Infrared temperature correction method based on difference compensation and control signal feedback

Abstract

The invention relates to an infrared temperature correction method based on difference compensation and control signal feedback. The infrared temperature correction method comprises the following steps: S1, synchronously acquiring target temperature Ti detected by n infrared temperature measurement modules arranged on a low-temperature plasma generator; s2, difference values of the target area temperatures detected by different infrared temperature measurement modules are calculated, and whether all the difference values are smaller than a preset threshold value or not is judged; if yes, turning to the step S3; if not, turning to the step S4; s3, calculating the average value of the target region temperature as the final target region temperature; s4, comparing the target region temperature Ti with a preset target region target temperature interval to obtain n control signals; adjusting the weight corresponding to the target temperature Ti in combination with the feedback of the control signal; and S5, calculating the final target region temperature according to the adjusted weight and the target region temperature Ti. According to the invention, a weight is applied to each infrared temperature measurement module, and the weight is dynamically adjusted in combination with positive feedback of a control signal, so that accurate temperature control of a target region is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of infrared temperature measurement, and in particular relates to an infrared temperature correction method based on difference compensation and control signal feedback. Background Art

[0002] In recent years, low-temperature plasma technology has attracted widespread attention due to its deep conditioning and repair effects on human tissues under non-invasive and low-heat damage conditions. Low-temperature plasma produces a series of physical and chemical effects through the ionization of some gases, which can promote local blood circulation, cell metabolism and tissue repair without causing high-temperature burns to local tissues. Many studies at home and abroad have explored the application of low-temperature plasma in skin beauty, wound healing, inflammation regulation, etc., and its therapeutic effect has been partially clinically verified.

[0003] However, during the low-temperature plasma heating process, the device generally needs to generate plasma within a certain range from the human body or the treatment surface, and monitor the temperature of the heated area and the relative distance between the device and the treatment surface in real time. Due to the high accuracy requirements for temperature during treatment, the traditional contact temperature measurement method is difficult to meet clinical needs due to measurement errors and slow response problems, so non-contact temperature measurement and distance measurement technology has become an inevitable choice. Infrared temperature measurement technology is a commonly used non-contact temperature detection method. Its basic principle is to use the infrared thermal radiation radiated by an object at a certain temperature and convert it into a temperature signal through an infrared detector. At present, infrared thermal imagers and fixed-band infrared temperature sensors have been widely used in industrial detection, medical monitoring, environmental monitoring and other fields. Infrared temperature measurement has the advantages of fast response speed, wide measurement range, and no need for direct contact with the object being measured. However, in low-temperature plasma heating applications, infrared temperature measurement technology faces a prominent problem, that is, low-temperature plasma will emit a certain amount of visible light and near-infrared radiation during the discharge process. This part of the interference signal may partially overlap with the infrared signal radiated by the target temperature in the band, which will bring uncertainty and error to the temperature measurement, resulting in errors in the measured temperature value, which will lead to a large error between the target area temperature value after FPGA processing and the actual temperature, and then cause the MCU to make wrong judgments and send wrong control signals to the driver, which may eventually cause hidden dangers such as burns to the human body. Summary of the invention

[0004] Based on the above-mentioned shortcomings and deficiencies in the prior art, one of the objects of the present invention is to at least solve one or more of the above-mentioned problems in the prior art. In other words, one of the objects of the present invention is to provide an infrared temperature correction method based on difference compensation and control signal feedback that meets one or more of the above-mentioned needs.

[0005] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0006] An infrared temperature correction method based on difference compensation and control signal feedback, wherein n infrared temperature measurement modules arranged on a low-temperature plasma generator detect the temperature of a target area, wherein the target area is a target area irradiated by a low-temperature plasma beam emitted by the low-temperature plasma generator, and n is an integer greater than 1; a mobile platform is used to drive the low-temperature plasma generator to control the distance between the low-temperature plasma generator and the target area, and the infrared temperature correction method comprises the following steps:

[0007] S1. Synchronously collect the target area temperature T detected by n infrared temperature measurement modules i ; Where i = 1, 2, ..., n;

[0008] S2, calculating the difference of the target area temperature detected by different infrared temperature measurement modules, and judging whether all the differences are less than the preset threshold value; if so, go to step S3; if not, go to step S4;

[0009] S3, calculating the average value of the target area temperature detected by n infrared temperature measurement modules as the final target area temperature;

