-finding signal. The signals at the two zero-point positions determined when the motor is moved to the vicinity of the physical center position are called the third zero-finding signal and the fourth zero-finding signal, respectively.

[0046] In a conventional ultrasound probe, the transceiver chip is fixed at the front end of the probe. However, a four-dimensional ultrasound probe incorporates a motor that can move left and right. The transceiver chip is mounted on top of the motor and moves with it. Each scan as the motor moves from one end to the other yields a three-dimensional ultrasound image. Continuous scans produce a continuous three-dimensional image. Adding a time dimension creates a four-dimensional ultrasound image.

[0047] Motor control requires initial zero-position detection. During the scanning process, the motor passes through the zero point. After the scan is completed, the motor returns to the zero point, resetting and centering the probe. The probe's processor obtains the motor's scanning position based on the zero-position detection and performs drive control.

[0048] A four-dimensional ultrasonic probe, also known as a 4D ultrasonic probe, uses a Hall effect sensor or photoelectric sensor to detect the zero-point signal of the motor. The position of the detected zero-point signal is used as the probe's zero-point position. If the motor is running normally and there are no abnormal human operations or power outages, the zero-point position is the physically centered position. If the zero-point position is not detected correctly, it may lead to motion detection errors, such as misjudging that the motor is stalled.

[0049] In related technologies, the determination of whether a motor is actually stalled is only performed during full-roll scanning. Full-roll scanning refers to the 4D ultrasonic probe scanning from the leftmost to the rightmost side, or from the rightmost to the leftmost side. However, the zero-finding signal is in a stable state during full-roll scanning, and registering and judging the zero-finding signal in this method cannot detect abnormalities.

[0050] Therefore, accurately detecting the zero point position of the motor is of great significance for the 4D ultrasonic probe to accurately obtain 4D ultrasonic images during the scanning process.

[0051] To address this, this application provides a motion control method for a motor within a 4D ultrasound probe. In this method, a first direction (e.g., clockwise) is determined by a first zero-finding signal detected at the motor's current position (the starting position of the first zero-finding operation). Then, the position where the level attribute of the zero-finding signal changes when the motor rotates in the first direction is calculated as the initial zero-point position (first position). The motor is then controlled to rotate at a set angle relative to the first direction to reach a second position (the starting position of the second zero-finding operation), and then rotates in the second direction (e.g., counterclockwise). The position where the level attribute of the zero-finding signal changes again is calculated as the new zero-point position (third position). After two zero-finding operations, the zero-point position of the motor is determined based on the first and third positions. This design results in a more accurate zero-point position, thereby improving the detection performance of 4D ultrasound and obtaining higher-quality ultrasound images.

[0052] After introducing the design concept of the embodiments of this application, the following is a brief introduction to the application scenarios to which the technical solutions of the embodiments of this application can be applied. It should be noted that the application scenarios described below are only for illustrating the embodiments of this application and are not intended to limit the scope. In specific implementation, the technical solutions provided by the embodiments of this application can be flexibly applied according to actual needs.

[0053] Figure 1 This is an application scenario diagram of a motion control method for an internal motor of a 4D ultrasonic probe provided in an embodiment of this application. Figure 2a This is a schematic diagram illustrating the motor movement of a 4D ultrasound probe during scanning, provided as an embodiment of this application. Figure 2b This is a three-dimensional schematic diagram of a 4D ultrasound probe provided in an embodiment of this application. In the diagram, 10 is the 4D ultrasound probe, 11 is a motor, 12 is a transceiver chip, 131 is a photoelectric switch transmitter, 132 is a photoelectric switch receiver, 14 is the center position of the 4D ultrasound probe (the physical center position of the motor), 15 is the scanning angle of the motor, 16 is the front side of the 4D ultrasound probe, and 17 is the rear side of the 4D ultrasound probe.

[0054] In related technologies, whether the scan start position is at 14 is used as the standard for judging whether the motor is stalled. However, due to sudden power outages or improper human operation causing the motor to not stop at the centered position, it may be misjudged as a stalled motor. Therefore, before each scan, a new zero-point position is determined using the method in the embodiments of this application, and this new zero-point position is used as the standard for whether the motor is stalled. This avoids misjudgment, and therefore, the quality of the obtained ultrasound images is higher.

[0055] In this embodiment, the photoelectric switch can be a Hall sensor or a photoelectric sensor.

[0056] Figure 3This is a schematic diagram of zero-position detection of a photoelectric sensor provided in an embodiment of this application, wherein 11 is the scanning angle of the motor. Figure 4 This is a schematic diagram of the movement of a 4D ultrasound probe provided in an embodiment of this application. O is the default zero-point position (i.e., the physical center position) of the motor in the prior art. The motor rotates at a constant speed between B and C. After moving from O to B, it gradually decelerates, and the speed decreases to zero at point A, where it comes to a complete stop. At this time, BA is called the deceleration zone. Then, it gradually accelerates from point A to B, and AB is called the acceleration zone. The same applies to segments OC and CD, which will not be elaborated here. The 4D ultrasound probe only detects the zero position and outputs a zero-finding signal or a zero-point signal in the uniform speed zone of BC. In the OB region, the output signal is low, and in the OC region, the output signal is high. That is, when passing through point O clockwise, the output signal changes from high to low, and when passing through point O counterclockwise, the output signal changes from low to high. Here, point O refers to the zero point in the traditional sense. During the scanning process, if the probe stops rotating because it is not located at this position, it is judged as a stall. Therefore, in this embodiment of the application, the true zero point in the current scanning process is found before each scan.

