Ultrasonic diagnosis equipment and probe control method thereof

Abstract

The invention discloses ultrasonic diagnosis equipment and a probe control method of the ultrasonic diagnosis equipment, the ultrasonic diagnosis equipment comprises an ultrasonic probe and a motor control system, the ultrasonic probe comprises a motor and a sound head, and the motor control system comprises a control module, a motor driving module and a feedback monitoring module; the feedback monitoring module samples the target pulse signal to obtain a sampling voltage signal, and determines an output voltage sequence according to the sampling voltage signal; the control module is used for generating a first control signal according to the pulse sequence and the output voltage sequence; the motor driving module adjusts the amplitude value of the target pulse signal under the control of the first control signal, and transmits the adjusted target pulse signal to the motor; and the motor drives the sound head to swing under the control of the target pulse signal. The first control signal is generated through the output voltage sequence used for reflecting the working state of the motor, so that the amplitude value of the target pulse signal is adjusted, the working state of the motor is adjusted, and the motor is protected.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic diagnosis, and in particular to an ultrasonic diagnostic device and a probe control method of the ultrasonic diagnostic device. Background Art

[0002] A four-dimensional (4D) ultrasonic probe is a device that uses a stepper motor to drive a transmission mechanism to drive the acoustic head to swing, thereby achieving four-dimensional ultrasonic scanning. The stepper motor in the four-dimensional ultrasonic probe controls the angular displacement or linear displacement through the received pulse signal. There are many driving modes for stepper motors, such as pulse width modulation (PWM) drive, stepper motor dedicated integrated chip drive, sine pulse width modulation (SPWM) drive, etc. Among them, the SPWM constant current subdivision drive mode is more commonly used.

[0003] In the existing SPWM constant current subdivision drive mode, the control device generates an SPWM wave according to the specification parameters of the stepper motor, such as the transmission ratio, step foot, etc. The stepper motor subdivides the current according to the received SPWM wave to achieve the subdivision of the step foot, so that the stepper motor can run smoothly. However, if the control device or the stepper motor is abnormal, the control device still controls the stepper motor in the existing way and cannot be adjusted in time, which is easy to cause damage to the control device or the stepper motor. Summary of the invention

[0004] The present invention provides an ultrasonic diagnostic device and a probe control method for the ultrasonic diagnostic device, which are used to solve the problem in the existing ultrasonic diagnostic device that an abnormal motor cannot be adjusted in time, causing damage to the motor.

[0005] In a first aspect, an embodiment of the present invention provides an ultrasonic diagnostic device, comprising an ultrasonic probe and a motor control system electrically connected, wherein: the ultrasonic probe comprises a motor and an acoustic head, and the motor control system comprises a control module, a motor drive module and a feedback monitoring module;

[0006] The feedback monitoring module is electrically connected to the motor, the motor driving module and the control module respectively, and is used to sample the target pulse signal to obtain a sampled voltage signal, and determine an output voltage sequence according to the sampled voltage signal, wherein the target pulse signal is used to control the motor;

[0007] The control module is also electrically connected to the motor drive module, and is used to generate a first control signal according to a pulse sequence and the output voltage sequence, wherein the pulse sequence is determined by the control module according to relevant control parameters of the motor;

[0008] The motor driving module is also electrically connected to the motor, and is used to adjust the amplitude value of the target pulse signal under the control of the first control signal, and transmit the adjusted target pulse signal to the motor, wherein the target pulse signal is generated by the motor driving module according to the pulse sequence;

[0009] The motor is used to drive the acoustic head to swing under the control of the target pulse signal.

[0010] In an optional embodiment, the feedback monitoring module includes a sampling resistor, a current sampler and an analog-to-digital converter, wherein:

[0011] The first end of the sampling resistor is electrically connected to the first input end of the current sampler and the first output end of the motor driving module respectively, and the second end of the sampling resistor is electrically connected to the second input end of the current sampler and the first control end of the motor respectively;

[0012] The output terminal of the current sampler is electrically connected to the first input terminal of the analog-to-digital converter;

[0013] The output terminal of the analog-to-digital converter is electrically connected to the first feedback terminal of the control module;

[0014] The current sampler is used to obtain a first voltage value of a target pulse signal at a first end of the sampling resistor, and to obtain a second voltage value of a target pulse signal at a second end of the sampling resistor, and to perform voltage conversion processing on the first voltage value and the second voltage value to generate the sampled voltage signal;

[0015] The analog-to-digital converter is used to perform analog-to-digital conversion processing on the sampled voltage signal to generate the output voltage sequence;

[0016] The control module is specifically used for:

[0017] Compare the amplitude value of the output voltage sequence with the amplitude value of the pulse sequence; if it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, generate the first control signal to control the motor drive module to increase the amplitude value of the target pulse signal, or to reduce the amplitude value of the target pulse signal.

[0018] In an optional embodiment, the motor driving module includes a first digital-to-analog converter, a first driving unit and a second driving unit, wherein:

[0019] The input end of the first digital-to-analog converter is electrically connected to the first output end of the control module, the first output end of the first digital-to-analog converter is electrically connected to the input end of the first driving unit, and the second output end of the first digital-to-analog converter is electrically connected to the input end of the second driving unit;

[0020] The output end of the first driving unit is electrically connected to the input end of the feedback monitoring module and serves as the first output end of the motor driving module, and the feedback end of the first driving unit is electrically connected to the second control end of the motor;

[0021] The output end of the second drive unit is electrically connected to the third control end of the motor and serves as the second output end of the motor drive module, and the feedback end of the second drive unit is electrically connected to the fourth control end of the motor;

[0022] The first digital-to-analog converter is used to increase the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal under the control of the first control signal to increase the amplitude value of the target pulse signal, or to reduce the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal to reduce the amplitude value of the target pulse signal, wherein the first pulse sub-signal and the second pulse sub-signal are obtained by the first digital-to-analog converter performing a digital-to-analog conversion operation on the pulse sequence, and there is a preset phase difference between the first pulse sub-signal and the second pulse sub-signal;

[0023] The first driving unit is used to amplify the first pulse sub-signal to obtain a first target pulse sub-signal;

[0024] The second driving unit is used to amplify the second pulse sub-signal to obtain a second target pulse sub-signal, wherein the target pulse signal includes the first target pulse sub-signal and the second target pulse sub-signal.

[0025] In an optional embodiment, the system further includes a voltage generating module;

[0026] The voltage generation module is electrically connected to the control module, the motor drive module and the feedback monitoring module respectively;

[0027] The voltage generating module is used to generate a positive target voltage signal and a negative target voltage signal according to a voltage sequence, wherein the positive target voltage signal and the negative target voltage signal are used to power the motor driving module, and the voltage sequence is determined by the control module according to the relevant control parameters;

[0028] The feedback monitoring module is further used to: process the positive target voltage signal to generate a first feedback voltage sequence, and process the negative target voltage signal to generate a second feedback voltage sequence;

[0029] The control module is further used to generate a second control signal according to the first feedback voltage sequence, the second feedback voltage sequence and the voltage sequence, wherein the second control signal is used to enable the motor drive module.

[0030] In an optional embodiment, the voltage generation module includes: a second digital-to-analog converter, a first DC / DC converter, and a second DC / DC converter, wherein:

[0031] The input end of the second digital-to-analog converter is electrically connected to the second output end of the control module, the first output end of the second digital-to-analog converter is electrically connected to the input end of the first DC / DC converter, and the second output end of the second digital-to-analog converter is electrically connected to the input end of the second DC / DC converter;

[0032] The second digital-to-analog converter is used to perform digital-to-analog conversion processing on the voltage sequence to generate a positive voltage signal and a negative voltage signal;

[0033] The first DC / DC converter is used to perform voltage conversion processing on the positive voltage signal and output the positive target voltage signal;

[0034] The second DC / DC converter is used to perform voltage conversion processing on the negative voltage signal and output the negative target voltage signal.

[0035] In an optional embodiment, the feedback monitoring module further includes a first voltage-dividing resistor, a second voltage-dividing resistor and an inverting operational amplifier, wherein:

[0036] The first voltage-dividing resistor is connected in series between the first DC / DC converter and the analog-to-digital converter in the feedback monitoring module, and the inverting operational amplifier and the second voltage-dividing resistor are connected in series between the second DC / DC converter and the analog-to-digital converter in sequence;

[0037] The first voltage-dividing resistor is used to perform voltage-dividing processing on the positive target voltage signal, and transmit the processed voltage signal to the analog-to-digital converter, so that the analog-to-digital converter generates the first feedback voltage sequence according to the processed voltage signal;

[0038] The second voltage-dividing resistor is used to perform voltage-dividing processing on the negative target voltage signal, and transmit the processed voltage signal to the analog-to-digital converter, so that the analog-to-digital converter generates the second feedback voltage sequence according to the processed voltage signal;

[0039] The control module is specifically used to: compare the amplitude value of the first feedback voltage sequence with the amplitude value of the voltage sequence, and the amplitude value of the second feedback voltage sequence with the amplitude value of the voltage sequence; if there is a first preset difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and there is a second preset difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, then generate the second control signal.

