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

Abstract

The present invention relates to an infrared temperature correction method based on difference compensation and control signal feedback, comprising the following steps: S1, synchronously collecting the target area temperature T detected by n infrared temperature measurement modules arranged in a low-temperature plasma generator i ; S2, calculate the difference in target area temperature detected by different infrared temperature measurement modules, and determine whether all the differences are less than the preset threshold; if so, go to step S3; if not, go to step S4; S3, calculate the average value of the target area temperature as the final target area temperature; S4, the target area temperature T i Compare with the preset target temperature range to obtain n control signals; adjust the target temperature T based on the feedback of the control signals. i Corresponding weight; S5, according to the adjusted weight and target temperature T i The final target area temperature is calculated. The present invention applies weights to each infrared temperature measurement module and dynamically adjusts the weights in combination with positive feedback of the control signal to achieve precise temperature control of the target area.

Description

Technical Field

[0001] The present 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 garnered widespread attention for its non-invasive, low-heat-damaging effects on human tissues. Low-temperature plasma, through the ionization of certain gases, produces a series of physical and chemical effects, promoting local blood circulation, cell metabolism, and tissue repair without causing high-temperature burns. Numerous studies, both domestically and internationally, have explored the application of low-temperature plasma in skin beauty, wound healing, and inflammation regulation, and its therapeutic efficacy has been partially validated clinically.

[0003] However, during the low-temperature plasma heating process, the device generally needs to generate plasma within a certain distance from the human body or the treatment surface, while simultaneously monitoring the temperature of the heated area and the relative distance between the device and the treatment surface in real time. Due to the high temperature accuracy requirements during treatment, traditional contact temperature measurement methods are difficult to meet clinical needs due to measurement errors and slow response. Therefore, non-contact temperature and distance measurement technologies have 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 testing, 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, namely, 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, thereby introducing uncertainty and error in the temperature measurement, resulting in errors in the measured temperature value, which in turn leads to a large error between the target area temperature value after FPGA processing and the actual temperature, thereby causing the MCU to make incorrect judgments and send incorrect 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 is disclosed. The method uses n infrared temperature measurement modules arranged on a low-temperature plasma generator to detect the temperature of a target area, where 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. The 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. Calculate the difference in target area temperature detected by different infrared temperature measurement modules and determine whether all the differences are less than a preset threshold; if so, go to step S3; if not, go to step S4;

[0009] S3, calculating the average 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: controlling 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 weight;

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

[0012] As a preferred solution, 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:

[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 is obtained to control the mobile platform to stop;

[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 is obtained to control the mobile platform to retreat.

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

[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, 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 using 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 substituted into the linear regression model as input, 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, using the least squares method to solve the regression coefficient, and 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 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 further 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 modules, so as to achieve precise temperature control of the target area. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a diagram of the architecture of the entire system according to an embodiment of the present invention;

[0035] Figure 2 Flowchart 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 This is a training flow chart of a temperature compensation correction model according to an embodiment of the present invention;

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

[0038] To more clearly illustrate the embodiments of the present invention, specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive efforts.

[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 uses 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 section includes a high-voltage power supply for the plasma source, a high-voltage, 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 electrical energy required for plasma generation, generally at a voltage of several thousand volts or more. The high-voltage, high-frequency rectification and filtering circuit converts alternating current into direct current and filters it, providing a stable high-voltage direct current power supply for subsequent plasma generation. The high-frequency pulse generation circuit is used to generate high-frequency pulse signals 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 excites gas molecules through high-voltage discharge to form plasma. The high-voltage capacitor energy storage circuit stores high-voltage energy in capacitors, providing short-term, high-current discharge, improving the excitation efficiency of the plasma. The safety protection circuit monitors parameters such as voltage, current, and temperature, and cuts off the power supply in abnormal situations to prevent overload damage to equipment or endanger personnel safety, thereby improving the reliability and safety of the system.

[0042] The power circuit section is responsible for power conversion, providing power at different voltage levels and ensuring stable system operation. The rectifier and filter AC-to-DC circuit converts the mains power (220V AC) into DC power. A diode rectifier bridge is used to convert AC to DC, and then capacitor filtering is used to reduce ripple and improve voltage stability. The DC-DC multi-channel step-down output circuit provides different voltages (such as 12V, 5V, and 3.3V) to meet the needs of different modules. It generally uses switching regulators or linear regulators to reduce energy loss. The power management circuit is a protection circuit between the voltage output circuit and modules such as the FPGA, MCU, and driver. It provides overvoltage and overcurrent protection to improve safety. The inverter circuit converts DC power into AC power. An H-bridge inverter circuit is used to achieve DC-to-AC conversion and provide power to components that require AC power.