[0057] To further illustrate the technical solutions provided in the embodiments of this application, a detailed description is provided below in conjunction with the accompanying drawings and specific implementation methods. Although the embodiments of this application provide method operation steps as shown in the following embodiments or drawings, the method may include more or fewer operation steps based on conventional or non-inventive methods. In steps where there is no logically necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application.

[0058] The following is combined Figure 1 , Figure 2a , Figure 2b , Figure 3 and Figure 4 The application scenarios shown are as follows: Figure 5a This document presents a flowchart illustrating a motion control method for an internal motor of a 4D ultrasonic probe, as provided in an embodiment of this application. The technical solution provided in this embodiment is explained below.

[0059] S501: Acquire the first zero-finding signal output by the 4D ultrasonic probe when the motor is in its current position.

[0060] S502: Determine the first direction based on the level attribute of the first zero-finding signal.

[0061] S503: Control the motor to rotate in the first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the first zero-finding signal, then control the motor to stop rotating and determine the first position of the motor.

[0062] S504: Control the motor to rotate from the first position to the second position by a first angle in the first direction, and acquire the second zero-finding signal output by the 4D ultrasound probe when the motor is in the second position.

[0063] S505: Control the motor to rotate from the second position to the second direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the second zero-finding signal, then control the motor to stop rotating and determine the second position of the motor; wherein, the second direction is opposite to the first direction.

[0064] S506: Determine the zero position of the motor based on the first position and the second position.

[0065] In this embodiment, two zero-finding operations are performed. The zero-point position determined by the first zero-finding operation is called the first position, and the zero-point position determined by the second zero-finding operation is called the third position. The final zero-point position of the motor is determined based on the first and third positions. In the first zero-finding process, the motor starts rotating from its current position. The signal output by the 4D probe when the motor is at the current position is called the first zero-finding signal. The first direction is determined based on the level attribute of the first zero-finding signal, and the motor is controlled to rotate in the first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from that of the first zero-finding signal. At this point, the motor stops rotating, and the position of the motor at this moment is determined as the first position. In the second zero-finding process, the motor is first controlled to rotate a first angle in the first direction to the second position. The second position is used as the starting point of the second zero-finding operation. The second zero-finding signal output by the 4D ultrasound probe when the motor is at the second position is obtained. The motor is controlled to rotate in the second direction, opposite to the first direction, until the level attribute of the zero-finding signal output by the 4D probe is different from that of the second zero-finding signal. At this point, the motor stops rotating, and the third position of the motor is determined. In the zero-finding operation, it is not limited by the physical zero-point position of the motor. Furthermore, the two zero-finding operations in different directions fully utilize the signal changes on both sides of the zero-point position, which can improve the accuracy of the zero-point position of the motor detected by the 4D ultrasound probe, thereby improving the detection performance of 4D ultrasound. Regarding S501, after each scan, the motor will typically remain at a position that is traditionally considered zero. However, due to abnormal power outages or improper human operation, the motor may remain at a position that is not traditionally considered zero. Therefore, to avoid misjudging the motor as stalled during subsequent scans, the new zero-point position of the motor during each scan is determined before each scan.

[0066] The position of the motor after the last scan is referred to as the current position. The 4D ultrasound probe can output a detection signal regardless of the motor's position. In this embodiment, the zero-finding signal output by the 4D ultrasound probe when the motor is in the current position can be referred to as the first zero-finding signal. Figure 5bThis is a schematic diagram of motor movement during a zero-finding process provided in an embodiment of this application, wherein point E is the current position, and the detection signal of the 4D ultrasonic probe detected at point E is the first zero-finding signal.

[0067] Regarding the S502, the level attributes include high-level and low-level attributes. (See reference...) Figure 5b The first direction can be determined based on the level of the first zero-finding signal. For example, if the first zero-finding signal is high, it can be determined that the motor is in the OC region. Therefore, in order to perform the zero-finding operation, the first direction is clockwise. Figure 5b (① Direction of movement). This design allows the motor to pass through point O during clockwise rotation. For example, if the first zero-finding signal is low, it can be determined that the motor is in the OB region. In order to perform the zero-finding operation, the first direction is counterclockwise. This design allows the motor to pass through point O during counterclockwise rotation (this example is not shown).

[0068] Involving S503, the first zero-finding operation will be performed next. The zero-point position obtained after the first zero-finding operation will be called the first position. Optionally, the process of the first zero-finding operation is as follows:

[0069] The motor is controlled to rotate in the first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the first zero-finding signal. The motor is then controlled to stop rotating and the first position is determined.

