Method and system for measuring the rotation speed and angle of a micro-rotating device, device, medium

Abstract

The application provides a micro rotary equipment rotation speed and angle measurement method and system, equipment and a medium, the system comprises a position-fixed ultrasonic transducer, a rotatable rotating part and a signal processing module; the ultrasonic transducer is used for emitting ultrasonic to the measuring surface of the rotating part to obtain an echo signal; the signal processing module is used for calculating the ultrasonic distance by the time from emission to reception of the echo signal, obtaining the rotation speed information by the reciprocal number per second, decomposing the one-time reciprocal change into several segments to obtain the rotation angle information of the rotating part, and calculating the minimum rotation angle by the ultrasonic longitudinal resolution. Compared with the existing ultrasonic rotation speed measurement system which mainly depends on the transverse resolution, the application utilizes the longitudinal resolution to obtain higher precision angle and speed information; the application is not only suitable for shaft-driven rotary catheters, such as soft shaft driving, but also suitable for shaftless rotary catheters, such as water-driven turbines or magnetic-driven rotary catheters.

Description

Technical Field

[0001] This invention relates to the field of detection technology, and in particular to methods, systems, devices, and media for measuring the rotational speed and angle of micro rotating devices. Background Technology

[0002] Miniature catheters are tiny tubular instruments widely used in the medical field, particularly in interventional therapy and diagnosis. With the development of interventional imaging and treatment technologies, physicians need to monitor catheter movement in real time to ensure surgical success and patient safety. When interventional catheters operate in tortuous, narrow lumens or sharply turning tissues (such as the intestines), uneven friction and resistance encountered by the drive shaft during rotation hinders the smooth transmission of motor torque. This causes instability in the rotational speed of the head sensor (e.g., ultrasound transducer) along the organ's circumference, resulting in non-uniform rotational distortion (NURD). This leads to image artifacts and severely affects physician judgment. For catheters used in treatment, it can cause uneven energy distribution, resulting in deviations in the treatment area and affecting treatment outcomes. Accurate measurement of rotational speed and angle can improve catheter operation precision, reduce complications, and improve treatment results.

[0003] Existing methods for detecting the rotational speed and angle of microcatheters primarily rely on the rotational speed and angle of an external drive motor. This leads to the problems and drawbacks associated with the aforementioned non-uniform rotation. Therefore, it is necessary to place the rotational speed or angle measuring element near the sensor at the catheter tip for accurate measurement. Traditional microencoders combine the sensing element and processing circuitry, resulting in relatively large structures, typically with diameters exceeding 10mm. Microcatheters, however, are usually much thinner; for example, in ultrasound, interventional ultrasound catheters are typically less than 3mm, making it difficult to easily integrate existing equipment. Therefore, a micro-measurement system installed near the sensor at the catheter tip is needed to effectively identify precise positions.

[0004] Ultrasonic technology can operate stably in complex environments, unaffected by electromagnetic interference, making it suitable for dynamic measurements. Therefore, it can be used to measure rotational speed and angle. High-frequency ultrasound offers high precision and non-contact measurement capabilities. Furthermore, high-frequency ultrasonic transducers are small, lightweight, and integrate both transmitter and receiver, facilitating integration into devices such as micro-catheters. In addition, ultrasonic angular velocity sensors provide rapid response, making them suitable for real-time monitoring applications.

[0005] In related technologies, existing miniature ultrasonic rotation speed and angle measurement systems, such as Chinese invention patent application number CN202010562065.0, disclose a circumferentially rotating miniature ultrasonic encoder that can obtain angle and rotation speed information of a miniature shaft. The highest lateral resolution of a single-element ultrasonic transducer is the narrowest width of the ultrasonic beam. Because ultrasonic waves diffuse, in the near field, the beam width is approximately equal to the transducer diameter; in the far field, the beam diffuses and increases with distance. Therefore, the lateral resolution of ultrasonic images is significantly lower than the longitudinal resolution. This patent uses the lateral resolution of ultrasound. For ultrasonic signals or images rotating 360 degrees, the lateral resolution is even lower than the longitudinal resolution, thus limiting the subdivision of the entire circumference angle. Furthermore, external circumferential elements increase the diameter of the catheter, contradicting the current trend of increasingly thinner miniature catheters. On the other hand, this patent primarily targets shaft-driven rotating catheters and is not applicable to shaftless catheters. For example, the Chinese invention patent with application number CN202310075463.3 cannot effectively identify the rotation speed and angle of magnetically driven, non-flexible shaft rotation, resulting in a 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 capable of measuring the rotation angle and speed of shaftless driven conduits and to obtain a miniature device with a higher subdivision line count. Summary of the Invention

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

[0008] The ultrasonic transducer is used to emit ultrasonic waves that are projected onto the measuring surface of the rotating component to obtain an echo signal.

