Method and system for measuring rotating speed and angle of micro rotating equipment, equipment and medium

Abstract

The invention provides a rotating speed and angle measuring method and system for miniature rotating equipment, the equipment and a medium. The system comprises an ultrasonic transducer with a fixed position, a rotatable rotating part and a signal processing module, wherein the ultrasonic transducer is used for emitting ultrasonic light to a measuring surface of the rotating part to obtain an echo signal; the signal processing module is used for calculating the time from ultrasonic emission to ultrasonic receiving through the echo signals to obtain the ultrasonic distance, calculating the number of times of reciprocating repetition per second to obtain rotating speed information, decomposing one-time reciprocating change into a plurality of sections to obtain rotating angle information of the rotating component, and calculating the minimum value of the rotating angle according to the ultrasonic longitudinal resolution. Compared with an existing ultrasonic rotation speed measurement system which mainly depends on transverse resolution, angle and speed information with higher precision is obtained through longitudinal resolution; the invention is not only suitable for shaft-driven rotary conduits, such as flexible shaft driving, but also suitable for shaft-free-driven rotary conduits, such as water-driven turbines or magnetic-driven rotary conduits.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a method, system, device and medium for measuring the rotation speed and angle of a micro-rotating device. Background Art

[0002] Microcatheters are small tubular instruments that are widely used in the medical field, especially in interventional treatment and diagnosis. With the development of interventional imaging and treatment technology, doctors need to monitor the movement of catheters in real time to ensure the success of the operation and the safety of patients. When interventional catheters work in curved and narrow tubular organs or sharp-turning tissues (such as the intestine), the driving soft shaft encounters uneven friction and resistance during rotation, which hinders the smooth transmission of the motor torque, causing the head sensor (such as an ultrasonic transducer) to rotate along the circumference of the organ at an unstable speed, resulting in non-uniform rotation distortion (NURD), which leads to the appearance of image artifacts and seriously affects the doctor's judgment. For catheters used for treatment, it will cause uneven distribution of energy, resulting in deviations in the treatment area and affecting the treatment effect. Accurate measurement of rotation speed and angle can improve the operating accuracy of the catheter, reduce complications, and improve the treatment effect.

[0003] The existing scheme for detecting the rotation speed and angle information of micro-catheters is mainly through detecting the rotation speed and angle information of the external drive motor, which brings about the problems and disadvantages caused by the above-mentioned non-uniform rotation. For this reason, it is necessary to place the rotation speed or angle measurement element near the catheter head sensor to detect the rotation speed and angle, so that the most accurate information can be obtained. Traditional micro-encoders combine the detection element and the processing circuit together. The structure is relatively large, and the diameter is generally more than 10mm. Micro-catheters are usually thinner. For example, in the field of ultrasound, invasive ultrasound catheters are usually less than 3mm, and it is difficult to easily integrate existing equipment into micro-catheters. For this reason, it is necessary to design a miniature measurement system installed near the catheter head sensor to effectively identify the precise position.

[0004] Ultrasound can work stably in complex environments, is not affected by electromagnetic interference, and is suitable for dynamic measurement, so it can be used to measure rotation speed and angle. High-frequency ultrasound has high-precision and non-contact measurement capabilities. At the same time, high-frequency ultrasonic transducers are small in size, light in weight, and have a common transmitter and receiver, making them easy to integrate into devices such as micro-catheters. In addition, ultrasonic angular velocity sensors can achieve fast response and are suitable for real-time monitoring applications.

[0005] In the related art, there are existing micro-ultrasonic speed and angle measurement systems, such as the Chinese invention patent with application number CN202010562065.0, which discloses a circumferentially rotating micro-ultrasonic encoder that can obtain the angle and speed information of the micro-axis. The highest lateral resolution of a single-element ultrasonic transducer is the narrowest width of the ultrasonic beam. Since the ultrasonic wave is diffuse, in the near field, the beam width is roughly equal to the diameter of the transducer; in the far field, the beam diffuses and increases with the distance. Therefore, the lateral resolution of the ultrasound image is significantly lower than the longitudinal resolution. This patent uses the lateral resolution of ultrasound. For an ultrasonic signal or image that rotates 360 degrees, the lateral resolution of the ultrasound image is lower than the longitudinal resolution. Therefore, the full-circle angle subdivision cannot be made much, and the external circumferential element will increase the diameter of the catheter, which is contrary to the current direction of the development of micro-catheters that are becoming thinner and thinner; on the other hand, this patent is mainly for rotating catheters with shaft drives and is not suitable for shaftless driven catheters. For example, the Chinese invention patent with application number CN202310075463.3 cannot effectively identify the rotation speed and angle of the magnetic drive without a flexible shaft, resulting in the mismatch between the software image and the actual rotation position, which restricts the imaging effect and application.