[0070] In this example, the motor rotates clockwise, and the 4D ultrasound probe continuously outputs a detection signal, while the zero-finding signal remains constant. When the motor passes point O, the properties of the zero-finding signal change; that is, the zero-finding signal output by the 4D ultrasound probe changes from a high-level first zero-finding signal to a low-level signal. At this point, the motor stops rotating, and the position where the motor stops is taken as the position of the first zero-finding operation, called the first position, denoted as P1. In practical applications, this position may coincide with point O or may deviate slightly from point O.

[0071] Because Hall effect sensors and photoelectric sensors differ in principle and sensitivity, the level transition process at point O also differs. When the sensor in the 4D ultrasound probe is a Hall effect sensor, its level transition is instantaneous; when the sensor in the 4D ultrasound probe is a photoelectric sensor, its level transition is continuous (i.e., it changes gradually over a period of time until a change in level attribute occurs). Therefore, determining the first position can be based on at least the following two cases, depending on the sensor:

[0072] In the first scenario Q1: the sensor used to detect position in the 4D ultrasound probe is a Hall sensor.

[0073] In this case, the position at the first moment when the level attribute of the detected zero-finding signal is different from the level attribute of the first zero-finding signal is defined as the first position.

[0074] Taking the first zero-finding signal as high level as an example, and according to the principle of Hall sensor, the position of the motor at the first moment when the detected zero-finding signal is low level can be taken as the first position.

[0075] In the second scenario Q2: the sensor used to detect position in the 4D ultrasonic probe is a photoelectric sensor.

[0076] Before explaining the second case Q2, let's first explain the working principle of the slotted photoelectric sensor.

[0077] For example, the photoelectric sensor can be a slot-shaped photoelectric sensor. The slot-shaped photoelectric sensor consists of a pair of infrared transceivers, with the transmitter and receiver located on opposite sides of the slot, forming an optical axis. When the object being detected blocks the optical axis, the receiver receives no light and is turned off. A motor drives the sound head to scan back and forth halfway or fully, and the sound head moves a metal baffle to block the transceiver of the photoelectric sensor, triggering the 4D probe to output a zero-finding signal.

[0078] Specifically, the voltage of the signal triggered by the slotted photoelectric sensor exhibits a gradual transition from high to low and from low to high. The movement of the baffle from the sensor is not instantaneous; it is a gradual process. As the baffle approaches the photoelectric sensor, the amount of infrared light received by the receiver (photodiode) gradually decreases as the optical axis is blocked, resulting in a gradual decrease in the photodiode current until it eventually turns off. Conversely, as the baffle moves away from the photoelectric sensor, the amount of light received by the photodiode increases.

[0079] Figure 6 This is a schematic diagram of a slotted photoelectric sensor provided in an embodiment of this application. Figure 7 This is a schematic diagram of the internal circuit of a slotted photoelectric sensor provided in an embodiment of this application. Figure 8 This is a schematic diagram of the internal circuit of a slotted photoelectric sensor provided in an embodiment of this application.

[0080] refer to Figures 6-8 When the photoelectric sensor is working, the infrared diode at the transmitting end is turned on, the emitter of the transistor at the receiving end is grounded, and the collector is connected to a 3.3V pull-up resistor R0 (which can be 10KΩ), serving as the signal detection point. When there is no obstruction, the transistor at the receiving end receives infrared light and is turned on, resulting in a low-level zero-finding signal. When the infrared light is blocked, i.e., at zero point, the transistor at the receiving end is turned off, and the zero-finding signal is a high-level 3.3V.

[0081] Ideally, the zero-point change is typically an instantaneous voltage change of 3.3V-0V or 0-3.3V. However, when a baffle blocks the photoelectric sensor, a process is required; the voltage of the detected signal is in an unstable state (0, 0.8, 1.0V, 1.5V-3.3V or 3.3V-1.5, 1.0, 0.8, 0V), and even the voltages of 0.8, 1.0V, and 1.5V exhibit fluctuations. In related technologies, the processor identifies voltages less than 0.8V as low and voltages greater than 1.5V as high. These voltage jumps may cause logic errors, leading to misjudgments of motor movement, such as motor stalling.

[0082] In this embodiment, a high-frequency analog-to-digital converter (ADC) sampling circuit is used to sample the output signal of the 4D ultrasound probe in real time, specifically to acquire the voltage during the gradual transition between high and low levels at zero-finding. Multiple acquired voltage values ​​are saved, and the processor performs jitter filtering.

[0083] In one implementation, when the voltage level changes from high to low, the voltage range for filtering out jitter can be set so that when the voltage value drops to a low-level threshold (e.g., 0.8V), it is determined to be zero.

[0084] In another implementation, when the voltage level changes from low to high, the voltage range for filtering out jitter can be set so that when the voltage value steadily rises to a high-level threshold (e.g., 2.4V), it is determined to be zero.

[0085] A high-frequency ADC sampling circuit is used to sample the voltage to determine the zero-point location. The zero-point location is determined by judging two points within the range of gradual transition between high and low levels.

