Ultrasonic probe automatic switching system based on multiple sensors

Abstract

The invention provides an ultrasonic probe automatic switching system based on multiple sensors, and the system comprises a first monitoring module which is used for monitoring a probe in a probe cup in real time based on a first sensor, outputting a monitoring signal, reading the level change state of the monitoring signal, and judging whether the probe is taken from the probe cup or not according to the level change state; the second monitoring module is used for monitoring attitude data of the probe based on a second sensor when the probe is taken away from the probe cup; and the probe switching module is used for transmitting the attitude data to the control terminal for analysis and controlling the probe to be automatically switched according to an analysis result. According to the invention, the automatic switching of the probe is realized, the intelligent, accurate and efficient switching of the probe is effectively guaranteed, and convenience is provided for the switching of the probe, so that the use experience feeling of a user is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic probe switching control, and in particular to an automatic ultrasonic probe switching system based on multiple sensors. Background Art

[0002] At present, ultrasound equipment generally has a probe expansion function, which allows multiple probes to be plugged into the equipment at the same time. When in use, according to the doctor's examination needs, the doctor can switch the probe he wants to use by clicking on the probe selection interface. Therefore, in various ultrasound examinations, it is often necessary to switch different types of ultrasound probes in time according to different examination sites and needs to obtain more accurate and comprehensive diagnostic information;

[0003] However, the traditional ultrasound probe switching method usually relies on the operator's manual selection and replacement, which is not only inefficient, but may also affect the diagnostic effect due to untimely or inaccurate manual operation. In addition, in many surgical or ultrasound-guided scenarios, it is inconvenient for doctors to click on the screen or press multiple buttons to switch probes.

[0004] Therefore, in order to overcome the above technical problems, the present invention provides an automatic switching system of ultrasonic probes based on multiple sensors. Summary of the invention

[0005] The present invention provides an automatic switching system for ultrasonic probes based on multiple sensors, which is used for continuously monitoring the probe in the probe cup through a first sensor, so as to accurately judge whether the probe is taken out of the probe cup through the output monitoring signal and the level change state, effectively ensuring timely perception of changes in the use state of the probe. When the probe is taken away, the posture data of the probe is monitored and analyzed through a second sensor, so as to realize automatic switching of the probe according to the analysis result, effectively ensuring the intelligent, accurate and efficient switching of the probe, providing convenience for the probe switching, and thus improving the user experience.

[0006] The present invention provides an automatic switching system of ultrasonic probes based on multiple sensors, comprising:

[0007] A first monitoring module is used to monitor the probe in the probe cup in real time based on the first sensor, output a monitoring signal, and read a level change state of the monitoring signal, and determine whether to take the probe from the probe cup according to the level change state;

[0008] A second monitoring module, configured to monitor the posture data of the probe based on the second sensor when the probe is removed from the probe cup;

[0009] The probe switching module is used to transmit the attitude data to the control terminal for analysis, and control the automatic switching of the probe according to the analysis results.

[0010] Preferably, a multi-sensor based ultrasonic probe automatic switching system, the first monitoring module comprises:

[0011] A status information reading unit, used for reading status information of the automatic switching switch of the probe before real-time monitoring of the probe in the probe cup based on the first sensor;

[0012] Start determination unit for:

[0013] Determine whether to start the first sensor to monitor the probe in the probe cup in real time according to the status information of the probe automatic switching switch;

[0014] When the status information of the probe automatic switching switch is on, the first sensor is started to monitor the probe in the probe cup in real time;

[0015] Otherwise, the first sensor is activated to monitor the probe in the probe cup.

[0016] Preferably, in an automatic switching system for ultrasonic probes based on multiple sensors, the first sensor is an infrared sensor and the second sensor is a six-axis acceleration sensor.