[0006] Therefore, it is necessary and meaningful to design a measurement system that can measure the rotation angle and speed of a shaftless drive catheter and can obtain a micro device with more subdivision lines. Summary of the invention

[0007] In order to achieve the above-mentioned purpose and other advantages of the present invention, the first purpose of the present invention is to provide a micro-rotating device speed and angle measurement system, including a fixed position ultrasonic transducer, a rotatable rotating component, and a signal processing module; wherein,

[0008] The ultrasonic transducer is used to emit ultrasound to the measuring surface of the rotating component to obtain an echo signal;

[0009] The signal processing module is used to calculate the time from ultrasound emission to reception through the echo signal to obtain the ultrasonic distance, calculate the number of reciprocating repetitions per second to obtain the rotation speed information, decompose one reciprocating change into several segments to obtain the rotation angle information of the rotating component, and calculate the minimum rotation angle with the ultrasonic longitudinal resolution.

[0010] Furthermore, the rotating component is a rotating cylinder, and the ultrasonic transducer is fixed at a position deviating from the center of the axis.

[0011] Furthermore, the rotating cylinder is configured as a cylinder and a flexible shaft probe end, and the cylinder is mounted on the flexible shaft probe end.

[0012] Furthermore, the rotating cylinder is configured as a turbine, and the ultrasonic transducer is fixed at the front end of the micro-rotation device.

[0013] Furthermore, the rotating cylinder is configured as a reflective acoustic mirror, and the ultrasonic transducer is fixed to the proximal end of the micro-rotating device interface.

[0014] Furthermore, the measuring surface on the cylinder is an inclined surface or a helical surface.

[0015] Furthermore, the measuring surface on the cylinder is cut into a stepped surface.

[0016] Furthermore, the step thickness of the step surface is greater than the ultrasonic longitudinal resolution.

[0017] Furthermore, the measuring surface on the turbine is an interface with alternating strong reflection and no reflection, or the side surface of the turbine is grooved to form alternating long and short distances.

[0018] Furthermore, the number of the ultrasonic transducers is two, and the two ultrasonic transducers are arranged 90° apart to achieve finer angular resolution and realize rotation direction detection.

[0019] The second object of the present invention is to provide a method for measuring the rotation speed and angle of a micro-rotating device, based on the above system, comprising the following steps:

[0020] Acquiring an echo signal collected by the ultrasonic transducer;

[0021] Calculate the time from ultrasound emission to ultrasound reception according to the echo signal to obtain the ultrasound distance;

[0022] Calculate the number of reciprocating repetitions of the echo signal per second to obtain rotation speed information;

[0023] Decomposing the reciprocating change of the echo signal into several segments to obtain the rotation angle information of the rotating component;

[0024] The minimum rotation angle was calculated using the ultrasound longitudinal resolution.

[0025] Furthermore, the method further comprises the steps of:

[0026] Acquire echo signals collected by the two ultrasonic transducers arranged 90 degrees apart to obtain echo signals of A / B phase signals;

[0027] The rotation direction is detected by the echo signal of the A / B phase signal and a finer angle resolution is achieved.

[0028] A third object of the present invention is to provide a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0029] A fourth object of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the above method when executed by a processor.

[0030] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0031] An ultrasonic detection method based on longitudinal resolution is proposed: compared with the existing ultrasonic system which mainly relies on lateral resolution, the present invention utilizes longitudinal resolution to obtain higher-precision angle and velocity information.