[0086] Figure 9a This is a schematic diagram illustrating the change in the zero-finding signal from high to low when a 4D ultrasound probe rotates clockwise past point O, as provided in an embodiment of this application. In this embodiment, the acquisition time corresponding to the high and low level threshold voltage values ​​is saved, such as a first time range ΔT1 consisting of two moments: 0.8V to 2.4V when the voltage changes from low to high, or 2.4V to 0.8V when the voltage changes from high to low. Simultaneously, an ideal time range ΔT0 consisting of two moments: the ideal zero-point voltage values ​​of 3.3V and 0V is saved.

[0087] In the uniform speed region, when searching for zero, the average value of the first time range can be understood as the true central zero point. During zero-searching, after detecting high and low level thresholds, the motor delays by this average time to reach the accurate zero point, and the logic registers this zero-search signal. The aforementioned ideal time range can be used for comparison and calibration.

[0088] To illustrate the second scenario, Q2, let's take a specific example:

[0089] The system acquires multiple third zero-finding signals within a first time period before a second moment when the level attribute of the detected zero-finding signal differs from that of the first zero-finding signal; determines a first time difference between the acquisition time of the first signal and the acquisition time of the second signal among the multiple third zero-finding signals; determines the position of the middle moment of the first time difference as the first position; the start time of the first time period is the moment when the signal value of the first zero-finding signal changes, and the end time of the first time period is the second moment.

[0090] Taking the first zero-finding signal as high level as an example, and based on the principle of photoelectric sensors, the first position of the motor can be determined in the following way.

[0091] Assuming the first zero-finding signal is 3.3V, which is a high level, multiple third zero-finding signals are detected within a first time period T1 (the start time of the first time period T1 is the moment when the signal value of the first zero-finding signal changes, and the end time of the first time period is the second time) before the second time point t2 when the zero-finding signal is detected to be low. These multiple third zero-finding signals are typically between 3.3V and 0V. However, these third zero-finding signals may include jitter signals. Therefore, at least one jittering third zero-finding signal is removed from the multiple third zero-finding signals. For example, jittering signals typically occur between 0.8V and 2.4V. Therefore, according to this principle, all third zero-finding signals with values ​​between 0.8V and 2.4V can be removed. Among the remaining third zero-finding signals, the average value of at least one third zero-finding signal that is greater than the first threshold (e.g., 2.4V) is taken as the first signal S1 (e.g., 2.7V); the average value of at least one third zero-finding signal that is less than the second threshold (e.g., 0.8V) is taken as the second signal S2 (e.g., 0.6V); the first threshold is greater than the second threshold.

[0092] Determine the first time difference ΔT1 between the acquisition time St1 of the first signal S1 and the acquisition time St2 of the second signal S2; determine the position of the midpoint of the first time difference ΔT1, ΔT1 / 2, as the first position P1. In a specific example, Figure 9b This is a schematic diagram of motor movement when determining a first position, provided in an embodiment of this application. O1 is the position of motor St1 when the first signal S1 is acquired, and O2 is the position of motor St2 when the first signal S2 is acquired.

[0093] To improve the accuracy of the zero-finding operation, the method provided in this application embodiment also includes a second zero-finding operation.

[0094] Regarding S504, after the first zero-finding operation, the motor stops at the first position P1. Although this first position may not coincide with point O, P1 is relatively close to point O. Therefore, to achieve the second zero-finding operation, the motor can be controlled to continue moving, passing through point O a second time. Since the first zero-finding operation involves a clockwise movement through point O, to improve accuracy, the second zero-finding operation controls the motor to move counterclockwise through point O.

[0095] Therefore, the control motor rotates from the first position to the second position by a first angle in the first direction, and then rotates counterclockwise from the second position past point O. Figure 5b (Referring to the direction of movement ②) to perform a second zero-finding operation. Figure 5b The second position is point F.

[0096] For example, the first angle is preset, with the aim of keeping the motor in the OB uniform speed region, reference. Figure 5b For example, the first angle α can be 10 degrees. In this example, when the motor is in the second position, the second zero-finding signal output by the 4D ultrasound probe is obtained. Taking the above embodiment as an example, the second zero-finding signal is a low-level signal.

[0097] Regarding S505, to ensure that the two zero-finding operations cover both counterclockwise and clockwise passes of point O, the second direction is determined to be opposite to the first direction. In this example, the first direction is clockwise, so the second direction is counterclockwise. Therefore, the motor is controlled to rotate counterclockwise from the second position until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the second zero-finding signal. At this point, the motor stops rotating, and the third position of the motor is determined.

[0098] The process of determining the motor's third position during the second zeroing process is similar to the process of determining the motor's first position. Here's a brief explanation: depending on the sensor used, it includes at least the following two scenarios:

[0099] First scenario Q3:

[0100] If the sensor used to detect position in the 4D ultrasound probe is a Hall sensor, then the position at the third moment when the level attribute of the detected zero-finding signal is different from the level attribute of the second zero-finding signal is the first position.

[0101] Taking the first zero-finding signal as high level as an example, the level attribute of the second zero-finding signal is low level. Furthermore, according to the principle of the Hall sensor, the position of the motor at the third moment when the detected zero-finding signal is high level can be taken as the third position.

