Transducer fitting angle adjusting method and system based on multidirectional air pressure feedback
Through the multi-directional air pressure feedback system, the use of motors and air pressure sensors to detect and adjust the air pressure of ultrasonic transducers, the problem that manual manual adjustment in the prior art cannot ensure the tight fit of multiple transducers is solved, achieving more efficient and consistent fitting effect.
Patent Information
- Application Number
- CN202411440981.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-16
- Publication Date
- 2024-12-10
AI Technical Summary
In medical applications, existing ultrasonic transducers need to be manually adjusted to fit the human body surface, and it is impossible to effectively ensure the tight fit of multiple transducers, especially when the surface area of the human body is large, resulting in a tight fit. Inconvenient.
Using the transducer fit angle adjustment method based on multi-directional air pressure feedback, it is connected to multiple transducers through a motor, equipped with a pressure sensor to detect the air pressure value, and match and adjust the control instructions according to the difference value to make multiple exchanges on the horizontal plane The energy device is tilted to fit tightly into the human body surface.
Multiple ultrasonic transducers are achieved to closely fit the human body surface, improving the efficiency and consistency of fit, especially in the case of large surface area of the human body, reducing the complexity and error of manual operation.
Smart Images
Figure CN119105557A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of ultrasonic transducers, and specifically designs a transducer fitting angle adjustment method and system based on multi-directional air pressure feedback. Background Art
[0002] Ultrasonic transducers are widely used in various industries, such as sonar equipment on ships, B-ultrasound equipment in medical treatment, various flow meters, wind speed measuring equipment, reversing radar on cars, etc. When ultrasonic transducers are used in medical treatment, the surface of the ultrasonic transducer needs to be closely fitted to the surface of the human body. At present, ultrasonic transducers are usually manually adjusted to manually apply pressure to the ultrasonic transducer to ensure that the surface of the ultrasonic transducer is closely fitted to the surface of the human body. This method is only applicable to a single ultrasonic transducer. Summary of the invention
[0003] The object of the present invention is to provide a method and system for adjusting the transducer fitting angle based on multi-directional air pressure feedback. The method is applied to a motor and multiple transducers connected and arranged on the same horizontal plane. The air pressure value is detected by an air pressure sensor equipped with the transducer, and matched according to the orientation of the transducer and the air pressure value. The transducer to be adjusted or the transducer group to be adjusted is obtained by matching. According to the transducer to be adjusted or the transducer group to be adjusted, a corresponding control instruction is sent to the motor. Under the action of the corresponding control instruction, the horizontal plane is controlled to tilt toward the orientation of the transducer to be adjusted or the transducer group to be adjusted, so as to ensure that the multiple transducers connected and arranged on the same horizontal plane are in close contact with the surface of the human body.
[0004] In order to solve the above technical problems, the present invention adopts the following solutions: A transducer fitting angle adjustment method based on multi-directional air pressure feedback includes connecting a motor and a plurality of transducers arranged on the same horizontal plane, wherein the plurality of transducers are spread in multiple directions with the motor as the center, and the transducers are equipped with air pressure sensors; the method specifically includes the following steps: S0, initial setting of transducer: pressurize the motor and multiple transducers connected and set on the same horizontal plane, and stop after the horizontal plane is in contact with the surface of the human body; S1, transducer air pressure detection: obtain the current air pressure value through the air pressure sensor of each transducer, and determine whether the difference between the current air pressure value and the expected value of all transducers is less than a preset threshold value, if not, go to step S2; S2: Transducer air pressure screening and matching: screening the transducers according to the difference between the current air pressure value and the expected value and the preset threshold, and matching the transducers according to the positions of the screened transducers to obtain the transducers to be adjusted or the transducer group to be adjusted; S3. Adjusting the air pressure of the transducer: sending corresponding control instructions to the motor according to the transducer to be adjusted or the transducer group to be adjusted.
[0005] Furthermore, in S1, the current air pressure value is detected by the air pressure sensors of each transducer, and it can be determined whether the difference between the current air pressure value of all transducers and the expected value is greater than a preset threshold. If so, the motor and multiple transducers connected and arranged on the same horizontal plane are pressurized again.
