Air pressure ballistic type shock wave bullet body self-rollback control system, method and device

Abstract

The invention discloses an air pressure ballistic shock wave bullet body self-rollback control system, method and device, the system comprises an air pressure ballistic shock wave instrument, the air pressure ballistic shock wave instrument comprises a gun barrel, a photoelectric switch and a treatment head, a bullet body, a first electromagnet and a second electromagnet are arranged in the gun barrel, the first end of the gun barrel is connected with the treatment head, and the second end of the gun barrel is connected with the photoelectric switch; the second end of the gun barrel is connected with the permanent magnet; the bullet valve is connected with an air inlet of the air pressure ballistic shock wave instrument; the air supply source is connected with the bullet valve through an electromagnetic valve; the display screen is used for displaying the reset state of the bullet body of the air pressure ballistic shock wave instrument; and the controller is in communication connection with the display screen, the air supply source and the air pressure ballistic shock wave instrument and is used for acquiring the photoelectric signal of the photoelectric switch, judging the reset state of the bullet body according to the photoelectric signal, sending the reset state of the bullet body to the display screen and executing corresponding control operation based on the reset state of the bullet body. According to the invention, automatic detection and control of the reset state of the bullet body are realized, and manual intervention is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a gas pressure ballistic shock wave bullet body self-return control system, method and device. BACKGROUND

[0002] In the field of medical devices, gas pressure ballistic shock wave technology is widely used in various treatment scenarios. This technology drives the bullet body to reciprocate in the barrel by gas pressure, generating shock waves to achieve therapeutic effect. However, the existing gas pressure ballistic shock wave equipment has some technical problems in the process of use, especially in the reset control of the bullet body.

[0003] The traditional gas pressure ballistic shock wave equipment usually relies on manual operation to judge whether the bullet body is reset. The operator needs to complete the reset operation by observing the mechanical state of the equipment or manually detecting the position of the bullet body. This manual intervention method is not only inefficient, but also prone to reset failure or equipment failure due to human error, thereby affecting the treatment effect and the reliability of the equipment. Moreover, the detection accuracy of the reset state of the bullet body in the related art is insufficient, which may cause misjudgment of the equipment during operation. For example, the detection of the reset state relies on contact sensors, which is prone to detection errors due to mechanical wear or external interference, thereby affecting the stability of the equipment and the treatment effect. SUMMARY

[0004] The present application provides a gas pressure ballistic shock wave bullet body self-return control system, method and device, which aims to at least solve one of the technical problems existing in the prior art.

[0005] The technical solution of the present application is a gas pressure ballistic shock wave bullet body self-return control system, which comprises: A gas pressure ballistic shock wave instrument, comprising a barrel, a photoelectric switch and a treatment head, the barrel is provided with a bullet body, a first electromagnet and a second electromagnet inside, the first end of the barrel is connected with the treatment head, the second end of the barrel is connected with a permanent magnet, the photoelectric switch is arranged on one side of the second end of the barrel, and the distance between the photoelectric switch and the second electromagnet is less than the distance between the permanent magnet and the second electromagnet; A bullet valve, the bullet valve is connected with the gas inlet of the gas pressure ballistic shock wave instrument; A gas supply source, the gas supply source is connected with the bullet valve through a solenoid valve; A display screen, the display screen is used to display the reset state of the bullet body of the gas pressure ballistic shock wave instrument; A controller, which is in communication connection with the display screen, the gas source and the gas pressure ballistic shock wave instrument, is used to acquire the photoelectric signal of the photoelectric switch, judge the reset state of the bullet body according to the photoelectric signal, send the reset state of the bullet body to the display screen, and perform corresponding control operation based on the reset state of the bullet body.

[0006] According to some embodiments of the present application, the distance between the first electromagnet and the second electromagnet is 1.2 to 1.5 times the length of the bullet body.

[0007] The technical solution of the present application also includes a gas pressure ballistic shock wave bullet body self-return control method, which is applied to the gas pressure ballistic shock wave bullet body self-return control system as described in the above embodiments, and the method comprises: Acquiring the photoelectric signal of the photoelectric switch; Judging the reset state of the bullet body according to the photoelectric signal, sending the reset state of the bullet body to the display screen, and the display screen being provided with a human-computer interaction area; When the bullet body is in a reset success state, performing a first control operation; When the bullet body is in a reset abnormal state, controlling the display screen to pop up a reset request message, and when receiving an automatic reset request instruction input by a user through the human-computer interaction area, performing a second control operation.

[0008] According to some embodiments of the present application, the first control operation includes: When the bullet body is in a reset success state, controlling the bullet valve to be in an open state; Controlling the electromagnetic valve of the gas source to be in an open state, the gas source releasing high-pressure gas to be transmitted to the barrel of the gas pressure ballistic shock wave instrument through the bullet valve, and the bullet body being pushed out to hit the treatment head.