[0017] Preferably, a multi-sensor based ultrasonic probe automatic switching system, the first monitoring module comprises:

[0018] A probe monitoring unit, used to monitor the probe in the probe cup in real time based on the first sensor, and obtain a monitoring signal of the probe in the probe cup;

[0019] A signal analysis unit, used to read the monitoring signal and obtain the level change state of the monitoring signal;

[0020] The judging unit is used to judge whether to take the probe from the probe cup according to the level change state.

[0021] Preferably, an automatic switching system of ultrasonic probes based on multiple sensors, the judging unit, comprises:

[0022] The level change status reading subunit includes:

[0023] Read the level change status;

[0024] If the level change state of the monitoring signal is in a high level state, it is determined that the probe has not been removed from the probe cup;

[0025] If the level change state of the monitoring signal changes from a high level state to a low level state, it is determined that the probe is removed from the probe cup.

[0026] Preferably, an automatic switching system for ultrasonic probes based on multiple sensors, the second monitoring module, comprises:

[0027] A data collection unit, used for collecting acceleration data and angular velocity data of the probe in all directions in real time based on the second sensor;

[0028] A data processing unit, used to process the collected acceleration data and angular velocity data to obtain target acceleration data and target angular velocity data;

[0029] The attitude angle calculation unit is used to calculate the target acceleration data and the target angular velocity data to obtain the attitude angle of the probe, and use the attitude angle as the attitude data of the probe.

[0030] Preferably, an automatic switching system for ultrasonic probes based on multiple sensors, a data processing unit, comprises:

[0031] The data receiving subunit is used for:

[0032] Constructing a data filtering window and a data receiving window, wherein the data receiving window is connected with the data filtering;

[0033] Transmitting the acceleration data and angular velocity data collected by the second sensor in real time to the data receiving window;

[0034] The filtering processing subunit is used to:

[0035] Read the rated data volume of the data filter window;

[0036] In the data receiving window, the acceleration data and the angular velocity data are transmitted to the data filtering window in batches according to the preset time interval, and the target data volume of the acceleration data and the angular velocity data in the current preset time interval is read;

[0037] comparing the target data volume with the rated data volume;

[0038] When the target data volume is less than or equal to the rated data volume, the current acceleration data and angular velocity data are filtered based on the data filtering window;

[0039] Otherwise, the target data volume and the rated data volume are rounded up, and the auxiliary data filtering window is increased according to the rounding result.

[0040] The current acceleration data and angular velocity data are filtered according to the data filtering window and the auxiliary data filtering window.

[0041] Preferably, an automatic switching system of ultrasonic probes based on multiple sensors, a posture angle calculation unit, comprises:

[0042] The integral operation subunit is used to perform an integral operation on the target angular velocity data to obtain the angle change of the probe;

[0043] An inverse tangent calculation subunit is used to determine the vertical acceleration and the horizontal acceleration in the target acceleration data, and calculate the vertical acceleration and the horizontal acceleration to perform an inverse tangent calculation to obtain a first attitude angle;

[0044] The posture data determination subunit is used to fuse the angle transformation amount with the first posture angle to obtain a second posture angle, wherein the second posture angle is the posture data of the probe.

[0045] Preferably, an automatic switching system for ultrasonic probes based on multiple sensors, a probe switching module, comprises:

[0046] A data transmission unit, used for transmitting the posture data of the probe to a control terminal;

[0047] Data parsing unit, used for:

[0048] Read the posture data based on the control terminal and read the preset probe switching conditions;

[0049] Matching the posture data with the preset probe switching conditions;

[0050] When the posture data meets the preset probe switching conditions, a control instruction is generated to control the automatic switching of the probe;

[0051] Otherwise, the automatic switching operation of the control probe will not be performed.