[0040] In an optional embodiment, the device further includes a temperature monitoring module;

[0041] The temperature monitoring module is connected in series between the temperature output terminal of the motor driving module and the second feedback terminal of the control module, and is used to obtain the actual temperature of the internal components of the motor driving module in real time when the motor driving module is working;

[0042] The control module is further configured to generate a third control signal for controlling the motor drive module to stop working when the actual temperature is greater than a preset temperature threshold.

[0043] In an optional embodiment, the feedback monitoring module is further used to: receive a centering detection signal used to characterize that the sound head is located in the middle position of the ultrasonic probe, and perform analog-to-digital conversion processing on the centering detection signal to obtain a centering detection voltage sequence;

[0044] The control module is also used to: detect the centering detection voltage sequence based on a preset voltage range; if it is detected within a preset time period that there is no voltage value within the preset voltage range in the centering detection voltage sequence, then generate a third control signal for controlling the motor drive module to stop working.

[0045] In a second aspect, an embodiment of the present invention provides a probe control method for an ultrasonic diagnostic device, wherein the ultrasonic diagnostic device comprises an ultrasonic probe and a motor control system electrically connected, wherein the ultrasonic probe comprises a motor and an acoustic head, and the method comprises:

[0046] Sampling a target pulse signal to obtain a sampled voltage signal, and determining an output voltage sequence according to the sampled voltage signal, wherein the target pulse signal is used to control a motor;

[0047] generating a first control signal according to a pulse sequence and the output voltage sequence, wherein the pulse sequence is determined according to relevant control parameters of the motor;

[0048] Under the control of the first control signal, adjusting the amplitude value of the target pulse signal, and transmitting the adjusted target pulse signal to the motor, wherein the target pulse signal is generated according to the pulse sequence;

[0049] Under the control of the target pulse signal, the motor drives the acoustic head to swing.

[0050] In an optional embodiment, generating a first control signal according to the pulse sequence and the output voltage sequence includes:

[0051] comparing the amplitude value of the output voltage sequence with the amplitude value of the pulse sequence;

[0052] If it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, the first control signal is generated to increase or decrease the amplitude value of the target pulse signal under the control of the first control signal.

[0053] The technical solution provided by the embodiments of the present invention brings at least the following beneficial effects:

[0054] In the ultrasonic diagnostic equipment provided by the embodiment of the present invention, the feedback monitoring module samples the target pulse signal used to control the motor, generates an output voltage sequence corresponding to the target pulse signal, reflects the phase current of the motor through the output voltage sequence, and then determines the working state of the motor; the control module compares the output voltage sequence with the pulse sequence used to generate the target pulse signal, generates a first control signal, so that the motor drive module adjusts the amplitude value of the target pulse signal under the control of the first control signal, and the motor works under the control of the adjusted target pulse signal, thereby realizing the adjustment of the working state of the motor, reducing the probability of the motor speed being too fast or too slow, and achieving the purpose of protecting the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0056] Figure 1 A schematic diagram of the structure of an application scenario of an ultrasonic diagnostic device provided by an embodiment of the present invention;

[0057] Figure 2 A schematic diagram of the structure of an ultrasonic diagnostic device provided by an embodiment of the present invention;

[0058] Figure 3 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0059] Figure 4A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0060] Figure 5 A schematic diagram of a circuit structure of a motor drive module provided by an embodiment of the present invention;

[0061] Figure 6 A schematic diagram of a circuit structure for converting a supply voltage into a reference voltage provided by an embodiment of the present invention;

[0062] Figure 7 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0063] Figure 8 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0064] Fig. 9 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0065] Fig.10 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0066] Fig.11 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0067] Fig.12 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0068] Fig.13 A waveform diagram of a first target sub-pulse signal and a sampling voltage signal provided by an embodiment of the present invention;

[0069] Fig.14 A schematic diagram of the circuit structure of a current sampler provided by an embodiment of the present invention;

[0070] Fig.15 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0071] Fig.16 A schematic diagram of the structure of another ultrasonic diagnostic device provided by an embodiment of the present invention;

[0072] Fig.17 A waveform diagram of a centering detection signal provided by an embodiment of the present invention;

[0073] Fig.18 A schematic flow chart of a probe control method for ultrasonic diagnostic equipment provided by an embodiment of the present invention;

[0074] Fig.19A complete flow chart of a probe control method for ultrasonic diagnostic equipment provided by an embodiment of the present invention;

[0075] Fig. 20 A complete flowchart of another probe control method for ultrasonic diagnostic equipment provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. 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.

[0077] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0078] The embodiment of the present invention provides an ultrasonic diagnostic device and a probe control method for the ultrasonic diagnostic device, which obtains voltage information of a target pulse signal used to control a motor to determine the working state of the motor, thereby adjusting the motor so that the motor is maintained in a rated working state, reduces the probability of the motor speed being too fast or too slow, and achieves the purpose of protecting the motor.

[0079] The purpose, features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0080] An optional ultrasonic diagnostic device provided by an embodiment of the present invention can be used in the application scenario of medical ultrasonic scanning. Figure 1 A schematic diagram of an application scenario of an ultrasonic diagnostic device provided by an embodiment of the present invention is shown. Figure 1In the application scenario shown, the ultrasonic diagnostic device 10 includes an ultrasonic host 11 and an ultrasonic probe 12 which are electrically connected. The ultrasonic host 11 is integrated with a motor control system 111, and the ultrasonic probe 12 includes a motor 121 and an acoustic head 122. Under the control of the target pulse signal generated by the motor control system 11, the motor 121 in the ultrasonic probe 12 operates, thereby driving the acoustic head 122 to move, thereby achieving the scanning task of the ultrasonic diagnostic device.

[0081] It should be noted that the motor 121 in the embodiment of the present invention may be a stepping motor, or other motors that can be controlled by a pulse signal, and the embodiment of the present invention does not impose any limitation on this.

[0082] Of course, the method provided in the embodiment of the present invention is not limited to Figure 1 The application scenarios shown in the figure can also be used in other possible application scenarios, which are not limited by the embodiments of the present invention. Figure 1 The functions that can be realized by each part of the application scenario shown will be described in subsequent embodiments, and will not be described in detail here.

[0083] The ultrasonic diagnostic device 10 provided in the above application scenario is described below through a specific embodiment. Figure 2 As shown, the ultrasonic diagnostic device 10 includes an ultrasonic probe 12 and a motor control system 111 that are electrically connected, wherein: the ultrasonic probe 12 includes a motor 121 and an acoustic head 122, and the motor control system 111 includes a control module 21, a motor drive module 22 and a feedback monitoring module 23, wherein:

[0084] The feedback monitoring module 23 is electrically connected to the motor 121, the motor driving module 22 and the control module 21 respectively, and is used to sample the target pulse signal to obtain a sampled voltage signal, and determine an output voltage sequence according to the sampled voltage signal, wherein the target pulse signal is used to control the motor 121;

[0085] The control module 21 is also electrically connected to the motor driving module 22, and is used to generate a first control signal according to the pulse sequence and the output voltage sequence, wherein the pulse sequence is determined by the control module 22 according to relevant control parameters of the motor 121;

[0086] The motor driving module 22 is also electrically connected to the motor 121, and is used to adjust the amplitude value of the target pulse signal under the control of the first control signal, and transmit the adjusted target pulse signal to the motor 121, wherein the target pulse signal is generated by the motor driving module 22 according to the pulse sequence;

[0087] The motor 121 is used to drive the acoustic head 122 to swing under the control of the target pulse signal.

[0088] In the ultrasonic diagnostic equipment 10 provided in the embodiment of the present invention, the feedback monitoring module 23 samples the target pulse signal used to control the motor 121, generates an output voltage sequence corresponding to the target pulse signal, and reflects the phase current of the motor 121 through the output voltage sequence, thereby determining the working state of the motor 121; the control module 21 compares the output voltage sequence with the pulse sequence used to generate the target pulse signal, and generates a first control signal, so that the motor drive module 22 adjusts the amplitude value of the target pulse signal under the control of the first control signal, and the motor 121 works under the control of the adjusted target pulse signal, thereby realizing the adjustment of the working state of the motor 121, reducing the probability of the motor 121 rotating too fast or too slow, and achieving the purpose of protecting the motor 121.

[0089] Optionally, the target pulse signal in the embodiment of the present invention may be a SPWM (Sinusoidal Pulse Width Modulation) signal.