[0006] Furthermore, the transducer to be adjusted is a single transducer, and the transducer group to be adjusted is composed of two transducers adjacent to each other in position, so that the motor controls the horizontal plane to tilt toward the position of the transducer to be adjusted or the transducer group to be adjusted under the action of corresponding control instructions.
[0007] Furthermore, the S2 specifically includes the following steps: S21: Screening out transducers whose difference between the current air pressure value and the expected value is greater than a preset threshold, and recording them as transducers to be matched; S22: Obtain the position of the transducer to be matched, and match the transducer to be matched according to the position of the transducer to be matched. If two transducers to be matched are matched so that their positions are adjacent, the two transducers to be matched with adjacent positions are used as the transducer group to be adjusted. If two transducers to be matched are not matched so that their positions are adjacent, screen the transducers to be matched according to the difference between the current air pressure value and the expected value, and use the transducer to be matched with the largest difference as the transducer to be adjusted.
[0008] Furthermore, in S22, the process of matching the to-be-matched transducer according to the position of the to-be-matched transducer is specifically as follows: Determine whether there are two to-be-matched transducers in adjacent positions among the to-be-matched transducers. If so, obtain two to-be-matched transducers in adjacent positions and use them as a group of to-be-matched transducers. When multiple groups of to-be-matched transducers are obtained, calculate the sum of the differences between the current air pressure value and the expected value of each group of to-be-matched transducers, and use the group of to-be-matched transducers with the largest sum of the differences as the transducer group to be adjusted. If not, the to-be-matched transducers are screened according to the difference between the current air pressure value and the expected value, and the to-be-matched transducer with the largest difference is used as the to-be-adjusted transducer.
[0009] Furthermore, in S22, the process of matching the to-be-matched transducer according to the position of the to-be-matched transducer is specifically as follows: The transducers to be matched are screened according to the difference between the current air pressure value and the expected value, and the current transducer to be matched with the largest difference is obtained by screening, and it is determined whether there is a transducer to be matched in the adjacent position of the current transducer to be matched. If so, the two adjacent transducers to be matched are used as the transducer group to be adjusted; if not, the current transducer to be matched is used as the transducer to be adjusted.
[0010] Furthermore, the motor is connected to four transducers on the same horizontal plane. The four transducers are respectively located at four corner positions of the motor, and the transducers are connected to each other.
[0011] A transducer fitting angle adjustment system based on multi-directional air pressure feedback includes a motor and a plurality of transducers connected and arranged on the same horizontal plane, wherein the plurality of transducers are spread in multiple directions with the motor as the center, and the transducers are equipped with an air pressure sensor; and also includes the following modules: Transducer pressurizing module: pressurizes the motor and multiple transducers connected and arranged on the same horizontal plane; Transducer air pressure detection module: obtains the current air pressure value through the air pressure sensors of each transducer, and determines whether the difference between the current air pressure value and the expected value of all transducers is less than a preset threshold; Transducer air pressure screening and matching module: screens the transducers according to the difference between the current air pressure value and the expected value and the preset threshold, and matches the transducers according to the positions of the screened transducers to obtain the transducers to be adjusted or the transducer groups to be adjusted; Transducer air pressure adjustment module: sends corresponding control instructions to the motor according to the transducer to be adjusted or the transducer group to be adjusted.
[0012] Furthermore, the transducer air pressure screening and matching module includes the following submodules: Transducer air pressure screening submodule: Screening out transducers whose difference between the current air pressure value and the expected value is greater than a preset threshold, and recording them as transducers to be matched; Transducer air pressure matching submodule: obtain the position of the transducer to be matched, match the transducer to be matched according to the position of the transducer to be matched, if the positions of two transducers to be matched are adjacent, the two transducers to be matched with adjacent positions are used as the transducer group to be adjusted; if the positions of two transducers to be matched are not adjacent, the transducers to be matched are screened according to the difference between the current air pressure value and the expected value, and the transducer to be matched with the largest difference is used as the transducer to be adjusted.