[0052] Preferably, an automatic switching system for ultrasonic probes based on multiple sensors, a probe switching module, comprises:

[0053] The reminder unit is used to:

[0054] When the control probe is automatically switched,

[0055] When the probe automatically switches successfully, the first reminder operation is performed;

[0056] When the probe fails to automatically switch, a second reminder operation is performed.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. The probe in the probe cup is continuously monitored by the first sensor, so as to accurately judge whether the probe is taken out of the probe cup through the output monitoring signal and level change status, which effectively ensures the timely perception of the change of the probe usage status. When the probe is taken away, the posture data of the probe is monitored and analyzed by the second sensor, so as to realize automatic switching of the probe according to the analysis result, effectively ensuring the intelligent, accurate and efficient switching of the probe, providing convenience for the probe switching, thereby improving the user experience.

[0059] 2. By setting the data receiving window and the data filtering window, the acceleration data and angular velocity data can be effectively received and filtered. Setting the data receiving window can be used as a cache for the data filtering window. By setting the preset time interval, the acceleration data and angular velocity data are transmitted to the data filtering window in batches to ensure timely filtering of the data filtering window and avoid a large amount of data causing the data filtering window to fail to operate normally. By determining the auxiliary data filtering window, the current acceleration data and angular velocity data can be effectively filtered, thereby improving the data filtering efficiency. At the same time, the accuracy and effectiveness of the collected acceleration data and angular velocity data are guaranteed.

[0060] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in this application document.

[0061] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0063] Figure 1 is a structural diagram of an automatic switching system for ultrasonic probes based on multiple sensors in an embodiment of the present invention;

[0064] Figure 2 It is a structural diagram of a first monitoring module in an automatic switching system of ultrasonic probes based on multiple sensors in an embodiment of the present invention;

[0065] Figure 3 The present invention is a structural diagram of a probe switching module in an automatic ultrasonic probe switching system based on multiple sensors in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0067] Embodiment 1:

[0068] This embodiment provides an automatic switching system of ultrasound probes based on multiple sensors, such as Figure 1 As shown, including:

[0069] A first monitoring module is used to monitor the probe in the probe cup in real time based on the first sensor, output a monitoring signal, and read a level change state of the monitoring signal, and determine whether to take the probe from the probe cup according to the level change state;

[0070] A second monitoring module, configured to monitor the posture data of the probe based on the second sensor when the probe is removed from the probe cup;

[0071] The probe switching module is used to transmit the attitude data to the control terminal for analysis, and control the automatic switching of the probe according to the analysis results.

[0072] In this embodiment, an automatic probe switching switch is designed on the screen. Before the automatic switching of the probe is required, this function needs to be turned on on the screen. After turning it on, the device will automatically and accurately switch when the doctor puts down one probe and picks up another probe. Using a single sensor may result in inaccurate detection or mis-switching, so an infrared sensor and a six-axis acceleration sensor can be used to achieve detection accuracy.

[0073] In this embodiment, the first sensor may be an infrared sensor, and the second sensor may be a six-axis acceleration sensor.

[0074] In this embodiment, infrared sensors are installed on both sides of the probe cup, and the six-axis acceleration sensor is arranged inside the probe.

[0075] In this embodiment, the posture data may be based on the acceleration and angular velocity of the probe monitored by the second sensor, so that the posture angle obtained by calculation based on the acceleration and angular velocity is used as the posture data of the probe.

[0076] In this embodiment, when the doctor removes the probe from the probe cup, the infrared pair detects that the level of the sensor output will change, and the level change is used as the first step of the probe removal detection. The second step is to analyze the posture of the probe based on the linear acceleration and angular acceleration of the six-axis sensor inside the probe. The third step is to combine the detection data of all probes, use FPGA for intelligent analysis, and transmit the analyzed processing results to the PC through PCIE to realize automatic switching of the probe.

[0077] The working principle and beneficial effects of the above technical solution are: the probe in the probe cup is continuously monitored by the first sensor, so as to accurately judge whether the probe is taken out of the probe cup through the output monitoring signal and the level change status, effectively ensuring timely perception of changes in the probe usage status. When the probe is taken away, the posture data of the probe is monitored and analyzed by the second sensor, so as to realize automatic switching of the probe according to the analysis result, effectively ensuring the intelligent, accurate and efficient switching of the probe, providing convenience for probe switching, thereby improving the user experience.