[0009] According to some embodiments of the present application, the second control operation includes: When receiving a determination automatic reset request instruction input by a user through the human-computer interaction area, controlling the bullet valve to be in a closed state; Starting the first electromagnet to generate magnetic force to attract the bullet body to move to the rear end of the barrel; When the first electromagnet is powered on for a first preset time, turning off the first electromagnet and starting the second electromagnet to generate magnetic force to attract the bullet body to move to the rear end of the barrel; After the second electromagnet is energized for a second preset time, the second electromagnet is turned off, and the bullet body is attracted and reset by the permanent magnet.

[0010] According to some embodiments of the present invention, determining the reset state of the bullet body based on the photoelectric signal and sending the reset state of the bullet body to the display screen includes: When the photoelectric signal is low, it is determined that the bullet body is attracted and reset by the permanent magnet, the bullet body is in a reset successful state, and the message "the bullet body has been successfully reset" is displayed on the display screen. When the photoelectric signal is high, it is determined that the bullet body is in a reset abnormal state, and the message "The bullet body reset has failed. Please select automatic bullet body reset operation or manual intervention reset operation" is displayed on the display screen.

[0011] According to some embodiments of the present invention, it further includes: When the bullet body is in a reset abnormal state, the display screen is controlled to pop up a reset request message. When a manual intervention reset operation command is received from the user through the human-computer interaction area; The bullet valve is kept in the closed state. The solenoid valve controlling the gas supply source is in the closed state; Pause the driving commands to the first electromagnet and the second electromagnet, and control the first electromagnet and the second electromagnet to be in a de-energized state. Pause any execution instructions and counting operations of the treatment parameters of the treatment head, freeze the intensity output signal, and save the current treatment progress of the treatment head, which includes the number of pulses completed and the number of pulses remaining.

[0012] According to some embodiments of the present invention, it further includes: After the user manually resets the bullet, when the user confirms the completion of the manual reset operation through the human-computer interaction area, the photoelectric signal of the photoelectric switch is continuously detected at least twice at a preset time interval. If the photoelectric signal from the photoelectric switch is low for at least two consecutive times, it is determined that the bullet has been attracted and reset by the permanent magnet. Control the display screen to show the message "The bullet body has been successfully reset"; Release the power-off operation on the first electromagnet and the second electromagnet, restore any execution instructions and counting operations of the treatment parameters of the treatment head, and restore the user's response permission for treatment operation instructions; Treatment will continue based on the saved current treatment progress.

[0013] According to some embodiments of the present invention, it further includes: If the photoelectric signals from the photoelectric switch are not both low level in two consecutive acquisitions, then the bullet body reset is determined to have failed. The display screen is controlled to show the message "The bullet body reset failed. Please perform manual intervention reset again."

[0014] The present invention also relates to a computer device, including a memory and a processor, wherein the processor performs the above-described method when executing a computer program stored in the memory.

[0015] The present invention also relates to a computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the above-described method.

[0016] The pneumatic ballistic shockwave projectile self-return control system, method, and apparatus provided in this invention have at least one of the following advantages or beneficial effects: The bullet valve connects to the air inlet of the pneumatic ballistic shockwave instrument to control the flow and pressure of gas entering the barrel. The air supply source connects to the bullet valve via a solenoid valve, providing pneumatic power to the pneumatic ballistic shockwave bullet self-return control system. The solenoid valve precisely regulates the opening and closing of the air supply, thereby adjusting the bullet's motion. A photoelectric switch detects the bullet's position. The distance between the photoelectric switch and the second electromagnet is smaller than the distance between the permanent magnet and the second electromagnet, ensuring that the bullet passes through the photoelectric switch during resetting, thus improving the accuracy of the photoelectric switch's detection of the bullet's resetting status. The display screen shows the bullet's resetting status, providing intuitive feedback to the operator and facilitating real-time monitoring of the bullet's operation. The controller receives and processes the photoelectric signals from the photoelectric switch, determines the bullet's resetting status based on the signals, and executes corresponding control operations according to the bullet's resetting status. The treatment head connects to the first end of the barrel to transmit the shockwave to the treatment site. The controller interacts with the display screen, air supply source, and pneumatic ballistic shockwave instrument via a communication connection.

[0017] By combining a controller and photoelectric switches, the automatic detection and control of the bullet's reset state is achieved, reducing manual intervention. The combination of the first electromagnet, the second electromagnet, and the permanent magnet enables precise control of the bullet's movement, ensuring more stable and effective generation and transmission of the shock wave. The display screen shows the bullet's reset status in real time, allowing operators to understand the equipment's operating status and promptly identify and address any abnormalities.