[0013] Beneficial effects of the present invention: The present invention provides a transducer fitting angle adjustment method and system based on multi-directional air pressure feedback. The method is applied to a motor and multiple transducers connected and arranged on the same horizontal plane. The air pressure value is detected by an air pressure sensor equipped with the transducer, and the air pressure value is matched according to the orientation of the transducer to obtain a transducer to be adjusted or a transducer group to be adjusted. According to the transducer to be adjusted or the transducer group to be adjusted, a corresponding control instruction is sent to the motor. Under the action of the corresponding control instruction, the horizontal plane is controlled to tilt toward the orientation of the transducer to be adjusted or the transducer group to be adjusted, so as to ensure that the multiple transducers connected and arranged on the same horizontal plane are in close contact with the surface of the human body. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 Schematic diagram of the process of adjusting the transducer fitting angle in Example 1 of the present invention.
[0015] Figure 2 Schematic diagram of the structure of a group of transducers in Example 1 of the present invention.
[0016] Figure 3 This is a schematic diagram of the horizontal plane a of the current cavity in Example 1 of the present invention being closely fitted with the surface of the human body.
[0017] Figure 4 This is a schematic diagram of the angle between the horizontal plane a of the current cavity and the surface of the human body in Example 1 of the present invention.
[0018] Figure 5 In Example 1 of the present invention, Figure 4 Schematic diagram of the angle between the horizontal plane a of the current cavity and the surface of the human body after the angle of the middle horizontal plane a is adjusted. DETAILED DESCRIPTION
[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0020] The relative arrangement of components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
[0021] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.
[0022] Additionally, descriptions of well-known structures, functions, and configurations may be omitted for clarity and conciseness.One of ordinary skill in the art will recognize that various changes and modifications may be made to the examples described herein without departing from the spirit and scope of the present disclosure.
[0023] Technologies, methods, and apparatus known to ordinary technicians in the relevant field may not be discussed in detail, but where appropriate, such technologies, methods, and apparatus should be considered part of the authorization specification.
[0024] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.
[0025] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments: Example 1 Ultrasonic transducer is a device that can convert electrical energy into ultrasonic energy. In the medical industry, ultrasonic pulse conductance therapy technology is a new dosage form and pharmaceutical method that uses physical power as a driving force to allow drugs to pass through intact skin and enter the human circulation and diseased tissues to exert drug therapeutic effects. Therefore, when using ultrasonic transducers for drug treatment, it is usually necessary to closely fit the surface of the ultrasonic transducer to the surface of the human body (i.e. the skin surface) in order to facilitate the absorption of drugs by the human body surface.
[0026] In order to ensure that the surface of the ultrasonic transducer fits closely to the surface of the human body, the ultrasonic transducer is usually pressurized, among which the more commonly used pressurization method is manual adjustment.
[0027] Moreover, in the process of applying ultrasonic transducers for drug treatment, the corresponding medical equipment is usually selected according to the current human body surface size or the location of the human body surface. The medical equipment may be provided with a single ultrasonic transducer or multiple ultrasonic transducers, for example: If the area of the current human body surface is small, a medical device equipped with a single ultrasonic transducer can be used to perform drug treatment on the current human body surface. At this time, manual adjustment can ensure that the surface of the single ultrasonic transducer is closely attached to the current human body surface. If the current human body surface area is large, a medical device equipped with multiple ultrasonic transducers can be used to perform drug treatment on the current human body surface. For example, for the skin surface of the leg, a medical device with a leg cuff structure can be used to perform drug treatment on the current human body surface. The leg cuff is provided with multiple transducers. When the leg cuff is set on the leg, the multiple transducers on the leg cuff can fit with the skin surface of the leg. At this time, manual adjustment will be very inconvenient, and it cannot be guaranteed that the surface of each ultrasonic transducer fits closely with the human body surface. Moreover, when the leg cuff is set on the leg, since the human body surface is arc-shaped, a certain angle gap will be generated between the surface of the transducer on the leg cuff and the fitted human body surface, resulting in a loose fit between the leg cuff and the leg.