[0010] S4, respectively measure the target area temperature T detected by n infrared temperature measurement modules i Compare with the preset target temperature range to obtain n control signals; among them, the control signals are divided into three categories: control the mobile platform to move forward, stop and retreat, so as to respectively control the distance between the plasma generator and the target area to decrease, remain unchanged and increase; count the category with the largest number of identical signals among the n control signals as the target control signal, and control the mobile platform to move according to the target control signal, and re-collect the target area temperature T after the action. i 'And determine the target area temperature T i 'Is it within the preset target temperature range? If so, increase the target temperature T i The corresponding weights;

[0011] S5. After weight adjustment, the target temperature T i The weights are normalized, and according to the normalized weights and the target area temperature T i The final target area temperature is calculated.

[0012] As a preferred solution, in step S4, the target area temperatures detected by n infrared temperature measurement modules are compared with the preset target area target temperature to obtain n control signals, specifically:

[0013] If the target area temperature detected by the infrared temperature measurement module is lower than the minimum value of the preset target area target temperature range, a control signal for controlling the mobile platform to move forward is obtained;

[0014] If the target area temperature detected by the infrared temperature measurement module is within the preset target area target temperature range, a control signal for controlling the mobile platform to stop is obtained;

[0015] If the target area temperature detected by the infrared temperature measurement module is greater than the maximum value of the preset target area target temperature range, a control signal for controlling the mobile platform to retreat is obtained.

[0016] As a preferred solution, in step S4, the weight is increased by quantitative increase or by ratio increase.

[0017] As a preferred solution, in step S5, the normalized weight a i And the target temperature T i Calculate the final target area temperature T cal The formula is:

[0018] T cal =(a1T1+a2T2+…+a n T n );

[0019] Among them, a1, a2, …, a n is the weight, a1+a2+…+a n =1,a i >0,i∈(1,n).

[0020] As a preferred solution, the step S1 further includes:

[0021] The ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area are collected simultaneously.

[0022] As a preferred solution, step S3 further includes:

[0023] Based on the ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area, linear regression is used to compensate and correct the target area temperature.

[0024] As a preferred solution, the process of compensating and correcting the target area temperature by linear regression includes:

[0025] The final target area temperature, ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area are used as inputs to substitute into the linear regression model, and the corrected target area temperature is output;

[0026] The training process of the linear regression model includes: inputting the data set consisting of the target area temperature, ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area into the linear regression equation, solving the regression coefficient using the least squares method, calculating the mean square error, performing residual analysis, and updating the regression coefficient until the model converges.

[0027] As a preferred solution, in step S4, before the target area temperature is compared with the preset target area target temperature range, the target area temperature is compensated and corrected based on the ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area by using linear regression.

[0028] As a preferred solution, in step S4, the target area temperature T is also calculated. i The minimum temperature difference from the preset target temperature range;

[0029] Accordingly, controlling the movement of the mobile platform according to the target control signal also includes:

[0030] The moving speed of the mobile platform is adjusted according to the size of the minimum temperature difference.

[0031] As a preferred solution, the mobile platform is a three-axis mobile platform.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The infrared temperature correction method based on difference compensation and control signal feedback of the present invention detects the temperature of the target area through n infrared temperature measurement modules, applies weights to each infrared temperature measurement module, and dynamically adjusts the weights of each infrared temperature measurement module in combination with the positive feedback of the control signal to improve the accuracy of the infrared temperature measurement module, so as to achieve precise temperature control of the target area. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural diagram of the whole system of an embodiment of the present invention;

[0035] Figure 2 It is a flow chart of an infrared temperature correction method based on difference compensation and control signal feedback according to an embodiment of the present invention;

[0036] Figure 3 A training flow chart of a temperature compensation correction model according to an embodiment of the present invention;

[0037] Figure 4 The figure is a processing flow chart of the whole system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the embodiments of the present invention, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other accompanying drawings and other implementation methods can be obtained based on these accompanying drawings without creative work.

[0039] like Figure 1As shown, the whole system of the embodiment of the present invention includes a mains input EMI module and six major parts: plasma generation, data acquisition, data processing, power circuit, control decision and human-computer interaction.

[0040] Among them, the AC input EMI module is used to filter electromagnetic interference. It adopts inductance, capacitance and shielding technology to suppress high-frequency interference signals, prevent high-frequency noise in the AC power from interfering with the normal operation of the system, and provide the filtered AC voltage to the plasma generation circuit and power circuit.