[0102] The second scenario, Q4:

[0103] If the sensor used for position detection in the 4D ultrasound probe is a photoelectric sensor, then multiple fourth zero-finding signals are acquired within a second time period before the third moment when the level attribute of the detected zero-finding signal is different from that of the second zero-finding signal; the second time difference between the acquisition time of the first signal and the acquisition time of the second signal among the multiple fourth zero-finding signals is determined; the position of the middle moment of the second time difference is determined as the third position; the start time of the second time period is the moment when the signal value of the second zero-finding signal changes, and the end time of the second time period is the third moment.

[0104] Taking the first zero-finding signal as high level as an example, the second zero-finding signal is low level. Furthermore, according to the principle of photoelectric sensors, the third position of the motor can be determined in the following way.

[0105] Assuming the second zero-finding signal is 0.8V, which is a high level, multiple fourth zero-finding signals are detected within a second time period T2 (the start time of the second time period T2 is the moment when the signal value of the second zero-finding signal changes, and the end time of the second time period is the third time) before the third time period when the zero-finding signal is low. These multiple fourth zero-finding signals are typically between 0 and 3.3V. However, these fourth zero-finding signals may include jitter signals. Therefore, at least one jittering fourth zero-finding signal is removed first. For example, jittering signals typically occur between 0.8V and 2.4V. Therefore, according to this principle, all fourth zero-finding signals with values ​​between 0.8V and 2.4V can be removed. Among the remaining fourth zero-finding signals, the average value of at least one fourth zero-finding signal that is greater than the third threshold (e.g., 2.5V) is taken as the third signal S3 (e.g., 2.8V); the average value of at least one fourth zero-finding signal that is less than the fourth threshold (e.g., 0.7V) is taken as the fourth signal S4 (e.g., 0.6V); the first threshold is greater than the second threshold.

[0106] Determine the second time difference ΔT2 between the acquisition time St3 of the third signal S3 and the acquisition time St4 of the fourth signal S4; determine the position of the middle time ΔT2 / 2 of the second time difference ΔT2 as the third position P3.

[0107] Regarding S506, since it involves two zero-finding operations, the midpoint between the first position P1 and the third position P3 can be used as the zero point position of the motor. In practical applications, multiple zero-finding operations can be performed, and the zero point position of the motor can be determined based on the multiple positions obtained.

[0108] Furthermore, to improve the accuracy of the zero-finding operation, the zero-finding signal in this embodiment can be detected by a high-frequency ADC sampling circuit in the 4D ultrasound probe. The high-frequency ADC sampling circuit in this embodiment can perform detection at a relatively high sampling frequency, thus avoiding the problem of inaccurate zero-finding caused by too few sampling points.

[0109] In practical applications, to protect the motor, after the zero-finding operation and before the scanning operation, the motor can be controlled to stop at half of its rotation angle range (73.5 degrees). Before each scan, two zero-finding operations are performed to identify the zero point position and locate the scanning start point. Then, according to the motion commands, the 4D ultrasound probe performs acceleration, constant speed, and deceleration movements. Zero-finding signal detection is not involved during continuous scanning control.

[0110] Figure 10 This is a schematic diagram of a 4D ultrasound probe provided in an embodiment of this application. The 4D ultrasound probe includes a motor 101, a processor 102, and a high-frequency ADC sampling circuit 103. The processor is used to control the rotation of the motor and determine the zero-point position of the motor according to the method provided in this embodiment. Optionally, the processor can be a microcontroller unit (MCU) or a field-programmable gate array (FPGA). In this embodiment, an FPGA can be used.

[0111] Figure 11 This is a schematic diagram of an ADC sampling circuit provided in an embodiment of this application. The zero-finding signal is isolated and amplified by a voltage follower, after which the ADC acquires the zero-point gradual voltage of the photoelectric sensor and saves the corresponding time. The ADC sampling range is 0-2.5V (corresponding to 0-3.3V), with a resolution of 12 bits and a conversion rate greater than 10MS / s, satisfying the requirement of sampling one point every 100ns. The ideal time range for the rising and falling edges of the high and low levels of the 4D probe's zero-finding signal is determined to be within 1ms, allowing the ADC to acquire at least 10 voltage values ​​and their corresponding times.

[0112] Figure 11In this circuit, the first terminal of the first resistor R1 is connected to the first power supply VCC_3V3, and the second terminal of the first resistor R1 is connected to the first input terminal IN1+ of the voltage follower U1A. The first terminal of the first capacitor C1 is connected to the first power supply VCC_5V, and the second terminal of the first capacitor C2 is grounded. The first terminal of the second capacitor C2 is connected to the second terminal of the first resistor R1, and the second terminal of the second capacitor C2 is grounded. The first terminal of the second resistor R2 is connected to the second input terminal IN1- of the voltage follower U1A, and the second terminal of the second resistor R2 is connected to the first terminal of the third resistor R3, and the second terminal of the third resistor R3 is grounded. The first terminal of the third capacitor C3 is connected to the second terminal of the second resistor R2, and the second terminal of the third capacitor C3 is grounded. The first output terminal V+ of the voltage follower U1A is connected to the first power supply VCC_5V, and the first output terminal V- of the voltage follower U1A is grounded. The first terminal of the third capacitor C3 serves as the sampling terminal, connected to the ADC chip, and the first input terminal IN1+ of the voltage follower U1A serves as the output terminal, outputting a zero-finding signal.