[0090] Optionally, the ultrasonic probe 12 in the embodiment of the present invention may be a 4D (Four-Dimensional) ultrasonic probe.

[0091] In one or more embodiments, Figure 3 As shown, the control module 21 includes a host computer 211, a main control unit 212 and a slave control unit 213, wherein the host computer 211 is electrically connected to the main control unit 212 via a PCIE (Peripheral Component Interconnect Express, a high-speed serial computer expansion bus standard) interface, the main control unit 212 is electrically connected to the slave control unit 213 via an SPI1 (Seriel Peripheral Interface, a serial peripheral interface) interface, the slave control unit 213 is electrically connected to the motor drive module 22 via an SPI2 interface, and the slave control unit 213 is electrically connected to the feedback monitoring module 23 via an SPI3 interface.

[0092] It should be noted that the host computer 211 in the embodiment of the present invention may be a PC (Personal Computer), a host computer (Host Ccomputer), or other computing devices that can directly send control instructions, and the embodiment of the present invention does not impose any restrictions on this;

[0093] In addition, the main control unit 212 in the embodiment of the present invention may include a field programmable gate array (FPGA), may include a central processing unit (CPU), and may include other electronic devices with control functions, which are not limited in any way in the embodiment of the present invention.

[0094] Similarly, the slave control unit 214 in the embodiment of the present invention may include a field programmable gate array (FPGA), a programmable logic controller (PLC), or other electronic devices with control functions, and the embodiment of the present invention does not impose any restrictions on this.

[0095] Optionally, the master control unit 212 may include a first FPGA, and the slave control unit 213 may include a second FPGA.

[0096] In a specific implementation, the user selects the type of the ultrasound probe 12 through the host computer 211 according to actual business needs, and sends the identification number corresponding to the selected ultrasound probe 12 to the main control unit 212 through the PCIE interface;

[0097] After receiving the identification number corresponding to the ultrasonic probe 12, the main control unit 212 determines the configuration parameters corresponding to the ultrasonic probe 12 according to the identification number, and sends the determined configuration parameters to the slave control unit 213 through the SPI1 interface, wherein the configuration parameters include the relevant control parameters of the motor 121;

[0098] After receiving the configuration parameters from the control unit 213, the configuration parameters are parsed to obtain information such as relevant control parameters of the motor 121, the scanning mode of the acoustic head 122, etc., wherein the relevant control parameters of the motor 121 include the specification parameters of the motor 121, the subdivision steps of the motor 121, the pulse sequence corresponding to the motor 121, etc.; and the pulse sequence obtained by parsing is sent to the motor drive module 22 through the SPI2 interface.

[0099] In an optional embodiment, if Figure 4 As shown, the motor driving module 22 includes a first digital to analog converter (DAC) DAC1, a first driving unit 221 and a second driving unit 222, wherein:

[0100] The input end of the first digital-to-analog converter DAC1 is electrically connected to the first output end of the control module 21, the first output end of the first digital-to-analog converter DAC1 is electrically connected to the input end of the first driving unit 221, and the second output end of the first digital-to-analog converter DAC1 is electrically connected to the input end of the second driving unit 222;

[0101] The output end of the first drive unit 221 is electrically connected to the input end of the feedback monitoring module 23 and the first control end of the motor 12 (A+), and serves as the first output end of the motor drive module 22. The feedback end of the first drive unit 221 is electrically connected to the second control end of the motor 12 (A-);

[0102] The output end of the second drive unit 222 is electrically connected to the third control end (B+) of the motor 12 and serves as the second output end of the motor drive module 22. The feedback end of the second drive unit 222 is electrically connected to the fourth control end (B-) of the motor 12.

[0103] A first digital-to-analog converter DAC1 is used to perform a digital-to-analog conversion operation on the pulse sequence to obtain a first pulse sub-signal and a second pulse sub-signal, and under the control of a first control signal, increase the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal to increase the amplitude value of the target pulse signal, or reduce the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal to reduce the amplitude value of the target pulse signal, wherein there is a preset phase difference between the first pulse sub-signal and the second pulse sub-signal;

[0104] A first driving unit 221 is used to amplify the first pulse sub-signal to obtain a first target pulse sub-signal;

[0105] The second driving unit 222 is used to amplify the second pulse sub-signal to obtain a second target pulse sub-signal, wherein the target pulse signal includes the first target pulse sub-signal and the second target pulse sub-signal.

[0106] Optionally, the preset phase difference in the embodiment of the present invention may be a phase difference of 90 degrees.

[0107] In a specific implementation, after receiving the pulse sequence sent by the control module 21, the first digital-to-analog converter DAC1 performs analog-to-digital conversion on the pulse sequence to obtain a first pulse sub-signal and a second pulse sub-signal, and sends the first pulse sub-signal to the first driving unit 221, and sends the second pulse sub-signal to the second driving unit 222;

[0108] Exemplarily, the duty cycle of the first pulse sub-signal output by the first digital-to-analog converter DAC1 changes according to the law of a sine wave, and the duty cycle of the second pulse sub-signal output by the first digital-to-analog converter DAC1 changes according to the law of a cosine wave, that is, there is a phase difference of 90 degrees between the first pulse sub-signal and the second pulse sub-signal.

[0109] In an optional embodiment, the motor driving module 22 includes a first digital-to-analog converter DAC1, a first driving unit 221 and a second driving unit 222, wherein:

[0110] The input end of the first digital-to-analog converter DAC1 is electrically connected to the first output end of the control module 21, the first output end of the first digital-to-analog converter DAC1 is electrically connected to the input end of the first driving unit 221, and the second output end of the first digital-to-analog converter DAC1 is electrically connected to the input end of the second driving unit 222;

[0111] The output end of the first drive unit 221 is electrically connected to the first control end of the motor 12 (A+), and serves as the first output end of the motor drive module 22. The feedback end of the first drive unit 221 is electrically connected to the second control end of the motor 12 (A-);

[0112] The output end of the second drive unit 222 is electrically connected to the input end of the feedback monitoring module 23 and the third control end (B+) of the motor 12 respectively, and serves as the second output end of the motor drive module 22. The feedback end of the second drive unit 222 is electrically connected to the fourth control end (B-) of the motor 12.

[0113] It should be noted that, in the embodiment of the present invention, there is only a preset phase difference between the amplitude value of the first target pulse sub-signal and the amplitude value of the second target pulse sub-signal. Therefore, the feedback monitoring module 23 can collect the first target pulse sub-signal or the second target pulse sub-signal. The embodiment of the present invention does not impose any restrictions on this.

[0114] In an optional embodiment, if Figure 5 As shown, the first driving unit 221 includes a first proportional operational amplifier P_AMP1, a first negative feedback operational amplifier F_AMP1, a first power operational amplifier OPA1 and a first feedback resistor R1, wherein:

[0115] The non-inverting input terminal of the first proportional operational amplifier P_AMP1 is used as the input terminal of the first driving unit 221 for inputting the first pulse sub-signal, the inverting input terminal of the first proportional operational amplifier P_AMP1 is electrically connected to the reference voltage terminal VREF, and the output terminal of the first proportional operational amplifier P_AMP1 is electrically connected to the inverting input terminal of the first negative feedback operational amplifier F_AMP1;

[0116] The output end of the first negative feedback operational amplifier F_AMP1 is electrically connected to the input end of the first power operational amplifier OPA1, and the feedback end of the first negative feedback operational amplifier F_AMP1 is electrically connected to the first end of the first feedback resistor R1, serving as the feedback end of the first driving unit 221;

[0117] The output end of the first power operational amplifier OPA1 is used as the output end of the first driving unit 221 to output the first target pulse sub-signal;

[0118] The positive power supply terminal of the first proportional operational amplifier P_AMP1, the positive power supply terminal of the first negative feedback operational amplifier F_AMP1 and the positive power supply terminal of the first power operational amplifier OPA1 are all used to input a positive target voltage signal, and the negative power supply terminal of the first proportional operational amplifier P_AMP1, the negative power supply terminal of the first negative feedback operational amplifier F_AMP1 and the negative power supply terminal of the first power operational amplifier OPA1 are all used to input a negative target voltage signal;

[0119] The non-inverting input terminal of the first negative feedback operational amplifier F_AMP1 and the second terminal of the first feedback resistor R1 are both grounded.