[0041] The plasma generation part includes a high-voltage power supply for a plasma source, a high-voltage and high-frequency rectification and filtering circuit, a high-frequency pulse generation circuit, a low-temperature plasma generator, a safety protection circuit, a gas supply circuit, a high-voltage discharge electrode circuit, and a high-voltage capacitor energy storage circuit. The high-voltage power supply provides the high-voltage electric energy required for plasma generation, which is generally a voltage of several thousand volts or more; the high-voltage and high-frequency rectification and filtering circuit converts AC power into DC power and filters it to provide a stable high-voltage DC power supply for subsequent plasma generation; the high-frequency pulse generation circuit is used to generate a high-frequency pulse signal to stimulate plasma generation or maintain a plasma state; the low-temperature plasma generator, the gas supply circuit, the high-voltage discharge electrode circuit and the high-voltage capacitor energy storage circuit are used together to generate low-temperature plasma, the gas supply circuit is responsible for providing specific gas (such as nitrogen) to the plasma generator to make the plasma discharge process more stable, the high-voltage discharge electrode circuit is excited by high-voltage discharge, so that the gas molecules are ionized to form plasma, and the high-voltage capacitor energy storage circuit stores high-voltage energy through capacitors, provides short-term high-current discharge, and improves the excitation efficiency of plasma; the safety protection circuit monitors parameters such as voltage, current, and temperature, and cuts off the power supply under abnormal conditions to prevent overload damage to equipment or endanger personnel safety, thereby improving the reliability and safety of the system.

[0042] The power circuit part is used for power conversion, providing power supplies of different voltage levels and ensuring stable operation of the system. The rectifier and filter AC to DC circuit converts the mains power (220V AC) into direct current, using a diode rectifier bridge to convert AC into DC, and then filtering with a capacitor to reduce ripple and improve voltage stability; the DC-DC multi-channel buck output circuit provides different voltages (such as 12V, 5V, 3.3V) to meet the needs of different modules, generally using a switching regulator circuit or a linear regulator circuit to reduce energy loss; the power management circuit is a protection circuit between the voltage output circuit and modules such as FPGA, MCU, and driver, which can provide overvoltage and overcurrent protection to improve safety. The inverter circuit DC to AC converts direct current into alternating current, using an H-bridge inverter circuit to achieve DC to AC conversion and provide power for components that require AC power.

[0043] The data acquisition part mainly monitors the temperature, distance and other data of the target area irradiated by the low-temperature plasma jet, so as to provide data for the subsequent data processing and control part. The data acquisition part mainly includes three parts: infrared temperature data acquisition, laser ranging data acquisition and temperature and humidity data acquisition. The infrared sensor can detect the infrared radiation of the target area, and convert the radiation intensity into the digital quantity of the target area temperature through the ADC conversion circuit; the laser is emitted through the transmitting circuit, and the reflected light of the laser is received in the receiving circuit, and the time difference is calculated by combining the clock circuit and the ADC conversion circuit, so as to calculate the digital quantity of the distance value from the target area to the low-temperature plasma jet mouth; the temperature and humidity sensor can measure the ambient temperature and humidity at the same time, and obtain the two digital quantities of temperature and humidity through the ADC conversion circuit; finally, the serial communication is established with the FPGA through the UART serial communication circuit, and the digital quantities of the target area temperature value, distance value, ambient temperature value and ambient humidity value are sent to the FPGA for the next step of processing.

[0044] The data processing part uses FPGA to process the sensor data (target area temperature value, distance value, ambient temperature value, ambient humidity value) received from the data acquisition circuit, and corrects the target area temperature through the difference feedback correction algorithm and linear regression model. Finally, the processed data is sent to the MCU for subsequent system control and adjustment.

[0045] The control decision part adjusts the system parameters according to the data processing results and controls the operation of each execution component. The MCU control circuit, as the central control unit, receives the data sent from the FPGA and makes judgments to execute the corresponding control strategy; the RS485 communication circuit is used to establish communication between the MCU and the mobile platform driver, send the control signal to the driver, and use RS485 differential signal transmission to improve the anti-interference ability; the mobile platform driver controls the three-axis mobile platform, and controls the servo motor of the three-axis mobile platform through PWM signals to achieve precise positioning of the plasma action point; the three-axis mobile platform is composed of multiple servo motors, and the motor drives the movement in the X, Y, and Z directions to achieve high-precision positioning.