[0043] The data acquisition component primarily monitors the temperature and distance of the target area illuminated by the low-temperature plasma jet, providing data for subsequent data processing and control. This data acquisition component primarily consists of three components: infrared temperature data acquisition, laser ranging data acquisition, and temperature and humidity data acquisition. The infrared sensor detects infrared radiation from the target area and converts the radiation intensity into a digital value, the target temperature, using an ADC converter circuit. Laser light is emitted by the transmitter circuit, and the receiver circuit receives the reflected light. Combining a clock circuit with an ADC converter circuit, the receiver calculates the time difference and thus the digital distance from the target area to the low-temperature plasma jet orifice. The temperature and humidity sensor simultaneously measures ambient temperature and humidity, converting them into digital values ​​through an ADC converter circuit. Finally, serial communication is established with the FPGA via a UART serial communication circuit, and the target temperature, distance, ambient temperature, and ambient humidity values ​​are transmitted to the FPGA for further 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-making component adjusts system parameters based on data processing results and controls the operation of each execution component. The MCU control circuit, serving as the central control unit, receives data from the FPGA and makes judgments, thereby executing the corresponding control strategy. The RS485 communication circuit establishes communication between the MCU and the mobile platform driver, sending control signals to the driver. RS485 differential signal transmission improves anti-interference capabilities. The mobile platform driver controls the three-axis mobile platform, controlling its servo motors via PWM signals to achieve precise positioning of the plasma action point. The three-axis mobile platform is composed of multiple servo motors, which drive movement in the X, Y, and Z directions, achieving high-precision positioning.

[0046] The human-computer interface allows users to input commands, view status information, and provide feedback through sound or display. The keypad circuit allows users to manually input control commands, such as turning the power on and off, setting the temperature, and adjusting the parameters of the three-axis mobile platform. The mechanical keys are connected to the MCU, generating signals when pressed. The MCU reads the status and executes the corresponding commands. The display circuit displays key parameters (such as voltage, current, temperature and humidity) and system status to the user. LCD, OLED, or TFT screens can be used, and the MCU drives the screen. The buzzer circuit provides audible alarms for conditions such as overtemperature, faults, and successful command execution. The MCU also controls the buzzer driver circuit, triggering different sound patterns based on different states.

[0047] Therefore, the whole system of the embodiment of the present invention includes an MCU, FPGA, infrared temperature measurement module, laser ranging module, ambient temperature and humidity module, low-temperature plasma generation module, three-axis mobile platform and driver, and human-computer interaction module. The temperature measurement module, ranging module, and 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 "temperature measurement module"). The infrared temperature measurement module detects the temperature of the target area (referred to as "target area") on the human body surface irradiated by the low-temperature plasma beam. The laser ranging module is used to measure the distance between the object surface and the infrared temperature measurement module. The ambient 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 via serial communication. 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 and send the control signal to the driver, thereby automatically controlling the movement of the three-axis mobile platform. The display 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] To improve the accuracy of infrared temperature measurement, multiple infrared temperature measurement modules (i.e., infrared temperature sensors) are used to simultaneously measure the target area, reducing the error of a single infrared temperature measurement module. Due to different sensor viewing angles and positions, thermal imaging images may exhibit deviations, resulting in inconsistent temperature values. Image registration technology aligns these images to ensure correct data fusion and improve measurement accuracy. The registration process includes image preprocessing, feature extraction, matching, transformation estimation, transformation application, and optimization. First, image quality is improved through denoising and equalization. Feature extraction and matching algorithms are then used to find corresponding points, and the transformation matrix is ​​calculated to align the images. Interpolation is then used to maintain quality. Finally, precision is adjusted through optimization, and verification metrics are used to ensure accurate registration.