[0120] In a specific implementation, after receiving the first pulse sub-signal sent by the first digital-to-analog converter DAC1, the first proportional operational amplifier P_AMP1 performs proportional amplification processing on the amplitude value of the first pulse sub-signal according to the reference voltage Vref provided by the reference voltage terminal VREF and the gain of the first proportional operational amplifier P_AMP1 itself, and sends the processed pulse signal to the first negative feedback operational amplifier F_AMP1;

[0121] For example, assuming that the gain of the first proportional operational amplifier P_AMP1 is: A1=4, the reference voltage provided by the reference voltage terminal VREF is: Vref=1.25V, and the amplitude value of the first pulse sub-signal is: V1=0V~2.5V, then the amplitude value of the pulse signal output by the first proportional operational amplifier P_AMP1 is: Vout1=A1×(V1-Vref)=4(V1-1.25V)=-5V~+5V, that is, the minimum amplitude value of the pulse signal output by the first proportional operational amplifier P_AMP1 is -5V, and the maximum amplitude value is +5V.

[0122] In one or more embodiments, the reference voltage Vref provided by the reference voltage terminal VREF may be determined according to the power supply voltage Vcc of the motor control system.

[0123] Figure 6 A schematic diagram of a circuit structure for converting a power supply voltage Vcc into a reference voltage Vref is shown in FIG. Figure 6As shown, the circuit includes a capacitor C1, a capacitor C2, a capacitor C3, a resistor R3, a resistor R4 and a voltage reference chip VOL1, wherein the first end of the capacitor C1 is electrically connected to the power supply voltage terminal VCC, the first end of the capacitor C2 is electrically connected to the first end of the resistor R3, the second end of the resistor R3 is electrically connected to the first end of the resistor R4, the cathode (CATHODE) of the voltage reference chip VOL1, the first end of the capacitor C3 and the reference voltage terminal VREF, the reference end (REF) of the voltage reference chip VOL1 is electrically connected to the second end of the resistor R4, and the second end of the capacitor C1, the second end of the capacitor C2, the anode (ANODE) ​​of the voltage reference chip VOL1 and the second end of the capacitor C3 are all grounded.

[0124] In a specific implementation, after the first negative feedback operational amplifier F_AMP1 receives the pulse signal processed by the first proportional operational amplifier P_AMP1, it performs reverse amplification processing on the received pulse signal according to the gain of the first negative feedback operational amplifier F_AMP1 itself and the feedback voltage from the motor 121 received at the feedback end, and sends the processed pulse signal to the first power operational amplifier OPA1;

[0125] For example, assuming that the current gain of the first negative feedback operational amplifier F_AMP1 is: Ai=15, the voltage gain is: Av=2.14, and the amplitude value of the pulse signal received by the first negative feedback operational amplifier F_AMP1 is: Vout1=-5V~+5V, then the amplitude value of the pulse signal output by the first negative feedback operational amplifier F_AMP1 is: Vout2=-(Vfb×Ai+Vout1×Av)=-(15Vfb+2.14Vout1).

[0126] In a specific implementation, after receiving the pulse signal processed by the first negative feedback operational amplifier F_AMP1, the first power operational amplifier OPA1 performs power amplification processing on the received pulse signal according to its own gain to generate a first target pulse sub-signal;

[0127] For example, assuming that the gain of the first power operational amplifier OPA1 is: A2 = -1.5, and the amplitude value of the pulse signal received by the first power operational amplifier OPA1 is Vout2, then the amplitude value of the first target pulse sub-signal output by the first power operational amplifier OPA1 is: Vout3 = A2 × Vout2 = -1.5Vout2, that is, the amplitude value of the first target pulse sub-signal is Vout3.

[0128] In an optional embodiment, if Figure 5 As shown, the second driving unit 222 includes a second proportional operational amplifier P_AMP2, a second negative feedback operational amplifier F_AMP2, a second power operational amplifier OPA2 and a second feedback resistor R2, wherein:

[0129] The non-inverting input terminal of the second proportional operational amplifier P_AMP2 is used as the input terminal of the second driving unit 222 for inputting the second pulse sub-signal, the inverting input terminal of the second proportional operational amplifier P_AMP2 is electrically connected to the reference voltage terminal VREF, and the output terminal of the second proportional operational amplifier P_AMP2 is electrically connected to the inverting input terminal of the second negative feedback operational amplifier F_AMP2;

[0130] The output end of the second negative feedback operational amplifier F_AMP2 is electrically connected to the input end of the second power operational amplifier OPA2, and the feedback end of the second negative feedback operational amplifier F_AMP2 is electrically connected to the first end of the second feedback resistor R2 as the feedback end of the second driving unit 222;

[0131] The output end of the second power operational amplifier OPA2 is used as the output end of the second driving unit 222 to output the second target pulse sub-signal;

[0132] The positive power supply terminal of the second proportional operational amplifier P_AMP2, the positive power supply terminal of the second negative feedback operational amplifier F_AMP2 and the positive power supply terminal of the second power operational amplifier OPA2 are all used to input a positive target voltage signal, and the negative power supply terminal of the second proportional operational amplifier P_AMP2, the negative power supply terminal of the second negative feedback operational amplifier F_AMP2 and the negative power supply terminal of the second power operational amplifier OPA2 are all used to input a negative target voltage signal;

[0133] The non-inverting input terminal of the second negative feedback operational amplifier F_AMP2 and the second terminal of the second feedback resistor R2 are both grounded.

[0134] Since the working principle of each operational amplifier in the second driving unit 222 is similar to the working principle of each operational amplifier in the first driving unit 221, the implementation of the function of each operational amplifier in the second driving unit 222 can refer to the description of the implementation of the function of each operational amplifier in the first driving unit 221, and will not be elaborated here.

[0135] In a specific implementation, each operational amplifier in the first driving unit 221 and each operational amplifier in the second driving unit 222 are powered by a positive target voltage signal and a negative target voltage signal, and the positive target voltage signal and the negative target voltage signal can be generated in the following manner:

[0136] In an optional embodiment, if Figure 7 As shown, the motor control system 10 further includes a voltage generating module 71;

[0137] The voltage generation module 71 is electrically connected to the control module 21, the motor drive module 22 and the feedback monitoring module 23 respectively;

[0138] A voltage generating module 71, used to generate a positive target voltage signal and a negative target voltage signal according to a voltage sequence, wherein the positive target voltage signal and the negative target voltage signal are used to power the motor driving module 22, and the voltage sequence is determined by the control module 21 according to relevant control parameters;

[0139] The feedback monitoring module 23 is further used to: process the positive target voltage signal to generate a first feedback voltage sequence, and process the negative target voltage signal to generate a second feedback voltage sequence;

[0140] The control module 21 is further used to generate a second control signal according to the first feedback voltage sequence, the second feedback voltage sequence and the voltage sequence, wherein the second control signal is used to enable the motor driving module 22 .

[0141] It should be noted that, due to the different types of the selected ultrasound probes 12 , the working conditions of the motor 12 are also different, and accordingly, the target voltage signal for powering the motor driving module 22 is also different.

[0142] For example, if ultrasonic probe 1 is selected, the motor drive module 22 is required to operate under the condition of being powered by a target voltage signal with a voltage value of 6V; if ultrasonic probe 2 is selected, the motor drive module 22 is required to operate under the condition of being powered by a target voltage signal with a voltage value of 10V; if ultrasonic probe 3 is selected, the motor drive module 22 is required to operate under the condition of being powered by a target voltage signal with a voltage value of 5.5V.

[0143] In a specific implementation, the control module 21 determines a voltage sequence based on relevant control parameters of the motor 121, and transmits the determined voltage sequence to the voltage generation module 71; after receiving the above voltage sequence, the voltage generation module 71 generates a positive target voltage signal and a negative target voltage signal according to the voltage sequence, and sends the generated positive target voltage signal and negative target voltage signal to the feedback monitoring module 23 and the motor drive module 22 respectively.

[0144] In an optional embodiment, if Figure 8 As shown, the voltage generating module 71 includes: a second digital-to-analog converter DAC2, a first direct current-direct current converter DC / DC1 and a second direct current-direct current converter DC / DC2, wherein:

[0145] The input end of the second digital-to-analog converter DAC2 is electrically connected to the second output end of the control module 21, the first output end of the second digital-to-analog converter DAC2 is electrically connected to the input end of the first DC / DC converter DC / DC1, and the second output end of the second digital-to-analog converter DAC2 is electrically connected to the input end of the second DC / DC converter DC / DC2;

[0146] The second digital-to-analog converter DAC2 is used to perform digital-to-analog conversion on the voltage sequence to generate a positive voltage signal and a negative voltage signal;

[0147] The first DC / DC converter DC / DC1 is used for performing voltage conversion processing on the positive voltage signal and outputting a positive target voltage signal;

[0148] The second DC / DC converter DC / DC2 is used for performing voltage conversion processing on the negative voltage signal and outputting a negative target voltage signal.

[0149] Optionally, in the embodiment of the present invention, the first DC / DC converter DC / DC1 may be a step-down (Buck) DC / DC converter, and the second DC / DC converter DC / DC2 may be a step-up (Buck-Bsoot) DC / DC converter.