[0046] The human-computer interaction part allows users to input commands, view status information, and provide feedback through sound or display. The key circuit allows users to manually input control commands, such as turning on and off the power supply, setting the temperature value, adjusting the parameters of the three-axis mobile platform, etc. The mechanical key is connected to the MCU, and a signal is generated when the key is pressed. The MCU reads the status and executes the corresponding command; the display circuit displays key parameters (such as voltage, current, temperature and humidity, etc.) and system status to the user. LCD, OLED or TFT screens can be used, and the screen is driven by MCU; the buzzer circuit provides sound alarms, such as over-temperature, fault, successful execution of commands, etc. The MCU also controls the buzzer drive circuit, triggering different sound modes according to different states.

[0047] Therefore, the whole system of the embodiment of the present invention includes an MCU, an FPGA, an infrared temperature measurement module, a laser ranging module, an environmental temperature and humidity module, a low-temperature plasma generation module, a three-axis mobile platform and a driver, and a human-computer interaction module. The temperature measurement module, the ranging module, and the temperature and humidity measurement module are installed on the periphery of the low-temperature plasma generator and are all integrated in a plasma generation and temperature detection module (referred to as a "temperature measurement module"). The infrared temperature measurement module detects the temperature of the target area (referred to as a "target area") irradiated by the low-temperature plasma beam on the human body surface. The laser ranging module is used to measure the distance between the surface of the object and the infrared temperature measurement. The environmental temperature and humidity module is used to measure the ambient temperature and humidity around the device. The temperature measurement module is fixed at the front end of the three-axis mobile platform. The data collected by the module is sent to the FPGA for processing through serial communication, and the processed data is sent to the MCU as a variable for controlling the three-axis mobile platform. The MCU can communicate with the driver, send the control signal to the driver, and then automatically control the movement of the three-axis mobile platform. The display screen module can display the thermal imaging image, distance information and ambient temperature and humidity information returned by the ion generation and temperature detection modules in real time. The buzzer module uses buzzing sounds as prompts and alarms.

[0048] In order to improve the accuracy of infrared temperature measurement, multiple infrared temperature measurement modules (i.e., infrared temperature sensors) are used to measure the target area simultaneously to reduce the error of a single infrared temperature measurement module. Due to the different viewing angles and positions of the sensors, there may be deviations in the thermal imaging images, resulting in inconsistent temperature values. Image registration technology ensures the correct fusion of data and improves measurement accuracy by aligning these images. The registration process includes image preprocessing, feature extraction, matching, transformation estimation, transformation application, and optimization. First, the image quality is improved through denoising and equalization, and then the corresponding points are found using feature extraction and matching algorithms. The transformation matrix is ​​calculated to align the images, and the quality is maintained through interpolation; finally, the accuracy is adjusted by optimization, and the verification indicators are used to ensure the accuracy of the registration effect.

[0049] When using multiple infrared temperature measurement modules to measure temperature at the same time, the modules are sometimes affected by external factors or the module's own factors, resulting in errors in the measured temperature value, which leads to a large error between the target area temperature value processed by FPGA and the actual temperature, and then the MCU makes a wrong judgment and sends an incorrect control signal to the driver, which may eventually cause hidden dangers such as burns to the human body. A threshold can be set. If the difference between the temperature values ​​measured by each module is less than the set threshold, the temperature value can be directly obtained according to the temperature calculation formula as the input of the "temperature value measured by the infrared temperature measurement module" of the subsequent temperature compensation correction model; if the difference between the temperature values ​​measured by each module is greater than the threshold, it can be considered that the temperature value measured by one or more temperature measurement modules is inaccurate, and the inaccurate temperature may cause the MCU to send an incorrect control signal to the driver. For this reason, the present invention proposes an infrared temperature correction method based on difference compensation and control signal feedback, referred to as a difference feedback correction algorithm, which improves the accuracy of the infrared temperature measurement module by applying weights to each infrared temperature measurement module, introducing positive feedback, and dynamically adjusting the weights of each temperature measurement module, thereby improving the precise temperature control capability of the entire system.

[0050] The difference feedback correction algorithm of the embodiment of the present invention is specifically as follows: a threshold value g is set, n infrared temperature measurement modules are used to form an infrared temperature measurement array, and the temperature values ​​(T1, T2, ..., T n ), calculate the difference between n temperature values ​​(ΔT 1,2 ,ΔT 1,3 ,…,ΔT n-1,n ), a total of The design temperature calculation formula is:

[0051] T cal =(a1T1+a2T2+…+a n T n )

[0052] Among them, T cal is the final calculated temperature value, a1, a2, …, a n is the weight factor, a1+a2+…+a n =1,a i >0,i∈(1,n).