[0032] Applicability of shaftless drive: This technology is not only applicable to rotating conduits with shaft drive (such as flexible shaft drive), but also to rotating conduits without shaft drive (such as water-driven turbines or magnetically driven rotating conduits).

[0033] Signal segmentation and direction detection: Two transducers output orthogonal A / B phase signals to achieve finer angular resolution and detect the direction of rotation.

[0034] Maintaining the original catheter diameter: The device provided by the present invention does not increase the diameter of the original catheter, thereby achieving better narrow area penetration performance and a wider range of applications.

[0035] The main application prospects of the present invention include:

[0036] Medical devices: In medical fields such as minimally invasive surgery and catheter operation, the ultrasonic encoder can provide high-precision angle and speed feedback for rotating equipment, helping to improve surgical accuracy and image quality.

[0037] Robotics and Automation: In robotic systems where precision control is required, miniature ultrasonic encoders can provide accurate position control of rotating parts.

[0038] Consumer Electronics: This technology can also be applied in space-constrained consumer electronic devices for rotation control and angle detection.

[0039] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0041] Figure 1This is a schematic diagram of the speed and angle measurement system for micro-rotating equipment;

[0042] Figure 2 This is the working principle diagram of ultrasonic velocity and angle measurement;

[0043] Figure 3 Calculate graphs for ultrasonic measurement angle and rotation speed;

[0044] Figure 4 Schematic diagram of the micro-catheter measurement system driven by a flexible shaft;

[0045] Figure 5 Schematic diagram of micro-catheter measurement system driven by other methods Figure 1 ;

[0046] Figure 6 Schematic diagram of micro-catheter measurement system driven by other methods Figure 2 ;

[0047] Figure 7 It is a schematic diagram of a spiral surface;

[0048] Figure 8 Indicates the stepped surface Figure 1 ;

[0049] Fig. 9 Indicates the stepped surface Figure 2 ;

[0050] Fig.10 Schematic diagram of the turbine-driven micro-catheter measurement system;

[0051] Fig.11 is a schematic diagram of a turbine;

[0052] Fig.12 The flow chart of the method for measuring the rotation speed and angle of a micro-rotating device;

[0053] Fig.13 This is a schematic diagram of a computer device in Example 3;

[0054] Fig.14 This is a schematic diagram of a computer-readable storage medium of Example 4. DETAILED DESCRIPTION

[0055] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. It should be noted that, under the premise of no conflict, the embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0056] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0057] The figure numbers in this application are only used to distinguish the various steps in the scheme, and are not used to limit the execution order of the various steps. The specific execution order is subject to the description in the specification.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0059] Example 1

[0060] A micro-rotating device speed and angle measurement system 1, such as Figure 1 As shown, the system includes a fixed ultrasonic transducer 100, a rotatable rotating component 110, and a signal processing module 120; wherein,

[0061] The ultrasonic transducer is used to emit ultrasound to the measuring surface of the rotating component to obtain an echo signal;

[0062] The signal processing module is used to calculate the time from ultrasound emission to reception through the echo signal to obtain the ultrasonic distance, calculate the number of reciprocating repetitions per second to obtain the rotation speed information, decompose one reciprocating change into several segments to obtain the rotation angle information of the rotating component, and calculate the minimum rotation angle with the ultrasonic longitudinal resolution.

[0063] Among them, the micro-rotating device can be configured as a rotating device in medical fields such as minimally invasive surgery and catheter operation, for example, a micro-catheter, etc. The speed and angle measurement system of the micro-rotating device can provide high-precision angle and speed feedback for the rotating device, which helps to improve surgical accuracy and image quality.

[0064] The micro-rotation device can also be configured as a rotating component in a robot system with high precision control requirements. The micro-rotation device speed and angle measurement system can provide precise position control for the rotating component in the robot system.

[0065] The micro rotating device can also be configured as a space-constrained consumer electronic device, and the micro rotating device rotation speed and angle measurement system is used for rotation control and angle detection.

[0066] For the convenience of description, the present invention is illustrated by taking the micro-rotation device as a micro-catheter, which should not be understood as a limitation on the type of the micro-rotation device.