[0028] Therefore, in view of the above problems, the present invention provides a transducer fitting angle adjustment method based on multi-directional air pressure feedback, comprising connecting a motor and a plurality of transducers arranged on the same horizontal plane, the plurality of transducers diffuse in multiple directions with the motor as the center, and the transducers are equipped with an air pressure sensor; Figure 1 As shown, the method specifically comprises the following steps: S0, initial setting of transducer: pressurize the motor and multiple transducers connected and set on the same horizontal plane, and stop after the horizontal plane is in contact with the surface of the human body; S1, transducer air pressure detection: obtain the current air pressure value through the air pressure sensor of each transducer, and determine whether the difference between the current air pressure value and the expected value of all transducers is less than a preset threshold value, if not, go to step S2; S2: Transducer air pressure screening and matching: screening the transducers according to the difference between the current air pressure value and the expected value and the preset threshold, and matching the transducers according to the positions of the screened transducers to obtain the transducers to be adjusted or the transducer group to be adjusted; S3. Adjusting the air pressure of the transducer: sending corresponding control instructions to the motor according to the transducer to be adjusted or the transducer group to be adjusted.
[0029] Among them, since the current air pressure value of the transducer can be detected by the air pressure sensor, an expected value can be set in advance according to the feedback air pressure value. When the current air pressure value detected is close to the expected value, it means that the current transducer is closely attached to the human body surface, that is, it meets the current expectation; if it does not meet the current expectation, the angle between the horizontal plane where the transducer is located and the attached human body surface can be adjusted so that multiple transducers on the horizontal plane meet the current expectations.
[0030] Specifically, the transducer fitting angle adjustment method is suitable for using multiple transducers to perform drug treatment on a larger area of human body surface. The motor connected to the multiple transducers set on the same horizontal plane is regarded as a group of transducers. Multiple groups of transducers can be set on the same medical device. For example: multiple groups of transducers are evenly distributed on the leg cuffs, and the angle between the horizontal plane where each group of transducers is located and the fitted human body surface is adjusted to make each group of transducers meet the current expectations.
[0031] In this embodiment, each set of transducers is as follows: Figure 2 As shown, it is composed of a motor and four transducers connected and arranged on the same horizontal plane. The four transducers are centered on the motor and are located at four corners of the motor, so that one motor and four transducers form a square structure. The method of adjusting the transducer fitting angle for the square structure has a better effect. Therefore, in this embodiment, the square structure is taken as an example.
[0032] Since one motor is connected to four transducers and arranged on the same horizontal plane, it is equivalent to that one motor and four transducers are all arranged in one cavity. At this time, the horizontal plane a of the cavity is used to fit the surface of the human body. The horizontal plane a of the cavity refers to the surface of the four transducers used for drug treatment. If the current human body surface is a horizontal plane parallel to the horizontal plane a, the current horizontal plane a of the cavity is closely fitted to the human body surface, such as Figure 3 As shown, it can be seen that there is no angle between the horizontal plane a of the current cavity and the surface of the human body, that is, there is no angle between the horizontal plane where the four transducers are located and the surface of the human body. At this time, the current air pressure values of the four transducers detected are relatively close to the expected values, indicating that the four transducers meet the current expectations, and there is no need to adjust the angle of the horizontal plane a of the cavity.