[0053] If the above The difference is less than the threshold g, and the target area temperature value T is calculated according to the formula cal , and send the value as input to the temperature compensation correction model for subsequent processing;

[0054] If there is a difference Δt x,y(x,y∈(1,n),x≠y) is greater than the threshold g, then these n temperature values ​​(T1,T2,…,T n ) is used as the input of the temperature compensation correction model "temperature value measured by the infrared temperature measurement module", and n corrected temperature values ​​are obtained. Sending these n corrected temperature values ​​to the control decision part in the MCU will result in n control signals; the control signals are divided into three situations: forward, stop, and backward. The control signal with the largest number of occurrences among the n control signals is counted and sent to the driver (if there are multiple control signals with the largest number of occurrences, any one of the control signals will be randomly executed). When the driver executes the corresponding action according to this control signal, the result is judged to be correct (for example, the temperature value of the target area does not reach the target temperature value before executing the action, but after the three-axis mobile platform executes the corresponding action, the temperature value of the target area reaches the target temperature value, then the control signal is considered to be correct), which means that this "control signal" is correct, and this "control signal" corresponds to several "corrected temperature values". ” (i.e. the temperature value that makes the MCU make the correct control decision), and it corresponds to several “correct temperature values ​​T i ,i∈(1,n)”, so the corresponding weight factor a is increased i ,i∈(1,n) (quantitative improvement or ratio improvement), and the changed weight factors a1,a2,…,a n Renormalize and then update to the above temperature calculation formula to obtain the target area temperature value T cal , and sends this value as input to the temperature compensation correction model for subsequent processing.

[0055] Specifically, the infrared temperature correction method based on difference compensation and control signal feedback of the embodiment of the present invention detects the temperature of the target area through n infrared temperature measurement modules arranged in the low-temperature plasma generator, the target area is the target area irradiated by the low-temperature plasma beam emitted by the low-temperature plasma generator, and n is an integer greater than 1; the low-temperature plasma generator is driven by a mobile platform to control the distance between the low-temperature plasma generator and the target area.

[0056] like Figure 2 As shown, the infrared temperature correction method of the embodiment of the present invention specifically includes the following steps:

[0057] S0, start;

[0058] S1, n infrared temperature measurement modules synchronously measure the temperature value, that is, synchronously collect the target area temperature T detected by n infrared temperature measurement modules i ; Wherein, i = 1, 2, ..., n; the ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area are also collected synchronously;

[0059] S2, calculating the difference between each temperature value, that is, calculating the difference between the target area temperatures detected by different infrared temperature measurement modules, and determining whether all the differences are less than a preset threshold; if so, proceeding to step S3; if not, proceeding to step S4;

[0060] S3, substitute the temperature calculation formula for calculation, calculate the average value of the target area temperature detected by n infrared temperature measurement modules as the final target area temperature; the final target area temperature is sent to the temperature compensation correction model for correction, that is, the final target area temperature, ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area are substituted as input into the linear regression model, and the corrected target area temperature is output, and the corrected target area temperature is sent to the MCU to execute the corresponding control decision, and the process ends;

[0061] S4, respectively measure the target area temperature T detected by n infrared temperature measurement modules i The temperature compensation correction model is sent for correction to obtain n corrected temperature values; then the n corrected temperature values ​​are sent to the MCU to execute the corresponding control decision, that is, the n corrected temperature values ​​are compared with the preset target temperature range of the target area to obtain n control signals; among them, the control signals are divided into three categories: controlling the mobile platform to move forward, stop and retreat, so as to control the distance between the plasma generator and the target area to decrease, remain unchanged and increase respectively; counting the category with the largest number of identical signals in the n control signals as the target control signal, and controlling the mobile platform to act according to the target control signal, and judging which temperature values ​​make the MCU make the correct decision after the action, specifically re-collecting the target area temperature T after the action. i 'And determine the target area temperature T i 'Whether it is in the preset target temperature range; if so, increase the weight factor corresponding to the temperature value that makes the correct decision, that is, increase the target temperature T i The corresponding weights;

[0062] S5. Update the weight factor, that is, after the weight adjustment, the target temperature T i The weights are normalized, and according to the normalized weights and the target area temperature T i Substitute the temperature calculation formula to calculate the final target area temperature; the final target area temperature is sent to the temperature compensation correction model for correction, that is, the final target area temperature, ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area are substituted as input into the linear regression model, and the corrected target area temperature is output. The corrected target area temperature is sent to the MCU to execute the corresponding control decision, and the process ends.