[0150] In the specific implementation, Figure 8 As shown, the second digital-to-analog converter DAC2 receives the voltage sequence sent by the slave control unit 213 through the SPI4 interface, performs digital-to-analog conversion processing on the received voltage sequence, generates a positive voltage signal and a negative voltage signal, and sends the positive voltage signal to the first DC / DC converter DC / DC1, and sends the negative voltage signal to the second DC / DC converter DC / DC2. After receiving the positive voltage signal, the first DC / DC converter DC / DC1 performs voltage conversion processing on the positive voltage signal to obtain a positive target voltage signal; after receiving the negative voltage signal, the second DC / DC converter DC / DC2 performs voltage conversion processing on the negative voltage signal to obtain a negative target voltage signal.

[0151] In one or more embodiments, the adjustable range of the voltage value of the positive target voltage signal is 0V to +12V, and the adjustable range of the voltage value of the negative target voltage signal is -12V to 0V.

[0152] In an optional embodiment, if Fig. 9 As shown, the motor control system 10 further includes a temperature monitoring module 91;

[0153] The temperature monitoring module 91 is connected in series between the temperature output terminal of the motor driving module 22 and the second feedback terminal of the control module 21, and is used to obtain the actual temperature of the internal components of the motor driving module 22 in real time when the motor driving module 22 is working;

[0154] The control module 21 is further used to generate a third control signal for controlling the motor drive module 22 to stop working when the actual temperature is greater than a preset temperature threshold.

[0155] Optionally, in the embodiment of the present invention, the preset temperature threshold is an empirical value, for example, the preset temperature threshold may be set to 60°C.

[0156] In an optional embodiment, if Fig.10 As shown, the temperature output end of the second driving unit 222 serves as the temperature output end of the motor driving module 22, the input end of the temperature monitoring module 91 is electrically connected to the temperature output end of the second driving unit 222, and the output end of the temperature monitoring module 91 is connected to the temperature output end of the motor driving module 22. 2 The temperature monitoring module 91 is specifically used to obtain the actual temperature of the second power operational amplifier OPA2 in the second driving unit 222, and transmit the obtained actual temperature through the I 2 C interface is sent to the slave control unit 213.

[0157] In an optional embodiment, if Fig.11 As shown, the temperature output end of the first driving unit 221 serves as the temperature output end of the motor driving module 22, the input end of the temperature monitoring module 91 is electrically connected to the temperature output end of the first driving unit 221, and the output end of the temperature monitoring module 91 is connected to the temperature output end of the motor driving module 22. 2 The temperature monitoring module 91 is specifically used to obtain the actual temperature of the first power operational amplifier OPA1 in the first driving unit 221, and transmit the obtained actual temperature through the I 2 C interface is sent to the slave control unit 213.

[0158] In a specific implementation, since the functional implementation of the first driving unit 221 is similar to that of the second driving unit 222, when the motor driving module 22 is working, the device temperature of the first power operational amplifier OPA1 in the first driving unit 221 is substantially the same as the device temperature of the second power operational amplifier OPA2 in the second driving unit 222, and the purpose of temperature monitoring can be achieved by only setting the temperature monitoring module 91 in one driving unit.

[0159] Take the temperature monitoring module 91 for obtaining the actual temperature of the first power operational amplifier OPA1 as an example for explanation:

[0160] Exemplarily, the preset temperature threshold is set to: Tmax=60°C. If the actual temperature obtained by the temperature monitoring module 91 is T1=40°C, the control unit 213 detects that T1=40°C<Tmax=60°C, indicating that the chip temperature of the first power operational amplifier OPA1 is normal, and no control signal is generated, and the motor drive module 22 works normally; if the actual temperature obtained by the temperature monitoring module 91 is T1=62°C, the control unit 213 detects that T1=62°C>Tmax=60°C, indicating that the chip temperature of the first power operational amplifier OPA1 is too high and there is a risk of burning, then a third control signal and an alarm signal are generated. On the one hand, the third control signal is sent to the first digital-to-analog converter DAC1 to control the first digital-to-analog converter DAC1 to stop working, and then control the motor drive module 22 to stop working, so as to protect the first power operational amplifier OPA1 and the second power operational amplifier OPA2; on the other hand, the alarm signal is used to inform the staff to promptly repair the ultrasonic diagnostic equipment.

[0161] In the embodiment of the present invention, the target pulse signal driving motor 121 error, motor 121 overvoltage, overcurrent, loss of control, overspeed, stalling, etc. will cause the chip inside the motor drive module 22 to overheat.

[0162] In one or more embodiments, the temperature monitoring module 91 in the embodiment of the present invention may include a temperature sensor.

[0163] In an optional embodiment, if Fig.12 As shown, the feedback monitoring module 23 includes a sampling resistor Rs, a current sampler SAM1 and an analog-to-digital converter (ADC) ADC1, wherein:

[0164] The first end of the sampling resistor Rs is electrically connected to the first input end of the current sampler SAM1 and the first output end of the motor driving module 22, and the second end of the sampling resistor Rs is electrically connected to the second input end of the current sampler SAM1 and the first control end of the motor 121.

[0165] The output terminal of the current sampler SAM1 is electrically connected to the first input terminal of the analog-to-digital converter ADC1;

[0166] The output end of the analog-to-digital converter ADC1 is electrically connected to the first feedback end of the control module 21;

[0167] The current sampler SAM1 is used to obtain a first voltage value of a target pulse signal at a first end of the sampling resistor Rs, and obtain a second voltage value of a target pulse signal at a second end of the sampling resistor Rs, and perform voltage conversion processing on the first voltage value and the second voltage value to generate a sampled voltage signal;

[0168] The analog-to-digital converter ADC1 is used to perform analog-to-digital conversion on the sampled voltage signal to generate an output voltage sequence;

[0169] The control module 21 is specifically used to: compare the amplitude value of the output voltage sequence and the amplitude value of the pulse sequence; if it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, generate a first control signal to control the motor drive module 22 to increase the amplitude value of the target pulse signal, or to reduce the amplitude value of the target pulse signal.

[0170] The following embodiments are described by taking the feedback monitoring module 23 sampling the pulse signal output by the first driving unit 221 as an example:

[0171] In a specific implementation, the first target sub-pulse signal output by the first driving unit 221 is transmitted to the first control terminal (A+) of the motor 121 via the sampling resistor RS; the current sampler SAM1 samples and processes the voltages at both ends of the sampling resistor RS respectively to obtain a sampled voltage signal, and transmits the sampled voltage signal to the analog-to-digital converter ADC1.

[0172] For example, Fig.13 A waveform diagram of a first target sub-pulse signal and a sampling voltage signal is shown, such as Fig.13 As shown, the minimum amplitude value Vmin1 of the first target sub-pulse signal output by the first driving unit 221 is a negative value, and the maximum amplitude value Vmax1 is a positive value; while the minimum amplitude value Vmin2 and the maximum amplitude value Vmax2 of the sampling voltage signal output by the current sampler SAM1 are both positive values, thereby realizing the conversion of the first target sub-pulse signal with positive and negative voltages into a sampling voltage signal with positive voltage.

[0173] In one or more embodiments, Fig.14 A circuit structure diagram of a current sampler SAM1 is shown. Fig.14 As shown, the current sampler SAM1 includes a current detection chip INA1, a capacitor C4 and a resistor R5, wherein:

[0174] The first input terminal (+IN) of the current detection chip INA1 serves as the first input terminal of the current sampler SAM1, the second input terminal (-IN) of the current detection chip INA1 serves as the second input terminal of the current sampler SAM1, the power supply terminal (V+) of the current detection chip INA1 is electrically connected to the first reference terminal (V+) of the current detection chip INA1, the first terminal of the capacitor C4 and the power supply voltage terminal VCC respectively, the ground terminal (REF1) of the current detection chip INA1, the second reference terminal (REF2) of the current detection chip INA1 and the second terminal of the capacitor C4 are all grounded, and the floating terminal (NC) of the current detection chip INA1 is left empty.

[0175] An output terminal (OUT) of the current detection chip INA1 is electrically connected to a first terminal of the resistor R5 , and a second terminal of the resistor R5 serves as an output terminal of the current sampler SAM1 .

[0176] In a specific implementation, the analog-to-digital converter ADC1 performs analog-to-digital conversion processing on the received sampled voltage signal to obtain an output voltage sequence, and transmits the output voltage sequence to the slave control unit 213 through the SPI3 interface.