[0067] In some embodiments, the rotating component is a rotating cylinder, and the ultrasonic transducer is fixed at a position deviating from the center of the axis. Optionally, the measuring surface on the cylinder is an inclined surface or a helical surface.

[0068] like Figure 2 As shown in the figure, the ultrasonic transducer is fixed in position, the rotating cylinder rotates, and the ultrasound emitted by the ultrasonic transducer is irradiated on the inclined surface of the cylinder to obtain an echo signal. The time from ultrasound emission to reception is calculated to obtain the ultrasonic distance. When the cylinder rotates, the ultrasonic echo will change back and forth in the time domain. The number of reciprocating repetitions per second can be calculated to obtain the rotation speed information. By decomposing one reciprocating change into several segments, the cylinder rotation angle information can be obtained.

[0069] The speed calculation formula is:

[0070] S=1 / T

[0071] S is the speed, T is Figure 3 Cycle times shown.

[0072] Theoretically, as long as the echo sampling rate is high enough, the rotation angle resolution can be small enough, but in actual engineering, it is impossible to achieve the ideal situation. Generally, the minimum rotation angle is calculated based on the longitudinal resolution r. The calculation formula is:

[0073] X=360 / ((D / r)*2)

[0074] X is the minimum angle, D is Figure 3 The echo measurement distance change value shown is r, and the longitudinal resolution is r.

[0075] It should be noted that the measuring surface on the cylinder can be not only an inclined surface but also a helical surface. The waveform finally formed by the helical surface is a triangular wave. The rotation speed measurement and angle recognition can also be performed according to the above principle. Figure 7 shown.

[0076] In addition, in order to enhance the amplitude of the echo signal and facilitate better processing, the inclined surface or spiral surface can be further cut into stepped surfaces, such as Figure 8 , Fig. 9 The position change can be achieved by laser etching different step thicknesses, and the step thickness change is preferably greater than the ultrasonic longitudinal resolution, so that the step number limit value can be obtained to be equal to X.

[0077] This embodiment provides two installation forms for measuring the rotation speed and angle of the micro-catheter. One is a rotating micro-catheter driven by a flexible shaft, and the second is a rotating micro-catheter driven by other forms, such as a water turbine driven rotating device or a magnetic driven rotating device.

[0078] like Figure 4As shown, for the micro-catheter 2 driven to rotate by a flexible shaft, the rotating cylinder 110 is configured as a cylinder 111 and a flexible shaft probe end 3, the cylinder 111 is installed on the flexible shaft probe end 3, the ultrasonic transducer 100 is located at a fixed position offset from the center of the axis, and the rotation of the flexible shaft drives the cylinder 111 to rotate at the same time, thereby obtaining a change in distance.

[0079] For rotating catheters driven by other forms, the cylinder is also connected to the rotating element, and the detection transducer is installed off the center of the circle to obtain the distance change. There are two typical installation positions, such as Figure 5 As shown, the ultrasonic transducer 100 is fixed at the front end of the micro-catheter 2, and the rotating component 110 such as the turbine 4 is an inclined cylinder, that is, the rotating cylinder is configured as a turbine; Figure 6 As shown, the ultrasonic transducer 100 is fixed to the proximal end of the interface of the micro-catheter 2, and the reflecting acoustic mirror 5 is used as a rotating cylinder, that is, the rotating cylinder is configured as a reflecting acoustic mirror.

[0080] The rotation speed and angle measurement system provided in this embodiment is also applicable to the micro-catheter 2 driven by the turbine 4, such as Fig.10 shown. Fig.11 These are the front and side views of the turbine. From the side view, we can see that the turbine itself has an interface with alternating strong reflection and no (weak) reflection. Therefore, this interface can be used to measure the angle and speed. Fig.10 As shown, the grooves 41 on the side of the turbine 4 form alternating distances, which can also achieve the measurement function.

[0081] In some embodiments, by utilizing two transducers arranged 90 degrees apart, the output orthogonal signals (A / B phase signals) can also be measured, where the A phase and B phase signals represent two different channels, respectively, with a 90 degree phase difference, thereby providing directional information and can be further subdivided into 4 to achieve finer resolution.