[0018] Furthermore, additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the pneumatic ballistic shock wave projectile self-return control system provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the pneumatic ballistic shock wave instrument provided in an embodiment of the present invention; Figure 3 This is a flowchart of the overall process of the pneumatic ballistic shock wave projectile self-return control method provided in the embodiments of the present invention; Figure 4 This is a detailed flowchart of step S300 in the pneumatic ballistic shock wave projectile self-return control method provided in the embodiment of the present invention; Figure 5 This is a detailed flowchart of step S400 in the pneumatic ballistic shock wave projectile self-return control method provided in the embodiment of the present invention; Figure 6 This is a detailed flowchart of step S200 in the pneumatic ballistic shock wave projectile self-return control method provided in the embodiment of the present invention; Figure 7 This is a detailed flowchart of the first embodiment of the pneumatic ballistic shock wave projectile self-return control method provided in this invention. Figure 8 This is a detailed flowchart of the second method for controlling the self-return of a pneumatic ballistic shock wave projectile provided in this embodiment of the invention. Figure 9 This is a detailed flowchart of the third method for controlling the self-return of a pneumatic ballistic shock wave projectile provided in this embodiment of the invention.

[0020] Reference numerals: 1000, pneumatic ballistic shockwave instrument; 100, barrel; 200, photoelectric switch; 300, treatment head; 110, bullet body; 120, first electromagnet; 130, second electromagnet; 140, permanent magnet; 150, pressure sensor; 2000, bullet valve; 3000, air supply source; 4000, display screen; 5000, controller. Detailed Implementation

[0021] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention.

[0022] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. The singular forms "a," "described," and "the" used herein are also intended to include the plural forms, unless the context clearly indicates otherwise. Furthermore, 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. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0023] It should be understood that although the terms first, second, third, etc., may be used to describe various elements in this disclosure, these elements should not be limited to these terms. These terms are used only to distinguish elements of the same type from one another. For example, a first element may also be referred to as a second element without departing from the scope of this disclosure, and similarly, a second element may also be referred to as a first element. Any and all instances or exemplary language (“e.g.,” “such as,” etc.) provided herein are intended only to better illustrate embodiments of the invention and, unless otherwise required, do not impose a limitation on the scope of the invention.

[0024] Traditional pneumatic ballistic shockwave therapy devices typically rely on manual operation to determine whether the projectile has returned to its original position. Operators need to observe the mechanical condition of the equipment or manually check the position of the projectile to complete the repositioning operation. This manual intervention method is not only inefficient but also prone to human error, leading to repositioning failure or equipment malfunction, which in turn affects the treatment effect and the reliability of the equipment. Furthermore, the detection accuracy of the projectile's repositioning status in related technologies is insufficient, which may cause misjudgments during equipment operation. For example, the detection of the repositioning status relies on contact sensors, which are susceptible to detection errors due to mechanical wear or external interference, thus affecting the stability of the equipment and the treatment effect.

[0025] Based on this, embodiments of the present invention provide a pneumatic ballistic shockwave projectile self-return control system, method, and apparatus, which facilitates the automatic reset detection and control of the projectile, reduces manual intervention, and improves the operating efficiency and reliability of the pneumatic ballistic shockwave projectile self-return control system.

[0026] Please refer to the following. Figures 1 to 9 The pneumatic ballistic shock wave projectile self-return control system, method, and apparatus provided in the embodiments of the present invention will be further described.

[0027] Reference Figure 1 As shown, Figure 1This is a schematic diagram of the self-return control system for the pneumatic ballistic shockwave projectile 110 provided in an embodiment of the present invention. The self-return control system includes a pneumatic ballistic shockwave instrument 1000, a projectile valve 2000, an air supply source 3000, a display screen 4000, and a controller 5000. The projectile valve 2000 is connected to the air inlet of the pneumatic ballistic shockwave instrument 1000; the air supply source 3000 is connected to the projectile valve 2000 via a solenoid valve; the display screen 4000 is used to display the reset status of the projectile 110 of the pneumatic ballistic shockwave instrument 1000. (Refer to...) Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of a pneumatic ballistic shockwave device 1000 provided in an embodiment of the present invention. The pneumatic ballistic shockwave device 1000 includes a barrel 100, a photoelectric switch 200, and a treatment head 300. A bullet body 110, a first electromagnet 120, and a second electromagnet 130 are disposed inside the barrel 100. The first end of the barrel 100 is connected to the treatment head 300, and the second end of the barrel 100 is connected to a permanent magnet 140. The photoelectric switch 200 is disposed on one side of the second end of the barrel 100, and the distance between the photoelectric switch 200 and the second electromagnet 130 is smaller than the distance between the permanent magnet 140 and the second electromagnet 130.