[0063] Among them, the above-mentioned embodiment of the present invention compares the target area temperature detected by n infrared temperature measurement modules with the preset target area target temperature to obtain n control signals, specifically:

[0064] If the target area temperature detected by the infrared temperature measurement module is lower than the minimum value of the preset target area target temperature range, a control signal for controlling the mobile platform to move forward is obtained;

[0065] If the target area temperature detected by the infrared temperature measurement module is within the preset target area target temperature range, a control signal for controlling the mobile platform to stop is obtained;

[0066] If the target area temperature detected by the infrared temperature measurement module is greater than the maximum value of the preset target area target temperature range, a control signal for controlling the mobile platform to retreat is obtained.

[0067] Since the temperature measured by the infrared temperature measurement module is mainly affected by three factors: ambient temperature, ambient humidity, and the distance between the target area and the infrared temperature measurement module, it is necessary to synchronously measure the ambient temperature, ambient humidity and the distance from the object to be measured to the temperature measurement module while using the infrared temperature measurement module to measure the temperature. The temperature value measured by the infrared temperature measurement module is compensated and corrected using the ambient temperature value, humidity value and distance value, so as to finally obtain the accurate temperature of the target area.

[0068] The temperature compensation correction model (i.e., linear regression model) of the embodiment of the present invention adopts the linear regression method. The core logic of the linear regression method is to compensate and correct the measurement results by analyzing the relationship between the temperature measured by the infrared temperature measurement module and the ambient temperature, humidity, and the distance between the target area and the temperature measurement module. By collecting multiple experimental data and establishing a model, the specific degree of influence of each factor on the measured temperature is found. After the model is established, regression analysis is used to determine the weight of each factor, and then the measured temperature value is adjusted according to the new environmental conditions to obtain a more accurate target area temperature. The linear regression process is as follows: Figure 3 As shown in the figure, the data set consisting of the target area temperature, ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area is input into the linear regression equation, the regression coefficient is solved by the least square method, and the mean square error is calculated, residual analysis is performed, and the regression coefficient is updated until the model converges; subsequently, in the actual monitoring process, the target area temperature value T is directly used. cal , ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area are used as inputs to substitute into the linear regression model, and the corrected target area temperature is output.

[0069] like Figure 4As shown, the processing flow of the whole system of the embodiment of the present invention includes: after the system is turned on, data collection starts, the infrared temperature measurement module measures the target area temperature, the temperature and humidity module measures the ambient temperature and humidity (i.e., the temperature and humidity value), and the laser distance measurement module measures the distance value. Based on the above-mentioned difference feedback correction algorithm, after the above-mentioned data processing and linear regression in the FPGA, the target area temperature value finally obtained is sent to the MCU, and then the three-axis mobile platform is automatically controlled accordingly. The target area temperature value is a reference value for controlling the three-axis mobile platform. Since the treatment is achieved through the plasma effect, not the temperature effect, it is necessary to control the target area temperature within a reasonable temperature range to avoid unnecessary burns and other unsafe conditions. The power of the low-temperature plasma generator is constant. The generator is integrated in the temperature measurement module. The temperature of the target area is affected by the distance between the temperature measurement module and the target area. The target area temperature can be controlled by controlling the distance value. In order to enable the low-temperature plasma to produce a therapeutic effect on the target area without causing burns and other problems, it is necessary to set a suitable "target temperature value" for the target area temperature. After setting the target temperature value, when the measured target temperature value returned by the FPGA is different from the target temperature value, a control signal is sent to the driver to control the three-axis mobile platform to perform the corresponding action, thereby adjusting the target temperature value to the target temperature value of the target area. In order to prevent the three-axis mobile platform from adjusting too frequently or too late, a suitable threshold should be set. When the difference between the target temperature value and the target temperature value is greater than the threshold, the corresponding control action is performed, and the speed of the three-axis mobile platform is determined according to the size of the threshold. Specifically, the target temperature T is calculated. i The moving speed of the mobile platform is adjusted according to the minimum temperature difference between the preset target area and the target temperature range.