[0082] This embodiment provides a micro-rotation device speed and angle measurement system, which can not only improve the angle measurement resolution of a micro-catheter with a shaft drive, but also can be used to detect the speed and angle accuracy of a micro-catheter without a shaft drive. The system uses the change measurement of the longitudinal direction of the ultrasonic transducer, which not only does not increase the diameter of the micro-catheter, but also can obtain more accurate resolution, more lines and a wider range of applications.

[0083] Example 2

[0084] A method for measuring the rotation speed and angle of a micro-rotating device is provided, based on the above system. For a detailed description of the system, reference can be made to the corresponding description in the above system embodiment, which will not be repeated here. Fig.12 As shown, the method comprises the following steps:

[0085] S1. Acquire the echo signal collected by the ultrasonic transducer;

[0086] The ultrasonic transducer is fixed in position and the rotating component can rotate. The ultrasonic transducer emits ultrasound waves to illuminate the measuring surface of the rotating component to obtain an echo signal, and the signal processing module obtains the echo signal collected by the ultrasonic transducer;

[0087] S2. Calculate the time from ultrasound emission to ultrasound reception according to the echo signal to obtain the ultrasound distance;

[0088] S3, calculating the number of reciprocating repetitions of the echo signal per second to obtain rotation speed information;

[0089] S4, decomposing the reciprocating change of the echo signal into several segments to obtain the rotation angle information of the rotating component;

[0090] S5. Calculate the minimum rotation angle using the ultrasound longitudinal resolution.

[0091] Among them, the micro-rotating device can be configured as a rotating device in medical fields such as minimally invasive surgery and catheter operation, for example, a micro-catheter, etc. The speed and angle measurement system of the micro-rotating device can provide high-precision angle and speed feedback for the rotating device, which helps to improve surgical accuracy and image quality.

[0092] The micro-rotation device can also be configured as a rotating component in a robot system with high precision control requirements. The micro-rotation device speed and angle measurement system can provide precise position control for the rotating component in the robot system.

[0093] The micro rotating device can also be configured as a space-constrained consumer electronic device, and the micro rotating device rotation speed and angle measurement system is used for rotation control and angle detection.

[0094] For the convenience of description, the present invention is illustrated by taking the micro-rotation device as a micro-catheter, which should not be understood as a limitation on the type of the micro-rotation device.

[0095] In some embodiments, the rotating component is a rotating cylinder, and the ultrasonic transducer is fixed at a position deviating from the center of the axis. Optionally, the measuring surface on the cylinder is an inclined surface or a helical surface.

[0096] like Figure 2As shown in the figure, the ultrasonic transducer is fixed in position, the rotating cylinder rotates, and the ultrasound emitted by the ultrasonic transducer is irradiated on the inclined surface of the cylinder to obtain an echo signal. The time from ultrasound emission to reception is calculated to obtain the ultrasonic distance. When the cylinder rotates, the ultrasonic echo will change back and forth in the time domain. The number of reciprocating repetitions per second can be calculated to obtain the rotation speed information. By decomposing one reciprocating change into several segments, the cylinder rotation angle information can be obtained.

[0097] The speed calculation formula is:

[0098] S=1 / T

[0099] S is the speed, T is Figure 3 Cycle times shown.

[0100] Theoretically, as long as the echo sampling rate is high enough, the rotation angle resolution can be small enough, but in actual engineering, it is impossible to achieve the ideal situation. Generally, the minimum rotation angle is calculated based on the longitudinal resolution r. The calculation formula is:

[0101] X=360 / ((D / r)*2)

[0102] X is the minimum angle, D is Figure 3 The echo measurement distance change value shown is r, and the longitudinal resolution is r.

[0103] It should be noted that the measuring surface on the cylinder can be not only an inclined surface but also a helical surface. The waveform finally formed by the helical surface is a triangular wave. The rotation speed measurement and angle recognition can also be performed according to the above principle. Figure 7 shown.

[0104] In addition, in order to enhance the amplitude of the echo signal and facilitate better processing, the inclined surface or spiral surface can be further cut into stepped surfaces, such as Figure 8 , Fig. 9 The position change can be achieved by laser etching different step thicknesses, and the step thickness change is preferably greater than the ultrasonic longitudinal resolution, so that the step number limit value can be obtained to be equal to X.