[0078] Embodiment 2:

[0079] Based on Example 1, this embodiment provides an automatic switching system of ultrasound probes based on multiple sensors, such as Figure 2 As shown, the first monitoring module includes:

[0080] A status information reading unit, used for reading status information of the automatic switching switch of the probe before real-time monitoring of the probe in the probe cup based on the first sensor;

[0081] Start determination unit for:

[0082] Determine whether to start the first sensor to monitor the probe in the probe cup in real time according to the status information of the probe automatic switching switch;

[0083] When the status information of the probe automatic switching switch is on, the first sensor is started to monitor the probe in the probe cup in real time;

[0084] Otherwise, the first sensor is activated to monitor the probe in the probe cup.

[0085] The working principle and beneficial effect of the above technical solution are: by reading the status information of the automatic switch of the probe, it is effectively determined whether to start the start condition of the first sensor to monitor the probe in the probe cup in real time, which is beneficial to ensure the timeliness of the start of the first sensor to monitor the probe in the probe cup.

[0086] Embodiment 3:

[0087] On the basis of Example 1, this embodiment provides an automatic switching system of ultrasonic probes based on multiple sensors, wherein the first sensor is an infrared sensor and the second sensor is a six-axis acceleration sensor.

[0088] Embodiment 4:

[0089] Based on Example 1, this embodiment provides an automatic switching system for ultrasonic probes based on multiple sensors, wherein the first monitoring module includes:

[0090] A probe monitoring unit, used to monitor the probe in the probe cup in real time based on the first sensor, and obtain a monitoring signal of the probe in the probe cup;

[0091] A signal analysis unit, used to read the monitoring signal and obtain the level change state of the monitoring signal;

[0092] The judging unit is used to judge whether to take the probe from the probe cup according to the level change state.

[0093] In this embodiment, whether to take the probe from the probe cup is determined according to the level change state, including: if the level change state of the monitoring signal is in a high level state, it is determined that the probe is not taken away from the probe cup; if the level change state of the monitoring signal is converted from a high level state to a low level state, it is determined that the probe is taken away from the probe cup.

[0094] The working principle and beneficial effects of the above technical solution are: the first sensor can effectively monitor the probe in the probe cup, and then the level change state of the obtained monitoring signal can be used to effectively judge whether to take the probe from the probe cup, thereby improving the effectiveness and accuracy of probe monitoring, and laying the foundation for subsequent accurate switching of the probe.

[0095] Embodiment 5:

[0096] On the basis of Example 4, this embodiment provides an automatic switching system of ultrasound probes based on multiple sensors, wherein the judging unit comprises:

[0097] The level change status reading subunit includes:

[0098] Read the level change status;

[0099] If the level change state of the monitoring signal is in a high level state, it is determined that the probe has not been removed from the probe cup;

[0100] If the level change state of the monitoring signal changes from a high level state to a low level state, it is determined that the probe is removed from the probe cup.

[0101] The beneficial effect of the above technical solution is that it effectively realizes the determination of whether the probe is taken out of the probe cup, which is beneficial to ensure the accuracy of automatic switching of the ultrasonic probe.

[0102] Embodiment 6:

[0103] Based on Example 1, this embodiment provides an automatic switching system of ultrasound probes based on multiple sensors, wherein the second monitoring module includes:

[0104] A data collection unit, used for collecting acceleration data and angular velocity data of the probe in all directions in real time based on the second sensor;

[0105] A data processing unit, used to process the collected acceleration data and angular velocity data to obtain target acceleration data and target angular velocity data;

[0106] The attitude angle calculation unit is used to calculate the target acceleration data and the target angular velocity data to obtain the attitude angle of the probe, and use the attitude angle as the attitude data of the probe.

[0107] In this embodiment, the data processing of the collected acceleration data and angular velocity data may be filtering the acceleration data and angular velocity data, thereby ensuring that the obtained target acceleration data and target angular velocity data are more accurate.