[0177] In one or more embodiments, the amplitude value of the output voltage sequence may be determined by:

[0178] The analog-to-digital converter ADC1 reads the voltage value Vout in the sampled voltage signal, based on the power supply voltage Vcc provided by the power supply voltage terminal VCC, the amplification factor A3 of the current detection chip INA1, and the resistance value of the sampling resistor Rs, and uses the formula: The phase current Ipha of the motor 121 can be calculated;

[0179] For example, assuming that the voltage value read by the analog-to-digital converter ADC1 in the sampled voltage signal is: Vout=2V, the power supply voltage is: Vcc=3.3V, the amplification factor of the current detection chip INA1 is: A3=50, and the resistance value of the sampling resistor Rs is: Rs=10mΩ, then the phase current of the motor 121 is obtained as:

[0180]

[0181] After determining the phase current Ipha of the motor 121, the phase voltage Vpha at the first control terminal (A+) of the motor 121 can be calculated according to the internal resistance Rx of the motor 121, the resistance value of the sampling resistor Rs and the resistance value of the first feedback resistor R1, and using the formula: Vpha=Ipha×(Rs+Rx+R1), thereby determining the amplitude value of the output voltage sequence.

[0182] For example, assuming that the internal resistance of the motor 121 is: Rx=7Ω, the resistance value of the sampling resistor Rs is: Rs=10mΩ, and the resistance value of the first feedback resistor R1 is: R1=0.33Ω, then the obtained phase voltage Vpha of the motor 121 is: Vpha=Ipha×(Rs+Rx+R1)=0.7A×(10mΩ+7Ω+0.33Ω)=5.138V.

[0183] In the embodiment of the present invention, when the motor 121 is running at rated power, the speed of the motor 121 remains stable, and the phase current Ipha of the motor 121 is the rated current. At this time, the phase voltage Vpha of the motor 121 should be consistent with the amplitude value of the pulse sequence determined by the control module 12 according to the relevant control parameters of the motor 121;

[0184] When the motor 121 is running at high speed, the phase current Ipha of the motor 121 will decrease accordingly because the speed of the motor 121 is too fast. At this time, the phase voltage Vpha of the motor 121 will also decrease accordingly and be less than the amplitude value of the pulse sequence determined by the control module 12 according to the relevant control parameters of the motor 121;

[0185] When the motor 121 runs at a low speed, since the rotation speed of the motor 121 is too slow, the phase current Ipha of the motor 121 will increase accordingly. At this time, the phase voltage Vpha of the motor 121 will also increase accordingly and be greater than the amplitude value of the pulse sequence determined by the control module 12 according to the relevant control parameters of the motor 121.

[0186] In a specific implementation, after the control module 21 receives the above output voltage sequence through the SPI3 interface, the amplitude value of the output voltage sequence is compared with the amplitude value of the pulse sequence analyzed by the control module 21. If it is detected that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence:

[0187] When it is determined that the amplitude value of the output voltage sequence is less than the amplitude value of the pulse sequence, it indicates that the motor 121 is in a high-speed operation state and the speed of the motor 121 is too fast. At this time, a first control signal is generated to control the motor drive module 22 to increase the amplitude value of the target pulse signal to increase the current of the motor 121 when it is running at a high speed, so that the motor 121 can maintain the speed;

[0188] When it is determined that the amplitude value of the output voltage sequence is greater than the amplitude value of the pulse sequence, it means that the motor 121 is in a low-speed operation state and the rotation speed of the motor 121 is too slow. At this time, a first control signal is generated to control the motor drive module 22 to reduce the amplitude value of the target pulse signal to reduce the current of the motor 121 when running at a low speed, so that the motor 121 can maintain the rotation speed.

[0189] In an optional embodiment, if Fig.15 As shown, the feedback monitoring module 23 further includes a first voltage-dividing resistor R6, a second voltage-dividing resistor R7 and an inverting operational amplifier AMP1, wherein:

[0190] The first voltage-dividing resistor R6 is connected in series between the first DC / DC converter DC / DC1 and the analog-to-digital converter ADC1 in the feedback monitoring module 23, and the inverting operational amplifier AMP1 and the second voltage-dividing resistor R7 are connected in series between the second DC / DC converter DC / DC2 and the analog-to-digital converter ADC1 in sequence;

[0191] The first voltage-dividing resistor R6 is used to perform voltage-dividing processing on the positive target voltage signal, and transmit the processed voltage signal to the analog-to-digital converter ADC1, so that the analog-to-digital converter ADC1 generates a first feedback voltage sequence according to the processed voltage signal;

[0192] The second voltage-dividing resistor R7 is used to perform voltage-dividing processing on the negative target voltage signal, and transmit the processed voltage signal to the analog-to-digital converter ADC1, so that the analog-to-digital converter ADC1 generates a second feedback voltage sequence according to the processed voltage signal;

[0193] The control module 21 is specifically used to: compare the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence; if there is a first preset difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and there is a second preset difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, then generate a second control signal.

[0194] In a specific implementation, the first DC / DC converter DC / DC1 sends the generated positive target voltage signal to the first drive circuit 221, the second drive circuit 222 and the feedback monitoring module 23 respectively, wherein after receiving the positive target voltage signal, the feedback monitoring module 23 uses the first voltage-dividing resistor R6 to perform voltage reduction processing on it, for example, converting the 10V positive target voltage signal into a 2V voltage signal, and sending the voltage signal after voltage reduction processing to the analog-to-digital converter ADC1 for analog-to-digital conversion processing to obtain a first feedback voltage sequence;

[0195] The second DC / DC converter DC / DC2 sends the generated negative target voltage signal to the first drive circuit 221, the second drive circuit 222 and the feedback monitoring module 23 respectively, wherein after receiving the negative target voltage signal, the feedback monitoring module 23 first performs reverse amplification processing on it and converts it into a voltage signal with a positive voltage value, for example, converting a negative target voltage signal of -10V into a voltage signal of 15V; then uses the second voltage-dividing resistor R7 to step down the voltage signal with a positive voltage value, for example, converting a 15V voltage signal into a 1.8V voltage signal, and sends the voltage signal after the step-down processing to the analog-to-digital converter ADC1 for analog-to-digital conversion processing to obtain a second feedback voltage sequence.

[0196] It should be noted that the amplitude value of the first feedback voltage sequence and the amplitude value of the second feedback voltage sequence in the embodiment of the present invention may be the same or different, and the embodiment of the present invention does not impose any limitation on this.

[0197] In a specific implementation, after the feedback monitoring module 23 generates the first feedback voltage sequence and the second feedback voltage sequence, it sends them to the slave control unit 213 through the SPI3 interface; the slave control unit 213 compares the amplitude value of the first feedback voltage sequence with the amplitude value of the voltage sequence, and at the same time, the slave control unit 213 compares the amplitude value of the second feedback voltage sequence with the amplitude value of the voltage sequence:

[0198] When the control unit 213 determines that there is a first preset difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and determines that there is a second preset difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, it means that the positive target voltage signal and the negative target voltage signal generated by the voltage generating unit 71 meet the working requirements of the selected ultrasound probe 12. At this time, a second control signal is generated and transmitted to the motor drive unit 22. The motor drive unit 22 starts to work under the control of the second control signal. For example, the second control signal can be an enable signal of the first digital-to-analog converter DAC1.

[0199] For example, assuming that the first preset difference is 4.6V, the second preset difference is 4.8V, the amplitude value of the first feedback voltage sequence is 2V, the amplitude value of the second feedback voltage sequence is 1.8V, and the amplitude value of the voltage sequence is 6.6V, since the difference between the amplitude value of the voltage sequence and the amplitude value of the first feedback voltage sequence is 4.6V, which is the same as the first preset difference, and the difference between the amplitude value of the voltage sequence and the amplitude value of the second feedback voltage sequence is 4.8V, which is the same as the second preset difference, it means that the positive target voltage signal and the negative target voltage signal generated by the voltage generating module 71 meet the working requirements.

[0200] It should be noted that the first preset difference and the second preset difference in the embodiment of the present invention are related to the actual parameters of each electronic device in the feedback monitoring module 23, such as the gain of the first digital-to-analog converter DAC1, the resistance value of the first voltage-dividing resistor R6, the resistance value of the second voltage-dividing resistor R7, the gain of the reverse operational amplifier AMP1, etc. The staff can flexibly set them according to the actual circuit composition, and the embodiment of the present invention does not impose any restrictions on this.

[0201] When the control unit 213 determines that the difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence is not the first preset difference, or determines that the difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence is not the second preset difference, it means that the positive target voltage signal and the negative target voltage signal generated by the voltage generating unit 71 do not meet the actual business needs, that is, they cannot meet the working requirements of the selected ultrasonic probe 12. At this time, the control unit 213 generates an alarm signal to remind the staff to inspect and repair the ultrasonic diagnostic equipment.