[0009] The signal processing module is used to calculate the ultrasonic distance by measuring the time from ultrasonic transmission to reception using the echo signal, calculate the number of reciprocating cycles per second to obtain rotational 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 ultrasonic longitudinal resolution.

[0010] Furthermore, the rotating component is a rotating cylinder, and the ultrasonic transducer is fixed at an off-axis center position.

[0011] Furthermore, the rotating cylinder is configured as a cylinder and a flexible shaft probe end, with the cylinder 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 foremost end of the micro-rotating device.

[0013] Furthermore, the rotating cylinder is configured as a reflecting 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 stepped surface is greater than the longitudinal resolution of the ultrasound.

[0017] Furthermore, the measuring surface on the turbine is an interface with alternating strong reflection and non-reflection, or the turbine side is grooved to form alternating distances.

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

[0019] A second objective of this invention is to provide a method for measuring the rotational speed and angle of a miniature rotating device, based on the aforementioned system, comprising the following steps:

[0020] Acquire the echo signal collected by the ultrasonic transducer;

[0021] The ultrasonic distance is obtained by calculating the time from ultrasonic transmission to reception based on the echo signal.

[0022] The rotational speed information is obtained by calculating the number of repetitions per second of the echo signal;

[0023] The echo signal is decomposed into several segments in a single reciprocating change to obtain the rotation angle information of the rotating component;

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

[0025] Furthermore, it also includes the following steps:

[0026] The echo signals collected by the two ultrasonic transducers positioned 90° apart are obtained to obtain the echo signals of the A / B phase signals.

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

[0028] A third objective of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

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

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

[0031] An ultrasonic detection method based on longitudinal resolution is proposed: Compared with existing ultrasonic systems that mainly rely on lateral resolution, this invention utilizes longitudinal resolution to obtain higher precision angle and velocity information.

[0032] Applicability of shaftless drive: This technology is applicable not only to shaft-driven rotary ducts (such as flexible shaft drives) but also to shaftless rotary ducts (such as water-driven turbines or magnetically driven rotary ducts).

[0033] Signal subdivision and direction detection: By outputting orthogonal A / B phase signals through two transducers, a finer angular resolution can be achieved, and the rotation direction can be detected.

[0034] Maintaining the original catheter diameter: The device provided by this invention can achieve better narrow area passage performance and a wider range of applications without increasing the original catheter diameter.

[0035] The main application prospects of this invention include:

[0036] Medical devices: In medical fields such as minimally invasive surgery and catheterization, this ultrasonic encoder can provide high-precision angle and speed feedback for rotating devices, which helps to improve surgical accuracy and image quality.

[0037] Robotics and Automation: In robotic systems with high precision control requirements, miniature ultrasonic encoders can provide precise position control for rotating parts.

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

[0039] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0040] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0041] Figure 1Schematic diagram of a micro-rotating device speed and angle measurement system;

[0042] Figure 2 This is a schematic diagram illustrating the working principle of ultrasonic velocity and angle measurement.

[0043] Figure 3 A diagram showing the calculation of ultrasonic measurement angles and rotational speeds;

[0044] Figure 4 A schematic diagram of a flexible shaft driven microcatheter measurement system;

[0045] Figure 5 Schematic diagram of a microcatheter measurement system driven by other methods Figure 1 ;

[0046] Figure 6 Schematic diagram of a microcatheter measurement system driven by other methods Figure 2 ;

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

[0048] Figure 8 A schematic diagram of a stepped surface Figure 1 ;

[0049] Figure 9 A schematic diagram of a stepped surface Figure 2 ;

[0050] Figure 10 A schematic diagram of a turbine-driven microduct measurement system;

[0051] Figure 11 This is a schematic diagram of a turbine.

[0052] Figure 12 Flowchart of a method for measuring the rotational speed and angle of a miniature rotating device;

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

[0054] Figure 14 This is a schematic diagram of a computer-readable storage medium according to Example 4. Detailed Implementation

[0055] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0056] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0057] The drawing numbers in this application are only used to distinguish the steps in the scheme and are not used to limit the execution order of the steps. The specific execution order is as described in the specification.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0059] Example 1

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

[0061] The ultrasonic transducer is used to emit ultrasonic waves that are projected onto the measuring surface of the rotating component to obtain an echo signal.