[0108] The working principle and beneficial effects of the above technical solution are: the acceleration data and angular velocity data of the probe in all directions can be collected in real time through the second sensor, and the accuracy of the obtained target acceleration data and target angular velocity data can be effectively improved by processing the acceleration data and angular velocity data, thereby providing a high-quality data basis for the subsequent calculation of the probe attitude angle to obtain attitude data, which is conducive to improving the accuracy of the attitude data obtained.

[0109] Embodiment 7:

[0110] Based on Example 6, this embodiment provides an automatic switching system for ultrasonic probes based on multiple sensors, and a data processing unit, including:

[0111] The data receiving subunit is used for:

[0112] Constructing a data filtering window and a data receiving window, wherein the data receiving window is connected with the data filtering;

[0113] Transmitting the acceleration data and angular velocity data collected by the second sensor in real time to the data receiving window;

[0114] The filtering processing subunit is used to:

[0115] Read the rated data volume of the data filter window;

[0116] In the data receiving window, the acceleration data and the angular velocity data are transmitted to the data filtering window in batches according to the preset time interval, and the target data volume of the acceleration data and the angular velocity data in the current preset time interval is read;

[0117] comparing the target data volume with the rated data volume;

[0118] When the target data volume is less than or equal to the rated data volume, the current acceleration data and angular velocity data are filtered based on the data filtering window;

[0119] Otherwise, the target data volume and the rated data volume are rounded up, and the auxiliary data filtering window is increased according to the rounding result.

[0120] The current acceleration data and angular velocity data are filtered according to the data filtering window and the auxiliary data filtering window.

[0121] In this embodiment, the data filtering window may be a terminal for filtering the acceleration data and the angular velocity data.

[0122] In this embodiment, the data receiving window may be a terminal for receiving acceleration data and angular velocity data.

[0123] In this embodiment, the relationship between the data receiving window and the data filtering window can be that the acceleration data and the angular velocity data are received through the data receiving window, and the received acceleration data and the angular velocity data are transmitted to the data filtering window to implement filtering of the acceleration data and the angular velocity data.

[0124] In this embodiment, the auxiliary data filtering window has the same function as the data filtering window, and is used to achieve complete filtering of the secondary acceleration data and the angular velocity data.

[0125] In this embodiment, the rated data volume may be the maximum amount of data that the data filtering window can accommodate and filter at one time.

[0126] In this embodiment, the rounding calculation for the target data amount and the rated data amount can be to calculate the ratio of the target data amount to the rated data amount, and round up according to the calculation result of the ratio. For example, if the ratio is 3.2, the rounding result is 4, so it is necessary to add an auxiliary data filtering window to the original data filtering window, wherein the number of auxiliary data filtering windows is the rounding result minus 1. According to the example, 3 auxiliary data filtering windows are required.

[0127] In this embodiment, the filter function is set in advance in the data filter window.

[0128] The working principle and beneficial effects of the above technical solution are: by setting the data receiving window and the data filtering window, the reception and filtering of acceleration data and angular velocity data can be effectively realized, and setting the data receiving window can be used as a cache for the data filtering window. By setting a preset time interval, the acceleration data and angular velocity data are transmitted to the data filtering window in batches to ensure timely filtering of the data filtering window and avoid a large amount of data causing the data filtering window to fail to operate normally. By determining the auxiliary data filtering window, the current acceleration data and angular velocity data can be effectively filtered, thereby improving the data filtering efficiency and, at the same time, ensuring the accuracy and effectiveness of the collected acceleration data and angular velocity data.