[0070] The above description is only a detailed description of the preferred embodiments and principles of the present invention. For ordinary technicians in this field, according to the ideas provided by the present invention, there will be changes in the specific implementation methods, and these changes should also be regarded as the protection scope of the present invention.

Claims

1. An infrared temperature correction method based on difference compensation and control signal feedback, wherein n infrared temperature measurement modules arranged on a low-temperature plasma generator detect the temperature of a target area, wherein the target area is a target area irradiated by a low-temperature plasma beam emitted by the low-temperature plasma generator, and n is an integer greater than 1; a mobile platform is used to drive the low-temperature plasma generator to control the distance between the low-temperature plasma generator and the target area, wherein the method is characterized in that: The infrared temperature correction method comprises the following steps: S1. Synchronously collect the target area temperature T detected by n infrared temperature measurement modules i ; Where i = 1, 2, ..., n; S2, calculating the difference of the target area temperature detected by different infrared temperature measurement modules, and judging whether all the differences are less than the preset threshold value; if so, go to step S3; if not, go to step S4; S3, calculating the average value of the target area temperature detected by n infrared temperature measurement modules as the final target area temperature; S4, respectively measure the target area temperature T detected by n infrared temperature measurement modules i Compare with the preset target temperature range to obtain n control signals; among them, the control signals are divided into three categories: control the mobile platform to move forward, stop and retreat, so as to respectively control the distance between the plasma generator and the target area to decrease, remain unchanged and increase; count the category with the largest number of identical signals among the n control signals as the target control signal, and control the mobile platform to move according to the target control signal, and re-collect the target area temperature T after the action. i 'And determine the target area temperature T i 'Is it within the preset target temperature range? If so, increase the target temperature T i The corresponding weights; S5. After weight adjustment, the target area temperature T i The weights are normalized, and according to the normalized weights and the target area temperature T i The final target area temperature is calculated.

2. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 1 is characterized in that: In step S4, the target area temperatures detected by the n infrared temperature measurement modules are compared with the preset target area target temperature to obtain n control signals, specifically: If the target area temperature detected by the infrared temperature measurement module is lower than the minimum value of the preset target area target temperature range, a control signal for controlling the mobile platform to move forward is obtained; If the target area temperature detected by the infrared temperature measurement module is within the preset target area target temperature range, a control signal for controlling the mobile platform to stop is obtained; If the target area temperature detected by the infrared temperature measurement module is greater than the maximum value of the preset target area target temperature range, a control signal for controlling the mobile platform to retreat is obtained.

3. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 1 is characterized in that: In step S4, the weight is increased in a quantitative manner or in a ratio manner.

4. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 1, characterized in that: In step S5, the normalized weight a i And the target temperature T i Calculate the final target area temperature T cal The formula is: T cal =(a1T1+a2T2+…+a n T n ); Among them, a1, a2, …, a n is the weight, a1+a2+…+a n =1,a i >0,i∈(1,n).

5. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 1, characterized in that: The step S1 further comprises: The ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area are collected synchronously.

6. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 5 is characterized in that: The step S3 further comprises: Based on the ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area, linear regression is used to compensate and correct the target area temperature.

7. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 6 is characterized in that: The process of compensating and correcting the target temperature using linear regression includes: The final target area temperature, ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area are substituted into the linear regression model as input quantities, and the corrected target area temperature is output; The training process of the linear regression model includes: inputting the data set consisting of the target area temperature, ambient temperature, humidity, and the distance between the infrared temperature measurement module and the target area into the linear regression equation, solving the regression coefficient using the least squares method, calculating the mean square error, performing residual analysis, and updating the regression coefficient until the model converges.

8. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 7 is characterized in that: In step S4, before the target area temperature is compared with the preset target area target temperature range, the target area temperature is compensated and corrected based on the ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area by using linear regression.

9. The infrared temperature correction method based on difference compensation and control signal feedback according to any one of claims 1 to 8, characterized in that: In step S4, the target area temperature T is also calculated. i The minimum temperature difference from the preset target temperature range; Accordingly, controlling the movement of the mobile platform according to the target control signal also includes: The moving speed of the mobile platform is adjusted according to the size of the minimum temperature difference.

10. The infrared temperature correction method based on difference compensation and control signal feedback according to any one of claims 1 to 8, characterized in that: The mobile platform is a three-axis mobile platform.

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