[0113] Optionally, resistors R1 and R3 can be 10KΩ, and resistor R2 can be 3.3KΩ. Capacitors C1, C2, and C3 can all be 100Nf / 25V surface mount capacitors.

[0114] like Figure 12 As shown, based on the same inventive concept, this application provides a motion control device for a motor inside a 4D ultrasound probe, including a data acquisition unit 121, a processing unit 122, and a control unit 123.

[0115] The data acquisition unit 121 is used to: acquire the first zero-finding signal output by the 4D ultrasonic probe when the motor is in its current position;

[0116] Processing unit 122 is used to: determine a first direction based on the level attribute of the first zero-finding signal;

[0117] The control unit 123 is used to: control the motor to rotate in a first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the first zero-finding signal, control the motor to stop rotating, and determine the first position of the motor;

[0118] The control unit 123 is also used to: control the motor to rotate from the first position to the second position by a first angle in the first direction, and acquire the second zero-finding signal output by the 4D ultrasound probe when the motor is in the second position;

[0119] The control unit 123 is also used to: control the motor to rotate from the second position to the second direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the second zero-finding signal, control the motor to stop rotating, and determine the third position of the motor; wherein the second direction is opposite to the first direction;

[0120] The processing unit 122 is also used to: determine the zero position of the motor based on the third position and the second position.

[0121] In one optional implementation, the processing unit 122 is specifically used for:

[0122] If the sensor used for position detection in the 4D ultrasound probe is a Hall sensor, then the position at the first moment when the level attribute of the detected zero-finding signal differs from that of the first zero-finding signal is the first position; or

[0123] If the sensor used for position detection in the 4D ultrasound probe is a photoelectric sensor, then multiple third zero-finding signals are acquired within a first time period before the second moment when the level attribute of the detected zero-finding signal is different from that of the first zero-finding signal; a first time difference is determined between the acquisition time of the first signal and the acquisition time of the second signal among the multiple third zero-finding signals; the position of the middle moment of the first time difference is determined as the first position; the start time of the first time period is the moment when the signal value of the first zero-finding signal changes, and the end time of the first time period is the second moment.

[0124] In an optional implementation, the processing unit 122 is further configured to:

[0125] Remove at least one jittery third zero-finding signal from among multiple third zero-finding signals;

[0126] Among the remaining third zero-finding signals, the average value of at least one third zero-finding signal that is greater than the first threshold is taken as the first signal; the average value of at least one third zero-finding signal that is less than the second threshold is taken as the second signal; the first threshold is greater than the second threshold.

[0127] In one optional implementation, the processing unit 122 is specifically used for:

[0128] If the sensor used for position detection in the 4D ultrasound probe is a Hall sensor, then the position at the third moment when the level attribute of the detected zero-finding signal differs from that of the second zero-finding signal is the third position; or

[0129] If the sensor used for position detection in the 4D ultrasound probe is a photoelectric sensor, then multiple fourth zero-finding signals are acquired in the second time period before the fourth moment when the level attribute of the detected zero-finding signal is different from that of the second zero-finding signal; the second time difference between the acquisition time of the third signal and the acquisition time of the fourth signal among the multiple fourth zero-finding signals is determined; the position of the middle moment of the second time difference is determined as the third position; the start time of the second time period is the moment when the signal value of the second zero-finding signal changes, and the end time of the second time period is the fourth moment.

[0130] In an optional implementation, the processing unit 122 is further configured to:

[0131] Remove at least one jittery fourth zero-finding signal from among multiple fourth zero-finding signals;

[0132] Among the remaining fourth zero-finding signals, the average of at least one fourth zero-finding signal that is greater than the third threshold is taken as the third signal; the average of at least one fourth zero-finding signal that is less than the fourth threshold is taken as the fourth signal; the third threshold is greater than the fourth threshold.

[0133] In one alternative implementation, if the level attribute of the first zero-finding signal is high, the first direction is clockwise; if the level attribute of the first zero-finding signal is low, the first direction is counterclockwise.

[0134] In one optional embodiment, the 4D ultrasound probe includes a high-frequency ADC sampling circuit; the data acquisition unit 121 is specifically used for:

[0135] Acquire multiple third zero-finding signals or multiple fourth zero-finding signals detected by the high-frequency ADC sampling circuit.

[0136] Since this device is the same as the device in the method of this application embodiment, and the principle of the device in solving the problem is similar to that of the method, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described again.

[0137] like Figure 13 As shown, based on the same inventive concept, this application provides a 4D ultrasound probe, including a motor 1301, a processor 1302, and a data transmission unit 1303:

[0138] Data transmission unit 1303 is configured to perform:

[0139] Acquire the first zero-finding signal output by the 4D ultrasonic probe when the motor 1301 is in its current position;

[0140] Processor 1302 is configured to execute:

[0141] The first direction is determined based on the level properties of the first zero-finding signal;

[0142] The motor 1301 is controlled to rotate in the first direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the first zero-finding signal. Then the motor 1301 is controlled to stop rotating and the first position of the motor 1301 is determined.