[0129] Embodiment 8:

[0130] Based on Example 6, this embodiment provides an automatic switching system for ultrasonic probes based on multiple sensors, and an attitude angle calculation unit, including:

[0131] The integral operation subunit is used to perform an integral operation on the target angular velocity data to obtain the angle change of the probe;

[0132] An inverse tangent calculation subunit is used to determine the vertical acceleration and the horizontal acceleration in the target acceleration data, and calculate the vertical acceleration and the horizontal acceleration to perform an inverse tangent calculation to obtain a first attitude angle;

[0133] The posture data determination subunit is used to fuse the angle transformation amount with the first posture angle to obtain a second posture angle, wherein the second posture angle is the posture data of the probe.

[0134] The working principle and beneficial effects of the above technical solution are: by calculating the target angular velocity data, it is possible to determine the cumulative effect of the angular velocity over time converted into an angle change, and by distinguishing the vertical acceleration and the horizontal acceleration in the target acceleration data, the first attitude angle is obtained through the inverse tangent value, which reflects the tilt state of the probe in space, and the angle change is integrated with the first attitude angle to effectively obtain the second attitude angle, which is conducive to determining the complete attitude data of the probe, thereby improving the accuracy and reliability of the determined attitude data.

[0135] Embodiment 9:

[0136] Based on Example 1, this embodiment provides an automatic switching system of ultrasound probes based on multiple sensors, such as Figure 3 As shown, the probe switching module includes:

[0137] A data transmission unit, used for transmitting the posture data of the probe to a control terminal;

[0138] Data parsing unit, used for:

[0139] Read the posture data based on the control terminal and read the preset probe switching conditions;

[0140] Matching the posture data with the preset probe switching conditions;

[0141] When the posture data meets the preset probe switching conditions, a control instruction is generated to control the automatic switching of the probe;

[0142] Otherwise, the automatic switching operation of the control probe will not be performed.

[0143] In this embodiment, the preset probe switching condition is set in advance and is used to represent the standard that needs to be met when switching the probe.

[0144] The working principle and beneficial effect of the above technical solution are: by matching the posture data of the probe with the preset probe switching conditions, when the probe meets the preset probe switching conditions, a control instruction is automatically generated to control the probe to switch, thereby improving the intelligence and reliability of the automatic switching of the ultrasound probe.

[0145] Embodiment 10:

[0146] Based on Example 1, this embodiment provides an automatic switching system for ultrasound probes based on multiple sensors, and a probe switching module, including:

[0147] The reminder unit is used to:

[0148] When the control probe is automatically switched,

[0149] When the probe automatically switches successfully, the first reminder operation is performed;

[0150] When the probe fails to automatically switch, a second reminder operation is performed.

[0151] In this embodiment, the first reminder operation may be a reminder performed after the probe is successfully automatically switched, and may be a sound reminder or the like.

[0152] In this embodiment, the second reminder operation may be a reminder performed after the probe fails to automatically switch, and may be a light reminder or the like.

[0153] The working principle and beneficial effect of the above technical solution are: by monitoring the switching status of the probe, it is convenient to perform corresponding reminder operations when the probe is successfully switched or unsuccessfully switched, and it is also convenient for management personnel to understand the switching status of the probe in a timely and effective manner.

[0154] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic switching system of ultrasonic probes based on multiple sensors, characterized in that: include: A first monitoring module is used to monitor the probe in the probe cup in real time based on the first sensor, output a monitoring signal, and read a level change state of the monitoring signal, and determine whether to take the probe from the probe cup according to the level change state; A second monitoring module, configured to monitor the posture data of the probe based on the second sensor when the probe is removed from the probe cup; The probe switching module is used to transmit the attitude data to the control terminal for analysis, and control the automatic switching of the probe according to the analysis results.

2. The multi-sensor based ultrasonic probe automatic switching system according to claim 1, characterized in that: The first monitoring module includes: A status information reading unit, used for reading status information of the automatic switching switch of the probe before real-time monitoring of the probe in the probe cup based on the first sensor; Start determination unit for: Determine whether to start the first sensor to monitor the probe in the probe cup in real time according to the status information of the probe automatic switching switch; When the status information of the probe automatic switching switch is on, the first sensor is started to monitor the probe in the probe cup in real time; Otherwise, the first sensor is activated to monitor the probe in the probe cup.