[0105] This embodiment provides two installation forms for measuring the rotation speed and angle of the micro-catheter. One is a rotating micro-catheter driven by a flexible shaft, and the second is a rotating micro-catheter driven by other forms, such as a water turbine driven rotating device or a magnetic driven rotating device.

[0106] like Figure 4As shown, for the micro-catheter 2 driven to rotate by a flexible shaft, the rotating cylinder 110 is configured as a cylinder 111 and a flexible shaft probe end 3, the cylinder 111 is installed on the flexible shaft probe end 3, the ultrasonic transducer 100 is located at a fixed position offset from the center of the axis, and the rotation of the flexible shaft drives the cylinder 111 to rotate at the same time, thereby obtaining a change in distance.

[0107] For rotating catheters driven by other forms, the cylinder is also connected to the rotating element, and the detection transducer is installed off the center of the circle to obtain the distance change. There are two typical installation positions, such as Figure 5 As shown, the ultrasonic transducer 100 is fixed at the front end of the micro-catheter 2, for example, it can be fixed on a stopper, and the rotating component 110 such as the turbine 4 is an inclined cylinder, that is, the rotating cylinder is configured as a turbine; Figure 6 As shown, the ultrasonic transducer 100 is fixed to the proximal end of the interface of the micro-catheter 2, for example, it can be fixed on the transducer fixing piece, and the reflecting acoustic mirror 5 is used as a rotating cylinder, that is, the rotating cylinder is configured as a reflecting acoustic mirror.

[0108] The rotation speed and angle measurement system provided in this embodiment is also applicable to the micro-catheter 2 driven by the turbine 4, such as Fig.10 shown. Fig.11 These are the front and side views of the turbine. From the side view, we can see that the turbine itself has an interface with alternating strong reflection and no (weak) reflection. Therefore, this interface can be used to measure the angle and speed. Fig.10 As shown, the grooves 41 on the side of the turbine 4 form alternating distances, which can also achieve the measurement function.

[0109] In some embodiments, by using two transducers arranged 90 degrees apart, the output orthogonal signal (A / B phase signal) can also be measured, and the A phase and B phase signals represent two different channels respectively, with a 90-degree phase difference, thereby providing direction information and can be further subdivided to achieve finer resolution. Accordingly, the steps are also included:

[0110] Acquire echo signals collected by the two ultrasonic transducers arranged 90 degrees apart to obtain echo signals of A / B phase signals;

[0111] The rotation direction is detected by the echo signal of the A / B phase signal and a finer angle resolution is achieved.

[0112] This embodiment provides a method for measuring the rotation speed and angle of a micro-rotating device, which can not only improve the angle measurement resolution of a micro-catheter with a shaft drive, but also be used to detect the rotation speed and angle precision information of a micro-catheter without a shaft drive. The method uses the change measurement of the longitudinal direction of the ultrasonic transducer, which not only does not increase the diameter of the micro-catheter, but also can obtain more accurate resolution, more lines and a wider range of applications.

[0113] Example 3

[0114] A computer device 500, such as Fig.13 As shown, it includes a memory 510, a processor 520, and a computer program 530 stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a method for measuring the rotation speed and angle of a micro-rotating device are implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0115] Example 4

[0116] A computer readable storage medium such as Fig.14 As shown, a computer program is stored thereon, and when the computer program is executed by the processor, the steps of a method for measuring the rotation speed and angle of a micro-rotating device are implemented. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, and no further description is given here.

[0117] Example 5

[0118] A computer program product, the computer program product comprising a computer program, the computer program when executed by a processor to implement the steps of a method for measuring the rotation speed and angle of a micro-rotating device. For a detailed description of the method, reference may be made to the corresponding description in the above method embodiment, which will not be repeated here.

[0119] The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.

[0120] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

[0121] The apparatus, computer device, non-volatile computer storage medium and method provided in the embodiments of this specification correspond to each other, and therefore, the apparatus, computer device and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, computer device and non-volatile computer storage medium will not be repeated here.