[0033] In actual scenarios, the human body surface is curved, so that a certain angle will be formed between the horizontal plane a of the cavity and the surface of the human body to which it is attached. In addition, the curvature of the human body surface will cause different angles between the surfaces under different transducers in the same cavity and the surface of the human body to which it is attached. For example, Figure 4As shown, it can be seen that the two sides of the current human body surface have different inclinations with respect to the horizontal plane a, and the inclination on the left side is larger. Then the angle between the left side of the horizontal plane a and the current human body surface is greater than the angle between the right side of the horizontal plane a and the current human body surface. At this time, the current air pressure value detected by the transducer located on the left side of the horizontal plane a is less than the current air pressure value detected by the transducer located on the left side of the horizontal plane a. Compared with the transducer located on the left side of the horizontal plane a, the current air pressure value detected by the transducer located on the left side of the horizontal plane a is farther away from the expected value. Therefore, it is necessary to adjust the angle of the horizontal plane a of the cavity based on the transducer located on the left side of the horizontal plane a, that is, to adjust the angle of the horizontal plane a of the cavity according to the orientation of the left side of the horizontal plane a, and to press down the left side of the horizontal plane a to make the horizontal plane a of the cavity tilt to the left, as shown in FIG. Figure 5 As shown, it can be seen that by adjusting the angle of the horizontal plane a of the cavity, the angle between the left side of the horizontal plane a and the current human body surface is made to be relatively equal to the angle between the right side of the horizontal plane a and the current human body surface, and the angles on both sides are adjusted so that the current air pressure value detected by the transducer located on the left side of the horizontal plane a and the current air pressure value detected by the transducer located on the left side of the horizontal plane a are both relatively close to the expected value, indicating that the four transducers all meet the current expectations, and there is no need to adjust the angle of the horizontal plane a of the cavity.
[0034] Based on the above-mentioned angle adjustment principle, in actual use, the transducer can be initially set up first, and the cavity can be pressurized so that the horizontal plane a of the cavity fits into the surface of the human body and then stops. At this time, the pressurization process is to allow the air pressure values fed back by the four transducers in the cavity to quickly approach the expected value, and, during the pressurization process, if it is detected that two or more air pressure values are close to the expected value, that is, they meet the current expectations, then the pressurization process can be stopped.
[0035] Then, the air pressure sensor can continue to detect the air pressure values of the four transducers in the cavity to avoid the angle between the horizontal plane a of the cavity and the closely fitting human body surface caused by human activities.
[0036] Specifically, by judging whether the difference between the current air pressure value and the expected value of all transducers is less than a preset threshold, it can be detected whether there is a transducer in the current cavity that does not meet the current expectations. If so, the angle of the horizontal plane a can be adjusted through transducer air pressure screening and matching.
[0037] In addition, by detecting the current air pressure value through the air pressure sensors of each transducer, it can also be determined whether the difference between the current air pressure value of all transducers and the expected value is greater than a preset threshold. If so, it means that the horizontal plane a of the current cavity and the surface of the human body can control the motor to pressurize the entire cavity, even if the horizontal plane a of the current cavity maintains the current angle downward.
[0038] When there are transducers that do not meet the current expectations, the transducers are screened according to the difference between the current air pressure value and the expected value and the preset threshold value, and the transducers whose difference between the current air pressure value and the expected value is greater than the preset threshold value are screened and recorded as the transducers to be matched; the positions of the transducers to be matched are obtained, and the transducers to be matched are matched according to the positions of the transducers to be matched. If the positions of two transducers to be matched are adjacent, the two transducers to be matched with adjacent positions are used as the transducer group to be adjusted; if the positions of two transducers to be matched are not adjacent, the transducers to be matched are screened according to the difference between the current air pressure value and the expected value, and the transducer to be matched with the largest difference is used as the transducer to be adjusted.
[0039] In this embodiment, matching the to-be-matched transducer according to the position of the to-be-matched transducer includes the following two methods: The first method is: determine whether there are two to-be-matched transducers in adjacent positions among the to-be-matched transducers; if so, obtain two to-be-matched transducers in adjacent positions and use them as a group of to-be-matched transducers; when it is determined that multiple groups of to-be-matched transducers are obtained, calculate the sum of the differences between the current air pressure value and the expected value of each group of to-be-matched transducers, and use the group of to-be-matched transducers with the largest sum of the differences as the transducer group to be adjusted; if not, screen the to-be-matched transducers according to the difference between the current air pressure value and the expected value, and use the to-be-matched transducer with the largest difference as the transducer group to be adjusted; The second method is: according to the difference between the current air pressure value and the expected value, the transducers to be matched are screened to obtain the current transducer to be matched with the largest difference, and it is determined whether there is a transducer to be matched in the adjacent position of the current transducer to be matched. If so, the two adjacent transducers to be matched are used as the transducer group to be adjusted; if not, the current transducer to be matched is used as the transducer to be adjusted.