3. The multi-sensor based ultrasonic probe automatic switching system according to claim 1, characterized in that: The first sensor is an infrared sensor, and the second sensor is a six-axis acceleration sensor.

4. The multi-sensor based ultrasonic probe automatic switching system according to claim 1, characterized in that: The first monitoring module includes: A probe monitoring unit, used to monitor the probe in the probe cup in real time based on the first sensor, and obtain a monitoring signal of the probe in the probe cup; A signal analysis unit, used to read the monitoring signal and obtain the level change state of the monitoring signal; The judging unit is used to judge whether to take the probe from the probe cup according to the level change state.

5. The multi-sensor based ultrasonic probe automatic switching system according to claim 4, characterized in that: The judgment unit comprises: The level change status reading subunit includes: Read the level change status; If the level change state of the monitoring signal is in a high level state, it is determined that the probe has not been removed from the probe cup; If the level change state of the monitoring signal changes from a high level state to a low level state, it is determined that the probe is removed from the probe cup.

6. The multi-sensor based ultrasonic probe automatic switching system according to claim 1, characterized in that: The second monitoring module includes: A data collection unit, used for collecting acceleration data and angular velocity data of the probe in all directions in real time based on the second sensor; A data processing unit, used to process the collected acceleration data and angular velocity data to obtain target acceleration data and target angular velocity data; The attitude angle calculation unit is used to calculate the target acceleration data and the target angular velocity data to obtain the attitude angle of the probe, and use the attitude angle as the attitude data of the probe.

7. The multi-sensor based ultrasonic probe automatic switching system according to claim 6, characterized in that: Data processing unit, including: The data receiving subunit is used for: Constructing a data filtering window and a data receiving window, wherein the data receiving window is connected with the data filtering; Transmitting the acceleration data and angular velocity data collected by the second sensor in real time to the data receiving window; The filtering processing subunit is used to: Read the rated data volume of the data filter window; In the data receiving window, the acceleration data and the angular velocity data are transmitted to the data filtering window in batches according to the preset time interval, and the target data volume of the acceleration data and the angular velocity data in the current preset time interval is read; comparing the target data volume with the rated data volume; When the target data volume is less than or equal to the rated data volume, the current acceleration data and angular velocity data are filtered based on the data filtering window; Otherwise, the target data volume and the rated data volume are rounded up, and the auxiliary data filtering window is increased according to the rounding result. The current acceleration data and angular velocity data are filtered according to the data filtering window and the auxiliary data filtering window.

8. The multi-sensor based ultrasonic probe automatic switching system according to claim 6, characterized in that: Attitude angle calculation unit, including: The integral operation subunit is used to perform an integral operation on the target angular velocity data to obtain the angle change of the probe; An inverse tangent calculation subunit is used to determine the vertical acceleration and the horizontal acceleration in the target acceleration data, and calculate the vertical acceleration and the horizontal acceleration to perform an inverse tangent calculation to obtain a first attitude angle; The posture data determination subunit is used to fuse the angle transformation amount with the first posture angle to obtain a second posture angle, wherein the second posture angle is the posture data of the probe.

9. The multi-sensor based ultrasonic probe automatic switching system according to claim 1, characterized in that: Probe switching module, including: A data transmission unit, used for transmitting the posture data of the probe to a control terminal; Data parsing unit, used for: Read the posture data based on the control terminal and read the preset probe switching conditions; Matching the posture data with the preset probe switching conditions; When the posture data meets the preset probe switching conditions, a control instruction is generated to control the automatic switching of the probe; Otherwise, the automatic switching operation of the control probe will not be performed.

10. The multi-sensor based ultrasonic probe automatic switching system according to claim 1, characterized in that: Probe switching module, including: The reminder unit is used to: When the control probe is automatically switched, When the probe automatically switches successfully, the first reminder operation is performed; When the probe fails to automatically switch, a second reminder operation is performed.

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