[0062] The signal processing module is used to calculate the ultrasonic distance by measuring the time from ultrasonic transmission to reception using the echo signal, calculate the number of reciprocating cycles per second to obtain rotational 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 ultrasonic longitudinal resolution.

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

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

[0065] This miniature rotating device can also be configured as a space-constrained consumer electronic device, with a rotation speed and angle measurement system for rotation control and angle detection.

[0066] For ease of description, this invention uses the micro-rotating device as an example of a micro-catheter, and should not be construed as a limitation on the type of micro-rotating device.

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

[0068] like Figure 2 As shown, the ultrasonic transducer is fixed in position, and the rotating cylinder rotates. The ultrasonic waves emitted by the transducer hit the inclined surface of the cylinder, obtaining an echo signal. The time from emission to reception of the ultrasonic wave 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 repetitions per second can be calculated to obtain the rotational speed information. By decomposing one repetition into several segments, the rotation angle information of the cylinder can be obtained.

[0069] The formula for calculating rotational speed is as follows:

[0070] S = 1 / T

[0071] S is the rotational speed, T is the rotational speed. Figure 3 The periodic time is shown.

[0072] Theoretically, as long as the echo sampling rate is high enough, the rotation angle decomposition can be made sufficiently small. However, in practical engineering, achieving this ideal situation is impossible. Generally, the minimum rotation angle is calculated using the longitudinal resolution *r*. The calculation formula is as follows:

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

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

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

[0076] Furthermore, to enhance the echo signal amplitude and facilitate better processing, the inclined or spiral surface can be further cut into stepped surfaces, such as... Figure 8 , Figure 9 As shown, different step thicknesses can be etched using lasers to achieve positional changes. The step thickness variation is preferably greater than the longitudinal resolution of the ultrasound, thus the limit value for the number of steps can be determined to be X.

[0077] This embodiment provides two installation methods for measuring the rotational speed and angle of the microcatheter: one is a rotating microcatheter driven by a flexible shaft, and the other is a rotating microcatheter driven by other methods, such as a water turbine-driven rotating device or a magnetically driven rotating device.

[0078] like Figure 4As shown, for the micro-catheter 2 driven 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, and the ultrasonic transducer 100 is fixed at an off-center position. The rotation of the flexible shaft drives the cylinder 111 to rotate, thereby obtaining a change in distance.

[0079] For other types of driven rotary ducts, a cylinder is connected to the rotating element, and a transducer is installed off-center to detect distance changes. Typical installation locations include two types, such as... Figure 5 As shown, the ultrasonic transducer 100 is fixed at the foremost end of the microcatheter 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 microcatheter 2, and the reflecting acoustic mirror 5 is a rotating cylinder, that is, the rotating cylinder is configured as a reflecting acoustic mirror.

[0080] The speed and angle measurement system provided in this embodiment is also applicable to the micro-duct 2 driven by the turbine 4, such as Figure 10 As shown. Figure 11 These are the front and side views of the turbine. The side view shows that the turbine itself has an interface with alternating strong and weak reflections. Therefore, this interface can be used to measure angles and rotational speeds. Additionally, it can also be used... Figure 10 As shown, a slot 41 is cut on the side of the turbine 4 to create alternating distances, which can also achieve the measurement function.

[0081] In some embodiments, by using two transducers arranged 90 degrees apart, it is also possible to measure the output quadrature signals (A / B phase signals), where the A and B phase signals represent two different channels with a 90-degree phase difference, thereby providing directional information and enabling further subdivision to achieve finer resolution.

[0082] This embodiment provides a system for measuring the rotational speed and angle of a miniature rotating device. This system not only improves the angle measurement resolution of shaft-driven miniature catheters but can also be used to accurately detect the rotational speed and angle information of shaftless miniature catheters. The system uses longitudinal changes measured by an ultrasonic transducer, which not only avoids increasing the diameter of the miniature catheter but also achieves more accurate resolution, a higher line count, and a wider range of applications.