[0122] Those skilled in the art also know that, in addition to implementing the controller in a purely computer-readable program code, the controller can be made to implement the same function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered as a hardware component, and the devices for implementing various functions included therein can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software units for implementing the method and structures within the hardware component.

[0123] The systems, devices or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described separately by functions in various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or more software and / or hardware.

[0124] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may be in the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of this specification may be in the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0125] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0126] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0128] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0129] The specification may be described in the general context of computer-executable instructions executed by a computer, such as program units. Generally, program units include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program units may be located in local and remote computer storage media, including storage devices.

[0130] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0131] The above description is only an embodiment of this specification and is not intended to limit one or more embodiments of this specification. For those skilled in the art, one or more embodiments of this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of this specification shall be included in the scope of the claims of one or more embodiments of this specification.

Claims

1. A micro-rotating device speed and angle measurement system, characterized in that: It includes a fixed ultrasonic transducer, a rotatable rotating component, and a signal processing module; wherein, The ultrasonic transducer is used to emit ultrasound to the measuring surface of the rotating component to obtain an echo signal; The signal processing module is used to calculate the time from ultrasound emission to reception through the echo signal to obtain the ultrasonic distance, calculate the number of reciprocating repetitions per second to obtain the rotation speed information, decompose one reciprocating change into several segments to obtain the rotation angle information of the rotating component, and calculate the minimum rotation angle with the ultrasonic longitudinal resolution.

2. A micro-rotating device speed and angle measurement system as claimed in claim 1, characterized in that: The rotating component is a rotating cylinder, and the ultrasonic transducer is fixed at a position deviating from the center of the axis.

3. A micro-rotating device speed and angle measurement system as claimed in claim 2, characterized in that: The rotating cylinder is configured as a cylinder and a flexible shaft probe end, and the cylinder is installed on the flexible shaft probe end.

4. A micro-rotating device speed and angle measurement system as claimed in claim 2, characterized in that: The rotating cylinder is configured as a turbine, and the ultrasonic transducer is fixed at the front end of the micro-rotation device.

5. A micro-rotating device speed and angle measurement system as claimed in claim 2, characterized in that: The rotating cylinder is configured as a reflective acoustic mirror, and the ultrasonic transducer is fixed to the proximal end of the micro-rotation device interface.

6. A micro-rotating device speed and angle measurement system as claimed in claim 3, characterized in that: The measuring surface on the cylinder is an inclined surface or a helical surface.

7. A micro-rotating device speed and angle measurement system as claimed in claim 6, characterized in that: The measuring surface on the cylinder is cut into a stepped surface.

8. A micro-rotating device speed and angle measurement system as claimed in claim 7, characterized in that: The step thickness of the step surface is greater than the ultrasonic longitudinal resolution.

9. A micro-rotating device speed and angle measurement system as claimed in claim 4, characterized in that: The measuring surface on the turbine is an interface with alternating strong reflection and no reflection, or the side surface of the turbine is grooved to form alternating long and short distances.

10. A micro-rotating device speed and angle measurement system as claimed in claim 1, characterized in that: The number of the ultrasonic transducers is two, and the two ultrasonic transducers are arranged 90° apart to achieve finer angular resolution and realize rotation direction detection.

11. A method for measuring the rotation speed and angle of a micro-rotating device, based on the system according to any one of claims 1 to 10, characterized in that: The following steps are involved: Acquiring an echo signal collected by the ultrasonic transducer; Calculate the time from ultrasound emission to ultrasound reception according to the echo signal to obtain the ultrasound distance; Calculate the number of reciprocating repetitions of the echo signal per second to obtain rotation speed information; Decomposing the reciprocating change of the echo signal into several segments to obtain the rotation angle information of the rotating component; The minimum rotation angle was calculated using the ultrasound longitudinal resolution.

12. A method for measuring the rotation speed and angle of a micro-rotating device as claimed in claim 11, characterized in that: Also includes the steps: Acquire echo signals collected by the two ultrasonic transducers arranged 90 degrees apart to obtain echo signals of A / B phase signals; The rotation direction is detected by the echo signal of the A / B phase signal and a finer angle resolution is achieved.

13. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 11 to 12 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 11 to 12 are implemented.

Images