[0143] The motor 1301 is controlled to rotate from the first position to the second position by a first angle in the first direction, and the second zero-finding signal output by the 4D ultrasound probe is acquired when the motor 1301 is in the second position.

[0144] The motor 1301 is controlled to rotate from the second position to the second direction until the level attribute of the zero-finding signal output by the 4D ultrasound probe is different from the level attribute of the second zero-finding signal. The motor 1301 is then controlled to stop rotating, thus determining the second position of the motor 1301. The second direction is opposite to the first direction.

[0145] The zero position of motor 1301 is determined based on the first position and the second position.

[0146] In one possible implementation, processor 1302 is specifically configured to perform:

[0147] If the sensor used for position detection in the 4D ultrasound probe is a Hall sensor, then the position at the first moment when the level attribute of the detected zero-finding signal differs from that of the first zero-finding signal is the first position; or

[0148] If the sensor used for position detection in the 4D ultrasound probe is a photoelectric sensor, then multiple third zero-finding signals are acquired within a first time period after the second moment when the level attribute of the detected zero-finding signal is different from that of the first zero-finding signal; a first time difference is determined between the acquisition time of the first signal and the acquisition time of the second signal among the multiple third zero-finding signals; the position of the middle moment of the first time difference is determined as the first position; the start time of the first time period is the second moment, and the end time of the first time period is when the detected zero-finding signal no longer changes.

[0149] In one possible implementation, processor 1302 is specifically configured to perform:

[0150] Remove at least one jittery third zero-finding signal from among multiple third zero-finding signals;

[0151] Among the remaining third zero-finding signals, the average value of at least one third zero-finding signal that is greater than the first threshold is taken as the first signal; the average value of at least one third zero-finding signal that is less than the second threshold is taken as the second signal; the first threshold is greater than the second threshold.

[0152] In one possible implementation, processor 1302 is specifically configured to perform:

[0153] If the sensor used for position detection in the 4D ultrasound probe is a Hall sensor, then the position at the third moment when the level attribute of the detected zero-finding signal differs from that of the second zero-finding signal is the third position; or

[0154] If the sensor used for position detection in the 4D ultrasound probe is a photoelectric sensor, then multiple fourth zero-finding signals are acquired in the second time period before the fourth moment when the level attribute of the detected zero-finding signal is different from that of the second zero-finding signal; the second time difference between the acquisition time of the third signal and the acquisition time of the fourth signal among the multiple fourth zero-finding signals is determined; the position of the middle moment of the second time difference is determined as the third position; the start time of the second time period is the moment when the signal value of the second zero-finding signal changes, and the end time of the second time period is the fourth moment.

[0155] In one possible implementation, processor 1302 is specifically configured to perform:

[0156] Remove at least one jittery fourth zero-finding signal from among multiple fourth zero-finding signals;

[0157] Among the remaining fourth zero-finding signals, the average of at least one fourth zero-finding signal that is greater than the third threshold is taken as the third signal; the average of at least one fourth zero-finding signal that is less than the fourth threshold is taken as the fourth signal; the third threshold is greater than the fourth threshold.

[0158] In one possible implementation, if the level attribute of the first zero-finding signal is high, the first direction is clockwise; if the level attribute of the first zero-finding signal is low, the first direction is counterclockwise.

[0159] In one possible implementation, the 4D ultrasound probe includes a high-frequency ADC sampling circuit; the processor 1302 is specifically configured to perform: acquiring a plurality of third zero-finding signals or a plurality of fourth zero-finding signals detected by the high-frequency ADC sampling circuit.

[0160] This application embodiment also provides a computer storage medium storing computer program instructions. When the instructions are executed on the computer, the computer performs the steps of the motion control method for the motor inside the D-ultrasound probe described above.

[0161] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0162] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0163] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0164] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0165] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A motion control method for an internal motor of a 4D ultrasonic probe, characterized in that, The method comprises: acquiring a first zero-seeking signal output by the 4D ultrasonic probe when the motor is at a current position; determining a first direction according to a level attribute of the first zero-seeking signal; controlling the motor to rotate in the first direction until a level attribute of a zero-seeking signal output by the 4D ultrasonic probe is different from that of the first zero-seeking signal, controlling the motor to stop rotating, and determining a first position of the motor; controlling the motor to rotate from the first position to a second position by a first angle in the first direction, and acquiring a second zero-seeking signal output by the 4D ultrasonic probe when the motor is at the second position; controlling the motor to rotate from the second position to a second direction until a level attribute of a zero-seeking signal output by the 4D ultrasonic probe is different from that of the second zero-seeking signal, controlling the motor to stop rotating, and determining a third position of the motor; wherein the second direction is opposite to the first direction; determining a zero point position of the motor based on the third position and the second position.