[0049] When using multiple infrared temperature measurement modules to measure temperature simultaneously, the modules may sometimes be affected by external factors or their own factors, resulting in errors in the measured temperature values. This can lead to a large error between the target area temperature value processed by the FPGA and the actual temperature, which in turn causes the MCU to make incorrect judgments and send incorrect control signals to the driver, ultimately posing a hidden danger of causing burns and other problems to the human body. By setting a threshold, if the difference between the temperature values ​​measured by each module is less than the set threshold, the temperature value can be directly calculated according to the temperature calculation formula and used as the input of the "temperature value measured by the infrared temperature measurement module" in 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. Inaccurate temperatures may cause the MCU to send incorrect control signals to the driver. To this end, 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. By assigning weights to each infrared temperature measurement module and introducing positive feedback to dynamically adjust the weights of each temperature measurement module, the accuracy of the infrared temperature measurement module is improved, 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 this 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 the n temperature values ​​(T1,T2,…,T n ) is used as the input of the temperature compensation correction model "temperature value measured by 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 that appears the most times among the n control signals is counted and sent to the driver (if there are multiple control signals that appear the most times, any one of the control signals will be executed randomly). When the driver executes the corresponding action according to this control signal, the result is judged to be correct (for example, the target area temperature value does not reach the target temperature value before executing the action, but after the three-axis mobile platform executes the corresponding action, the target area temperature value reaches the target temperature value, then the control signal is considered to be correct), then 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)”, then increase its corresponding weight factor a 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 an embodiment of the present invention detects the temperature of a target area by using n infrared temperature measurement modules arranged in a 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 ; Where 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. Calculate the difference between each temperature value, that is, calculate the difference between the target area temperatures detected by different infrared temperature measurement modules, and determine whether all the differences are less than a preset threshold; if so, go to step S3; if not, go to step S4;

[0060] S3. Substitute the temperature calculation formula into the calculation to calculate the average 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 into the linear regression model as input, 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;

[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 respectively control the distance between the plasma generator and the target area to decrease, remain unchanged and increase; 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 action 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 of the correct decision, that is, increase the target temperature T i The corresponding weight;

[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 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 into the linear regression model as input, 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] In the embodiment of the present invention, the target area temperature detected by n infrared temperature measurement modules is compared 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 is obtained to control the mobile platform to stop;

[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 is obtained to control the mobile platform to retreat.

[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 between the object to be measured and the temperature measurement module while using the infrared temperature measurement module to measure the temperature. The ambient temperature, humidity, and distance values ​​are used to compensate and correct the temperature value measured by the infrared temperature measurement module, 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 three factors of 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 substituted into the linear regression model as input, and the corrected target area temperature is output.

[0069] like Figure 4As shown, the processing flow of the entire system according to an embodiment of the present invention includes the following: After the system is powered on, data acquisition begins. 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 values), and the laser ranging module measures the distance value. Based on the aforementioned difference feedback correction algorithm, after data processing and linear regression in the FPGA, the resulting target area temperature value is sent to the MCU, which then automatically controls the three-axis mobile platform accordingly. The target area temperature value serves as a reference for controlling the three-axis mobile platform. Since treatment is achieved through the plasma effect, not the temperature effect, the target area temperature must be controlled within a reasonable temperature range to avoid unnecessary burns and other unsafe conditions. The power of the low-temperature plasma generator is constant, and the generator is integrated into the temperature measurement module. The target area temperature 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. To ensure that the low-temperature plasma can produce a therapeutic effect on the target area without causing burns or other problems, a suitable "target temperature value" must be set 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. In order to prevent the three-axis mobile platform from adjusting too frequently or lagging too much, 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 minimum temperature difference between the target temperature range and the preset target area is used to adjust the moving speed of the mobile platform according to the size of the minimum temperature difference.

[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, based on the ideas provided by the present invention, there may be changes in the specific implementation methods, and these changes should also be considered as the scope of protection 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 are arranged on a low-temperature plasma generator to detect the temperature of a target area, where 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; 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, 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. Calculate the difference in target area temperature detected by different infrared temperature measurement modules and determine whether all the differences are less than a preset threshold; if so, go to step S3; if not, go to step S4; S3, calculating the average 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: controlling 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 weight; S5. After weight adjustment, the target temperature T i The weights are normalized and the target temperature T is calculated based on the normalized weights and the target 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, 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 is obtained to control the mobile platform to stop; 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 is obtained to control the mobile platform to retreat.

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

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 includes: The ambient temperature, humidity and the distance between the infrared temperature measurement module and the target area are collected simultaneously.

6. The infrared temperature correction method based on difference compensation and control signal feedback according to claim 5, characterized in that: The step S3 further includes: 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, characterized in that: The process of compensating and correcting the target area 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, 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, using the least squares method to solve the regression coefficient, and 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, 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 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 further 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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