[0083] Example 2

[0084] A method for measuring the rotational speed and angle of a miniature rotating device is provided, based on the system described above. For a detailed description of the system, please refer to the corresponding description in the above system embodiments; it will not be repeated here. Figure 12 As shown, the method includes the following steps:

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

[0086] The ultrasonic transducer is fixed in position, while the rotating component is rotatable. The ultrasonic transducer emits ultrasonic waves that strike the measuring surface of the rotating component to obtain an echo signal, which is then processed by a signal processing module.

[0087] S2. Calculate the time from ultrasound transmission to reception based on the echo signal to obtain the ultrasound distance;

[0088] S3. Calculate the number of times the echo signal reciprocates per second to obtain the rotational speed information;

[0089] S4. Decompose the echo signal into several segments in one reciprocating cycle to obtain the rotation angle information of the rotating component;

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

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

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

[0093] This miniature rotating device can also be configured as a space-constrained consumer electronic device, with a rotation speed and angle measurement system for rotation control and angle detection.

[0094] For ease of description, this invention uses the micro-rotating device as an example of a micro-catheter, and should not be construed as a limitation on the type of micro-rotating device.

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

[0096] like Figure 2As shown, the ultrasonic transducer is fixed in position, and the rotating cylinder rotates. The ultrasonic waves emitted by the transducer hit the inclined surface of the cylinder, obtaining an echo signal. The time from emission to reception of the ultrasonic wave 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 repetitions per second can be calculated to obtain the rotational speed information. By decomposing one repetition into several segments, the rotation angle information of the cylinder can be obtained.

[0097] The formula for calculating rotational speed is as follows:

[0098] S = 1 / T

[0099] S is the rotational speed, T is the rotational speed. Figure 3 The periodic time is shown.

[0100] Theoretically, as long as the echo sampling rate is high enough, the rotation angle decomposition can be made sufficiently small. However, in practical engineering, it is impossible to achieve the ideal situation. Generally, the minimum rotation angle is calculated using the longitudinal resolution r. The calculation formula is as follows:

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

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

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

[0104] Furthermore, to enhance the echo signal amplitude and facilitate better processing, the inclined or spiral surface can be further cut into stepped surfaces, such as... Figure 8 , Figure 9 As shown, different step thicknesses can be etched using lasers to achieve positional changes. The step thickness variation is preferably greater than the longitudinal resolution of the ultrasound, thus the limit value for the number of steps can be determined to be X.

[0105] This embodiment provides two installation methods for measuring the rotational speed and angle of the microcatheter: one is a rotating microcatheter driven by a flexible shaft, and the other is a rotating microcatheter driven by other methods, such as a water turbine-driven rotating device or a magnetically driven rotating device.

[0106] like Figure 4As shown, for the micro-catheter 2 driven 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, and the ultrasonic transducer 100 is fixed at an off-center position. The rotation of the flexible shaft drives the cylinder 111 to rotate, thereby obtaining a change in distance.

[0107] For other types of driven rotary ducts, a cylinder is connected to the rotating element, and a transducer is installed off-center to detect distance changes. Typical installation locations include two types, such as... Figure 5 As shown, the ultrasonic transducer 100 is fixed at the foremost end of the microcatheter 2, for example, it can be fixed to a stop. 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 microcatheter 2, for example, it can be fixed to the transducer fixture, and the reflecting acoustic mirror 5 is a rotating cylinder, that is, the rotating cylinder is configured as a reflecting acoustic mirror.

[0108] The speed and angle measurement system provided in this embodiment is also applicable to the micro-duct 2 driven by the turbine 4, such as Figure 10 As shown. Figure 11 These are the front and side views of the turbine. The side view shows that the turbine itself has an interface with alternating strong and weak reflections. Therefore, this interface can be used to measure angles and rotational speeds. Additionally, it can also be used... Figure 10 As shown, a slot 41 is cut on the side of the turbine 4 to create alternating distances, which can also achieve the measurement function.

[0109] In some embodiments, by utilizing two transducers arranged 90 degrees apart, orthogonal output signals (A / B phase signals) can also be measured. The A-phase and B-phase signals represent two different channels with a 90-degree phase difference, thus providing directional information and allowing for further subdivision to achieve finer resolution. Accordingly, the method also includes the following steps:

[0110] The echo signals collected by the two ultrasonic transducers positioned 90° apart are obtained to obtain the echo signals of the A / B phase signals.