2. The method of claim 1, wherein, The method further comprises: determining the first position of the motor; if a sensor for detecting a position in the 4D ultrasonic probe is a Hall sensor, determining a position at a first time when a level attribute of a detected zero-seeking signal is different from that of the first zero-seeking signal as the first position; or if the sensor for detecting the position in the 4D ultrasonic probe is a photoelectric sensor, acquiring a plurality of third zero-seeking signals in a first time period before a second time when a level attribute of a detected zero-seeking signal is different from that of the first zero-seeking signal; determining a first time difference between a collection time of a first signal and a collection time of a second signal in the plurality of third zero-seeking signals; determining a position at a middle time of the first time difference as the first position; a start time of the first time period is a time when a signal value of the first zero-seeking signal changes, and an end time of the first time period is the second time.

3. The method of claim 2, wherein, The method further comprises: removing at least one third zero-seeking signal that is dithered in the plurality of third zero-seeking signals; in the remaining third zero-seeking signals, taking an average value of at least one third zero-seeking signal greater than a first threshold value as a first signal, and taking an average value of at least one third zero-seeking signal less than a second threshold value as a second signal; the first threshold value is greater than the second threshold value.

4. The method of claim 1, wherein, The method further comprises: determining the third position of the motor; if the sensor for detecting the position in the 4D ultrasonic probe is the Hall sensor, determining a position at a third time when a level attribute of a detected zero-seeking signal is different from that of the second zero-seeking signal as the third position; or if the sensor for detecting the position in the 4D ultrasonic probe is the photoelectric sensor, acquiring a plurality of fourth zero-seeking signals in a second time period before a fourth time when a level attribute of a detected zero-seeking signal is different from that of the second zero-seeking signal; determining a second time difference between a collection time of a third signal and a collection time of a fourth signal in the plurality of fourth zero-seeking signals; and determining a position at a middle time of the second time difference as the third position. The position of the intermediate moment of the second time difference is the third position; the starting moment of the second time period is the moment when the signal value of the second zero-seeking signal changes, and the ending moment of the second time period is the fourth moment.

5. The method of claim 4, wherein, The method further comprises: removing at least one fourth zero-seeking signal with jitter from the plurality of fourth zero-seeking signals; among the remaining fourth zero-seeking signals, taking the average value of at least one fourth zero-seeking signal greater than a third threshold value as a third signal, and taking the average value of at least one fourth zero-seeking signal less than a fourth threshold value as a fourth signal; the third threshold value is greater than the fourth threshold value.

6. The method according to any one of claims 1 to 5, characterized in that, If the level attribute of the first zero-seeking signal is high, the first direction is clockwise; if the level attribute of the first zero-seeking signal is low, the first direction is counterclockwise.

7. The method according to any one of claims 1 to 5, characterized in that, The 4D ultrasonic probe comprises a high-frequency ADC sampling circuit; Obtain a plurality of third zero-seeking signals or a plurality of fourth zero-seeking signals detected by the high-frequency ADC sampling circuit.

8. A 4D ultrasound probe, characterized by, It comprises a motor, a high-frequency ADC sampling circuit and a processor; the processor is connected with the motor and the high-frequency ADC sampling circuit respectively; The high-frequency ADC sampling circuit is used for detecting the zero-seeking signal output by the 4D ultrasonic probe; The processor is used for executing the method of any one of claims 1-7 to control the motor to rotate and determine the zero point position of the motor.

9. A 4D ultrasound probe, characterized by, It comprises a motor, a processor and a data transmission unit: The data transmission unit is configured to execute: Obtain the first zero-seeking signal output by the 4D ultrasonic probe when the motor is at the current position; The processor is configured to execute: Determine the first direction according to the level attribute of the first zero-seeking signal; Control the motor to rotate in the first direction until the level attribute of the zero-seeking signal output by the 4D ultrasonic probe is different from that of the first zero-seeking signal, control the motor to stop rotating, and determine the first position of the motor; Control the motor to rotate from the first position to the second position by the first angle in the first direction, and obtain the second zero-seeking signal output by the 4D ultrasonic probe when the motor is at the second position; Control the motor to rotate from the second position to the second direction until the level attribute of the zero-seeking signal output by the 4D ultrasonic probe is different from that of the second zero-seeking signal, control the motor to stop rotating, and determine the second position of the motor; wherein the second direction is opposite to the first direction; Determine the zero point position of the motor based on the first position and the second position.

10. The 4D ultrasound probe of claim 9, wherein, The processor is specifically configured to execute: If the sensor for detecting position in the 4D ultrasonic probe is a Hall sensor, determine the position of the first moment when the level attribute of the detected zero-seeking signal is different from that of the first zero-seeking signal as the first position; Or If the sensor for detecting position in the 4D ultrasonic probe is a photoelectric sensor, obtain a plurality of third zero-seeking signals in a first time period after the second moment when the level attribute of the detected zero-seeking signal is different from that of the first zero-seeking signal. determining a first time difference between a collection time of a first signal and a collection time of a second signal in the plurality of third zero-searching signals; determining a position of a middle time of the first time difference as the first position; a start time of the first time period is a second time, and an end time of the first time period is when the detected zero-searching signal no longer changes.

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