[0040] After the above operation, if the current air pressure value of the transducer detected still does not reach the expected value, the above air pressure screening and matching process can be repeated, and the motor can be used again to adjust the overall tilt angle.
[0041] Finally, when the difference between the air pressure values of the four transducers and the expected values is less than the preset threshold, it means that the settings of the four transducers meet the current expectations, indicating that the angle adjustment has been completed. This method can effectively adjust the air pressure of the device to within the preset comfortable range.
[0042] Example 2 A transducer fitting angle adjustment system based on multi-directional air pressure feedback includes a motor and a plurality of transducers connected and arranged on the same horizontal plane, wherein the plurality of transducers are spread in multiple directions with the motor as the center, and the transducers are equipped with an air pressure sensor; and also includes the following modules: Transducer pressurizing module: pressurizes the motor and multiple transducers connected and arranged on the same horizontal plane; Transducer air pressure detection module: obtains the current air pressure value through the air pressure sensors of each transducer, and determines whether the difference between the current air pressure value and the expected value of all transducers is less than a preset threshold; Transducer air pressure screening and matching module: screens the transducers according to the difference between the current air pressure value and the expected value and the preset threshold, and matches the transducers according to the positions of the screened transducers to obtain the transducers to be adjusted or the transducer groups to be adjusted; Transducer air pressure adjustment module: sends corresponding control instructions to the motor according to the transducer to be adjusted or the transducer group to be adjusted.
[0043] Preferably, the transducer air pressure screening and matching module includes the following submodules: Transducer air pressure screening submodule: Screening out transducers whose difference between the current air pressure value and the expected value is greater than a preset threshold, and recording them as transducers to be matched; Transducer air pressure matching submodule: obtain the position of the transducer to be matched, match the transducer to be matched according to the position of the transducer to be matched, if the positions of two transducers to be matched are adjacent, the two transducers to be matched with adjacent positions are used as the transducer group to be adjusted; if the positions of two transducers to be matched are not adjacent, the transducers to be matched are screened according to the difference between the current air pressure value and the expected value, and the transducer to be matched with the largest difference is used as the transducer to be adjusted.
[0044] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. According to the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the present invention.
Claims
1. A transducer fitting angle adjustment method based on multi-directional air pressure feedback, characterized in that: The method comprises connecting a motor and a plurality of transducers arranged on the same horizontal plane, wherein the plurality of transducers are spread in multiple directions with the motor as the center, and the transducers are equipped with an air pressure sensor; the method specifically comprises the following steps: S0, initial setting of transducer: pressurize the motor and multiple transducers connected and set on the same horizontal plane, and stop after the horizontal plane is in contact with the surface of the human body; S1, transducer air pressure detection: obtain the current air pressure value through the air pressure sensor of each transducer, and determine whether the difference between the current air pressure value and the expected value of all transducers is less than a preset threshold value, if not, go to step S2; S2: Transducer air pressure screening and matching: screening the transducers according to the difference between the current air pressure value and the expected value and the preset threshold, and matching the transducers according to the positions of the screened transducers to obtain the transducers to be adjusted or the transducer group to be adjusted; S3. Adjusting the air pressure of the transducer: sending corresponding control instructions to the motor according to the transducer to be adjusted or the transducer group to be adjusted.
2. The transducer fitting angle adjustment method based on multi-directional air pressure feedback according to claim 1, characterized in that: In S1, the current air pressure value is detected by the air pressure sensors of each transducer, and it can be determined whether the difference between the current air pressure value of all transducers and the expected value is greater than a preset threshold. If so, the motor and multiple transducers connected and arranged on the same horizontal plane are pressurized again.
3. The transducer fitting angle adjustment method based on multi-directional air pressure feedback according to claim 1, characterized in that: The transducer to be adjusted is a transducer, and the transducer group to be adjusted is composed of two transducers located adjacent to each other, so that the motor controls the horizontal plane to tilt toward the location of the transducer to be adjusted or the transducer group to be adjusted under the action of the corresponding control instruction.