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

[0112] This embodiment provides a method for measuring the rotational speed and angle of a miniature rotating device. This method not only improves the angle measurement resolution of shaft-driven miniature catheters but can also be used to accurately detect the rotational speed and angle information of shaftless miniature catheters. This method uses longitudinal changes measured by an ultrasonic transducer, which not only avoids increasing the diameter of the miniature catheter but also achieves more accurate resolution, a higher line count, and a wider range of applications.

[0113] Example 3

[0114] A computer device 500, such as Figure 13 As shown, the device 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, it implements the steps of a method for measuring the rotational speed and angle of a miniature rotating device. For a detailed description of the method, please refer to the corresponding description in the above method embodiments; it will not be repeated here.

[0115] Example 4

[0116] A computer-readable storage medium, such as Figure 14 As shown, a computer program is stored thereon, which, when executed by a processor, implements the steps of a method for measuring the rotational speed and angle of a miniature rotating device. For a detailed description of the method, please refer to the corresponding description in the above method embodiments, which will not be repeated here.

[0117] Example 5

[0118] A computer program product includes a computer program that, when executed by a processor, implements the steps of a method for measuring the rotational speed and angle of a miniature rotating device. A detailed description of the method can be found in the corresponding descriptions in the above method embodiments, and will not be repeated here.

[0119] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

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

[0121] The apparatus, computer device, and non-volatile computer storage medium and method provided in the embodiments of this specification are corresponding. 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 will also know that, besides implementing the controller in the form of purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller take the form of logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices included within it for implementing various functions can also be considered structures within that hardware component. Alternatively, the devices for implementing various functions can be considered as both software units implementing the method and structures within a hardware component.

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

[0124] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0125] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0126] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0127] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0128] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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

[0130] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0131] The above description is merely an embodiment of this specification and is not intended to limit the scope of one or more embodiments of this specification. Various modifications and variations can be made to one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of one or more embodiments of this specification.

Claims

1. A system for measuring the rotational speed and angle of a miniature rotating device, characterized in that: It includes a fixed-position ultrasonic transducer, a rotatable rotating component, and a signal processing module; among which, The ultrasonic transducer is used to emit ultrasonic waves that are projected onto the measuring surface of the rotating component to obtain an echo signal. The signal processing module is used to calculate the ultrasonic distance by measuring the time from ultrasonic transmission to reception using the echo signal, calculate the number of repetitions per second to obtain the rotation speed information, decompose one repetition change into several segments to obtain the rotation angle information of the rotating component, and calculate the minimum rotation angle with ultrasonic longitudinal resolution. The rotating component is a rotating cylinder, and the ultrasonic transducer is fixed at an off-axis center position; The rotating cylinder is configured as a cylinder and a flexible shaft probe end, with the cylinder mounted on the flexible shaft probe end; The measuring surface on the cylinder is an inclined surface or a spiral surface; The measuring surface on the cylinder is cut into a stepped surface; The ultrasonic transducers are of two types, and the two ultrasonic transducers are arranged 90° apart to achieve a finer angular resolution and to realize rotation direction detection.

2. The micro-rotating device speed and angle measurement system as described in claim 1, characterized in that: The rotating cylinder is configured as a turbine, and the ultrasonic transducer is fixed at the foremost end of the micro-rotating device.

3. The micro rotating device speed and angle measurement system as described in claim 1, 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-rotating device interface.

4. The micro-rotating device speed and angle measurement system as described in claim 1, characterized in that, The step thickness of the stepped surface is greater than the longitudinal resolution of the ultrasound.

5. The micro rotating device speed and angle measurement system as described in claim 2, characterized in that: The measuring surface on the turbine is an interface with alternating strong reflection and non-reflection, or the turbine side is grooved to form alternating distances.

6. A method for measuring the rotational speed and angle of a miniature rotating device, based on the system described in any one of claims 1 to 5, characterized in that, Includes the following steps: Acquire the echo signal collected by the ultrasonic transducer; The ultrasonic distance is obtained by calculating the time from ultrasonic transmission to reception based on the echo signal. The rotational speed information is obtained by calculating the number of repetitions per second of the echo signal; The echo signal is decomposed into several segments in a single reciprocating change to obtain the rotation angle information of the rotating component; The minimum rotation angle was calculated using the longitudinal resolution of the ultrasound. It also includes the following steps: The echo signals collected by the two ultrasonic transducers positioned 90° apart are obtained to obtain the echo signals of the A / B phase signals. The rotation direction is detected by the echo signal of the A / B phase signal, and a finer angular resolution is achieved.

7. 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, it implements the steps of the method as described in claim 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in claim 6.

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