[0202] In one or more embodiments, the control module 21 is specifically used to: compare the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence; if there is a first preset relationship between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and there is a second preset relationship between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, then generate a second control signal.

[0203] It should be noted that the first preset relationship and the second preset relationship in the embodiment of the present invention are related to the actual parameters of each electronic device in the feedback monitoring module 23, such as the gain of the first digital-to-analog converter DAC1, the resistance value of the first voltage-dividing resistor R6, the resistance value of the second voltage-dividing resistor R7, the gain of the reverse operational amplifier AMP1, etc. The staff can flexibly set them according to the actual circuit composition, and the embodiment of the present invention does not impose any restrictions on this.

[0204] In an optional embodiment, if Fig.16 As shown, the feedback monitoring module 23 is also used to: receive a centering detection signal HALL used to indicate that the sound head 122 is located at the middle position of the ultrasonic probe 12, and perform analog-to-digital conversion processing on the centering detection signal HALL to obtain a centering detection voltage sequence;

[0205] The control module 21 is also used to: detect the center detection voltage sequence based on a preset voltage range; if it is detected that there is no voltage value within the preset voltage range in the center detection voltage sequence within a preset time length, generate a third control signal for controlling the motor drive module 22 to stop working.

[0206] In a specific implementation, when the ultrasonic probe 12 moves normally, the centering detection signal HALL can identify the operational amplifier direction and position of the acoustic head 121. Whenever the acoustic head 122 moves to the middle position of the ultrasonic probe 12, the centering detection signal HALL will undergo a level jump, for example, the centering detection signal HALL jumps from a high level to a low level, or from a level to a high level. During the level jump process, the voltage value of the centering detection signal HALL will become a voltage value between the maximum voltage and the minimum voltage.

[0207] For example, Fig.17 FIG. 4 shows a waveform diagram of a centering detection signal HALL, such as Fig.17 As shown, when the acoustic head 122 moves to the middle position of the ultrasonic probe 12, the centering detection signal HALL jumps from a high level to a low level.

[0208] The feedback monitoring module 23 can obtain the working status of the acoustic head 121 in real time by collecting the voltage value of the centering detection signal HALL and feeding it back to the control module 21 for monitoring. For example, if the control module 21 detects that the amplitude value of the centering detection voltage sequence is a certain amplitude value between the maximum amplitude value and the minimum amplitude value within the preset time length, it means that the acoustic head 122 is working normally at this time; if the control module 21 has not detected that the amplitude value of the centering detection voltage sequence is a certain amplitude value between the maximum amplitude value and the minimum amplitude value within the preset time length, it means that the acoustic head 122 is working abnormally at this time, for example, the acoustic head 122 has a stall, shell or loss of step, etc., and the control module 21 generates a third control signal to control the motor drive module 22 to stop working, so that the ultrasonic probe 12 stops working, thereby reducing the damage to the ultrasonic probe 12.

[0209] Based on the same concept, an embodiment of the present invention also provides a probe control method for an ultrasonic diagnostic device, wherein the ultrasonic diagnostic device includes an ultrasonic probe and a motor control system that are electrically connected, wherein the ultrasonic probe includes a motor and an acoustic head, such as Fig.18 As shown, the method comprises the following steps:

[0210] Step S1801, sampling a target pulse signal to obtain a sampled voltage signal, and determining an output voltage sequence according to the sampled voltage signal, wherein the target pulse signal is used to control a motor;

[0211] Step S1802, generating a first control signal according to the pulse sequence and the output voltage sequence, wherein the pulse sequence is determined according to relevant control parameters of the motor;

[0212] Step S1803, under the control of the first control signal, adjusting the amplitude value of the target pulse signal, and transmitting the adjusted target pulse signal to the motor, wherein the target pulse signal is generated according to the pulse sequence;

[0213] Step S1804: under the control of the target pulse signal, the motor drives the acoustic head to swing.

[0214] Fig.19 FIG. 4 shows a complete flow chart of a motor control method provided by an embodiment of the present invention. Fig.19 As shown, the method comprises the following steps:

[0215] Step S1901, the ultrasonic diagnostic device is turned on, and the control module detects a signal indicating that the ultrasonic probe is in place;

[0216] Step S1902, the control module determines the configuration parameters of the ultrasonic probe according to the identification code of the ultrasonic probe, and analyzes the configuration parameters of the ultrasonic probe to determine the relevant control parameters of the motor;

[0217] Step S1903, the control module determines a pulse sequence and a voltage sequence according to relevant control parameters of the motor, and sends the pulse sequence to the motor drive module, and sends the voltage sequence to the voltage generation module, and enables the voltage generation module at the same time;

[0218] Step S1904, the voltage generation module generates a positive target voltage signal and a negative target voltage signal according to the voltage sequence, and sends the positive target voltage signal and the negative target voltage signal to the motor drive module and the feedback monitoring module respectively;

[0219] Step S1905, the feedback monitoring module generates a first feedback voltage sequence according to the positive target voltage signal, and generates a second feedback voltage sequence according to the negative target voltage signal, and sends the first feedback voltage sequence and the second feedback voltage sequence to the control module;

[0220] Step S1906: The control module detects the amplitude value of the first feedback voltage sequence and the amplitude value of the second feedback voltage sequence based on the amplitude value of the voltage sequence;

[0221] Step S1907, the control module determines whether the positive target voltage signal and the negative target voltage signal are the adaptation voltage of the ultrasound probe according to the detection result, if so, execute step S1908, otherwise, execute step S1920;

[0222] Step S1908, the control module generates a second control signal to enable the motor drive module;

[0223] Step S1909, the motor driving module generates a target pulse signal according to the pulse sequence, and sends the target pulse signal to the motor to control the operation of the motor;

[0224] Step S1910, the feedback monitoring module samples the target pulse signal to obtain a sampled voltage signal, determines an output voltage sequence according to the sampled voltage signal, and sends the output voltage sequence to the control module;

[0225] Step S1911, the control module determines whether the amplitude value of the output voltage sequence is equal to the amplitude value of the pulse sequence, if so, execute step S1912, otherwise, execute step S1913;

[0226] Step S1912, the control module does not generate a control signal to make the motor run stably;

[0227] Step S1913, the control module generates a first control signal, and sends the first control signal to the motor drive module;

[0228] Step S1914, the motor driving module adjusts the amplitude value of the target pulse signal under the control of the first control signal, thereby adjusting the motor;

[0229] Step S1915, the temperature monitoring module monitors the actual temperature of the components inside the motor driving module in real time, and sends the actual temperature to the control module;

[0230] Step S1916, the control module determines whether the actual temperature is less than a preset temperature threshold, if so, execute step S1912, otherwise, execute step S1917;

[0231] Step S1917, the control module generates a third control signal to control the motor drive module to stop working, and generates an alarm signal to inform the staff;

[0232] Step S1918, the feedback monitoring module obtains the centering detection signal, generates a centering detection voltage sequence according to the centering detection signal, and sends the centering detection voltage sequence to the control module;

[0233] Step S1919, the control module determines whether there is a voltage value within a preset voltage range in the center detection voltage sequence within a preset time length, if so, execute step S1912, otherwise, execute step S1917;

[0234] Step S1920, generating an alarm signal to inform the staff.

[0235] Fig. 20 FIG. 4 shows a complete flow chart of another motor control method provided by an embodiment of the present invention. Fig. 20 As shown, the method comprises the following steps:

[0236] Step S2001, the ultrasonic diagnostic device is turned on, and the control module does not detect the ultrasonic probe's in-place signal, and the ultrasonic diagnostic device enters a self-test mode;

[0237] Step S2002, the control module enables the voltage generation module and sends a test voltage sequence to the voltage generation module;

[0238] Step S2003, the voltage generation module generates a positive test voltage signal and a negative test voltage signal according to the test voltage sequence, and sends the positive test voltage signal and the negative test voltage signal to the motor drive module and the feedback monitoring module respectively;

[0239] Step S2004, the feedback monitoring module generates a first test voltage sequence according to the positive test voltage signal, and generates a second test voltage sequence according to the negative test voltage signal, and sends the first test voltage sequence and the second test voltage sequence to the control module;

[0240] Step S2005, the control module determines whether the amplitude value of the first test voltage sequence and the amplitude value of the second test voltage sequence are correct based on the amplitude value of the test voltage sequence, if so, execute step S2006, otherwise, execute step S2011;

[0241] Step S2006, the control module generates a second control signal to enable the motor drive module;

[0242] Step S2007, the motor driving module generates a test pulse signal according to the test pulse sequence;

[0243] Step S2008, the feedback monitoring module samples the test pulse signal to obtain a sampled test voltage signal, determines a third test voltage sequence according to the sampled test voltage signal, and sends the third test voltage sequence to the control module;

[0244] Step S2009, the control module determines whether the amplitude value of the third test voltage sequence is equal to the amplitude value of the test pulse sequence, if so, execute step S2010, otherwise, execute step S2011;

[0245] Step S2010, the control module outputs a self-test completion signal and controls the voltage generation module to stop working;

[0246] Step S2011: the control module generates an alarm signal to inform the staff.