4. The method for adjusting the transducer fitting angle based on multi-directional air pressure feedback according to claim 1, characterized in that: The S2 specifically includes the following steps: S21: Screening out transducers whose difference between the current air pressure value and the expected value is greater than a preset threshold, and recording them as transducers to be matched; S22: Obtain the position of the transducer to be matched, and match the transducer to be matched according to the position of the transducer to be matched. If two transducers to be matched are matched so that their positions are adjacent, the two transducers to be matched with adjacent positions are used as the transducer group to be adjusted. If two transducers to be matched are not matched so that their positions are adjacent, screen the transducers to be matched according to the difference between the current air pressure value and the expected value, and use the transducer to be matched with the largest difference as the transducer to be adjusted.
5. The method for adjusting the transducer fitting angle based on multi-directional air pressure feedback according to claim 4, characterized in that: In S22, the process of matching the to-be-matched transducer according to the position of the to-be-matched transducer is specifically as follows: Determine whether there are two to-be-matched transducers in adjacent positions among the to-be-matched transducers. If so, obtain two to-be-matched transducers in adjacent positions and use them as a group of to-be-matched transducers. When multiple groups of to-be-matched transducers are obtained, calculate the sum of the differences between the current air pressure value and the expected value of each group of to-be-matched transducers, and use the group of to-be-matched transducers with the largest sum of the differences as the transducer group to be adjusted. If not, the to-be-matched transducers are screened according to the difference between the current air pressure value and the expected value, and the to-be-matched transducer with the largest difference is used as the to-be-adjusted transducer.
6. The transducer fitting angle adjustment method based on multi-directional air pressure feedback according to claim 4, characterized in that: In S22, the process of matching the to-be-matched transducer according to the position of the to-be-matched transducer is specifically as follows: The transducers to be matched are screened according to the difference between the current air pressure value and the expected value, and the current transducer to be matched with the largest difference is obtained by screening, and it is determined whether there is a transducer to be matched in the adjacent position of the current transducer to be matched. If so, the two adjacent transducers to be matched are used as the transducer group to be adjusted; if not, the current transducer to be matched is used as the transducer to be adjusted.
7. The method for adjusting the transducer fitting angle based on multi-directional air pressure feedback according to claim 1, characterized in that: The motor is connected to four transducers on the same horizontal plane. The four transducers are respectively located at four corner positions of the motor, and the transducers are connected to each other.
8. A transducer fitting angle adjustment system based on multi-directional air pressure feedback, characterized in that: The invention comprises a motor and a plurality of transducers connected on the same horizontal plane, wherein the plurality of transducers are spread in multiple directions with the motor as the center, and the transducers are equipped with an air pressure sensor; and the following modules are also included: Transducer pressurizing module: pressurizes the motor and multiple transducers connected and arranged on the same horizontal plane; Transducer air pressure detection module: obtains the current air pressure value through the air pressure sensors of each transducer, and determines whether the difference between the current air pressure value and the expected value of all transducers is less than a preset threshold; Transducer air pressure screening and matching module: screens the transducers according to the difference between the current air pressure value and the expected value and the preset threshold, and matches the transducers according to the positions of the screened transducers to obtain the transducers to be adjusted or the transducer group to be adjusted; Transducer air pressure adjustment module: sends corresponding control instructions to the motor according to the transducer to be adjusted or the transducer group to be adjusted.
9. The method for adjusting the transducer fitting angle based on multi-directional air pressure feedback according to claim 8, characterized in that: The transducer air pressure screening and matching module Includes the following submodules: Transducer air pressure screening submodule: Screening out transducers whose difference between the current air pressure value and the expected value is greater than a preset threshold, and recording them as transducers to be matched; Transducer air pressure matching submodule: obtain the position of the transducer to be matched, match the transducer to be matched according to the position of the transducer to be matched, if the positions of two transducers to be matched are adjacent, the two transducers to be matched with adjacent positions are used as the transducer group to be adjusted; if the positions of two transducers to be matched are not adjacent, the transducers to be matched are screened according to the difference between the current air pressure value and the expected value, and the transducer to be matched with the largest difference is used as the transducer to be adjusted.