[0247] Those skilled in the art may 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 ultrasonic diagnostic device, characterized in that: It includes an ultrasonic probe and a motor control system that are electrically connected, wherein: the ultrasonic probe includes a motor and an acoustic head, and the motor control system includes a control module, a motor drive module and a feedback monitoring module; The feedback monitoring module is electrically connected to the motor, the motor driving module and the control module respectively, and is used to sample the target pulse signal to obtain a sampled voltage signal, and determine an output voltage sequence according to the sampled voltage signal, wherein the target pulse signal is used to control the motor; The control module is also electrically connected to the motor drive module, and is used to generate a first control signal according to a pulse sequence and the output voltage sequence, wherein the pulse sequence is determined by the control module according to relevant control parameters of the motor; The motor driving module is also electrically connected to the motor, and is used to adjust the amplitude value of the target pulse signal under the control of the first control signal, and transmit the adjusted target pulse signal to the motor, wherein the target pulse signal is generated by the motor driving module according to the pulse sequence; The motor is used to drive the acoustic head to swing under the control of the target pulse signal.

2. The device according to claim 1, characterized in that The feedback monitoring module includes a sampling resistor, a current sampler and an analog-to-digital converter, wherein: The first end of the sampling resistor is electrically connected to the first input end of the current sampler and the first output end of the motor driving module respectively, and the second end of the sampling resistor is electrically connected to the second input end of the current sampler and the first control end of the motor respectively; The output terminal of the current sampler is electrically connected to the first input terminal of the analog-to-digital converter; The output terminal of the analog-to-digital converter is electrically connected to the first feedback terminal of the control module; The current sampler is used to obtain a first voltage value of a target pulse signal at a first end of the sampling resistor, and to obtain a second voltage value of a target pulse signal at a second end of the sampling resistor, and to perform voltage conversion processing on the first voltage value and the second voltage value to generate the sampled voltage signal; The analog-to-digital converter is used to perform analog-to-digital conversion processing on the sampled voltage signal to generate the output voltage sequence; The control module is specifically used for: Compare the amplitude value of the output voltage sequence with the amplitude value of the pulse sequence; if it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, generate the first control signal to control the motor drive module to increase the amplitude value of the target pulse signal, or to reduce the amplitude value of the target pulse signal.

3. The device according to claim 1, characterized in that The motor driving module includes a first digital-to-analog converter, a first driving unit and a second driving unit, wherein: The input end of the first digital-to-analog converter is electrically connected to the first output end of the control module, the first output end of the first digital-to-analog converter is electrically connected to the input end of the first driving unit, and the second output end of the first digital-to-analog converter is electrically connected to the input end of the second driving unit; The output end of the first driving unit is electrically connected to the input end of the feedback monitoring module and serves as the first output end of the motor driving module, and the feedback end of the first driving unit is electrically connected to the second control end of the motor; The output end of the second drive unit is electrically connected to the third control end of the motor and serves as the second output end of the motor drive module, and the feedback end of the second drive unit is electrically connected to the fourth control end of the motor; The first digital-to-analog converter is used to increase the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal under the control of the first control signal to increase the amplitude value of the target pulse signal, or to reduce the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal to reduce the amplitude value of the target pulse signal, wherein the first pulse sub-signal and the second pulse sub-signal are obtained by the first digital-to-analog converter performing a digital-to-analog conversion operation on the pulse sequence, and there is a preset phase difference between the first pulse sub-signal and the second pulse sub-signal; The first driving unit is used to amplify the first pulse sub-signal to obtain a first target pulse sub-signal; The second driving unit is used to amplify the second pulse sub-signal to obtain a second target pulse sub-signal, wherein the target pulse signal includes the first target pulse sub-signal and the second target pulse sub-signal.

4. The device according to claim 1, characterized in that The system also includes a voltage generation module; The voltage generation module is electrically connected to the control module, the motor drive module and the feedback monitoring module respectively; The voltage generating module is used to generate a positive target voltage signal and a negative target voltage signal according to a voltage sequence, wherein the positive target voltage signal and the negative target voltage signal are used to power the motor driving module, and the voltage sequence is determined by the control module according to the relevant control parameters; The feedback monitoring module is further used to: process the positive target voltage signal to generate a first feedback voltage sequence, and process the negative target voltage signal to generate a second feedback voltage sequence; The control module is further used to generate a second control signal according to the first feedback voltage sequence, the second feedback voltage sequence and the voltage sequence, wherein the second control signal is used to enable the motor drive module.

5. The device according to claim 4, characterized in that The voltage generation module includes: a second digital-to-analog converter, a first DC / DC converter and a second DC / DC converter, wherein: The input end of the second digital-to-analog converter is electrically connected to the second output end of the control module, the first output end of the second digital-to-analog converter is electrically connected to the input end of the first DC / DC converter, and the second output end of the second digital-to-analog converter is electrically connected to the input end of the second DC / DC converter; The second digital-to-analog converter is used to perform digital-to-analog conversion processing on the voltage sequence to generate a positive voltage signal and a negative voltage signal; The first DC / DC converter is used to perform voltage conversion processing on the positive voltage signal and output the positive target voltage signal; The second DC / DC converter is used to perform voltage conversion processing on the negative voltage signal and output the negative target voltage signal.

6. The device according to claim 5, characterized in that The feedback monitoring module further includes a first voltage-dividing resistor, a second voltage-dividing resistor and an inverting operational amplifier, wherein: The first voltage-dividing resistor is connected in series between the first DC / DC converter and the analog-to-digital converter in the feedback monitoring module, and the inverting operational amplifier and the second voltage-dividing resistor are connected in series between the second DC / DC converter and the analog-to-digital converter in sequence; The first voltage-dividing resistor is used to perform voltage-dividing processing on the positive target voltage signal, and transmit the processed voltage signal to the analog-to-digital converter, so that the analog-to-digital converter generates the first feedback voltage sequence according to the processed voltage signal; The second voltage-dividing resistor is used to perform voltage-dividing processing on the negative target voltage signal, and transmit the processed voltage signal to the analog-to-digital converter, so that the analog-to-digital converter generates the second feedback voltage sequence according to the processed voltage signal; The control module is specifically used to: compare the amplitude value of the first feedback voltage sequence with the amplitude value of the voltage sequence, and the amplitude value of the second feedback voltage sequence with the amplitude value of the voltage sequence; if there is a first preset difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and there is a second preset difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, then generate the second control signal.

7. The device according to claim 1, characterized in that It also includes a temperature monitoring module; The temperature monitoring module is connected in series between the temperature output terminal of the motor driving module and the second feedback terminal of the control module, and is used to obtain the actual temperature of the internal components of the motor driving module in real time when the motor driving module is working; The control module is further configured to generate a third control signal for controlling the motor drive module to stop working when the actual temperature is greater than a preset temperature threshold.

8. The device according to any one of claims 1 to 7, characterized in that: The feedback monitoring module is also used to: receive a centering detection signal used to indicate that the sound head is located at the middle position of the ultrasonic probe, and perform analog-to-digital conversion processing on the centering detection signal to obtain a centering detection voltage sequence; The control module is also used to: detect the center detection voltage sequence based on a preset voltage range; If it is detected within a preset time period that there is no voltage value within the preset voltage range in the center detection voltage sequence, a third control signal for controlling the motor drive module to stop working is generated.

9. A probe control method for ultrasonic diagnostic equipment, characterized in that: The ultrasonic diagnostic device comprises an ultrasonic probe and a motor control system which are electrically connected, the ultrasonic probe comprises a motor and an acoustic head, and the method comprises: Sampling a target pulse signal to obtain a sampled voltage signal, and determining an output voltage sequence according to the sampled voltage signal, wherein the target pulse signal is used to control a motor; generating a first control signal according to a pulse sequence and the output voltage sequence, wherein the pulse sequence is determined according to relevant control parameters of the motor; Under the control of the first control signal, adjusting the amplitude value of the target pulse signal, and transmitting the adjusted target pulse signal to the motor, wherein the target pulse signal is generated according to the pulse sequence; Under the control of the target pulse signal, the motor drives the acoustic head to swing.

10. The method according to claim 9, characterized in that The step of generating a first control signal according to the pulse sequence and the output voltage sequence comprises: comparing the amplitude value of the output voltage sequence with the amplitude value of the pulse sequence; If it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, the first control signal is generated to increase or decrease the amplitude value of the target pulse signal under the control of the first control signal.

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