[0028] The controller 5000 is communicatively connected to the display screen 4000, the air supply source 3000, and the pneumatic ballistic shock wave instrument 1000. The controller 5000 is used to acquire the photoelectric signal of the photoelectric switch 200, determine the reset state of the bullet body 110 based on the photoelectric signal, and send the reset state of the bullet body 110 to the display screen 4000. Based on the reset state of the bullet body 110, the controller 5000 performs the corresponding control operation.

[0029] Understandably, the barrel 100 serves as the channel for the movement of the bullet 110, and its internal structural design determines the trajectory and power transmission of the bullet 110. The bullet 110 is a key component in generating the shock wave, reciprocating within the barrel 100 driven by air pressure. The first electromagnet 120 and the second electromagnet 130 are used to control the movement of the bullet 110, accelerating, decelerating, or resetting it through electromagnetic force. The permanent magnet 140, in conjunction with the first electromagnet 120 and the second electromagnet 130, provides a stable magnetic field, enhancing the effectiveness of electromagnetic control.

[0030] A photoelectric switch 200 is located on one side of the second end of the barrel 100 to detect the position of the bullet 110. When the bullet 110 resets, the photoelectric switch 200 detects a corresponding photoelectric signal. The controller 5000 receives the photoelectric signal from the photoelectric switch 200, determines whether the bullet 110 has reset based on the photoelectric signal, and sends the reset status information to the display screen 4000. The distance between the photoelectric switch 200 and the second electromagnet 130 is smaller than the distance between the permanent magnet 140 and the second electromagnet 130, which ensures that the bullet 110 must pass through the photoelectric switch 200 during reset, improving the accuracy of the photoelectric switch 200 in detecting the reset status of the bullet 110. The treatment head 300 is connected to the first end of the barrel 100 to transmit shock waves to the treatment site.

[0031] The bullet valve 2000 is connected to the air inlet of the pneumatic ballistic shockwave instrument 1000 to control the flow and pressure of gas entering the barrel 100, thereby affecting the movement of the bullet 110. The air supply source 3000 is connected to the bullet valve 2000 via a solenoid valve to provide pneumatic power to the self-retracting control system of the pneumatic ballistic shockwave bullet 110. The solenoid valve precisely regulates the opening and closing of the air supply, thus affecting the movement of the bullet 110. The display screen 4000 displays the reset status of the bullet 110, providing intuitive feedback to the operator and facilitating real-time monitoring of the bullet 110's operation. The controller 5000 is the core component of the self-retracting control system of the pneumatic ballistic shockwave bullet 110. It receives and processes the photoelectric signals from the photoelectric switch 200, determines the reset status of the bullet 110 based on the photoelectric signals, and executes corresponding control operations according to the reset status of the bullet 110. The controller 5000 interacts with the display screen 4000, the air supply source 3000, and the pneumatic ballistic shock wave instrument 1000 via a communication connection.

[0032] In one embodiment, when the controller 5000 receives an instruction to generate a shockwave for treatment, it controls the bullet valve 2000 to open, and the gas supply source 3000 supplies gas to the barrel 100 through the solenoid valve and the bullet valve 2000, pushing the bullet body 110 forward. The first electromagnet 120 and the second electromagnet 130, according to the instructions of the controller 5000, further control the acceleration and deceleration of the bullet body 110 through electromagnetic force, enabling it to reach a suitable speed and position. Then, the permanent magnet 140 provides a stable magnetic field to attract and reset the bullet body 110.

[0033] The automatic detection and control of the bullet body 110's reset state, achieved through the cooperation of controller 5000 and photoelectric switch 200, reduces manual intervention and improves equipment operating efficiency and reliability. The combination of the first electromagnet 120, the second electromagnet 130, and the permanent magnet 140 enables precise control of the bullet body 110's movement, ensuring more stable and effective generation and transmission of the shock wave. Display screen 4000 shows the bullet body 110's reset state in real time, allowing operators to promptly understand the equipment's operating status and identify and address any abnormalities.

[0034] In some embodiments of the present invention, the self-return control system of the pneumatic ballistic shock wave projectile 110 is further provided with a pressure sensor 150 and a fault diagnosis module. The pressure sensor 150 is located inside the barrel 100 and at the gas supply source 3000 to monitor the gas pressure in real time. The controller 5000 dynamically adjusts the opening and closing degree of the solenoid valve according to the pressure data to ensure a stable supply of high-pressure gas and further improve the stability of the shock wave.

[0035] By adjusting the pressure of the high-pressure gas and the speed of the projectile 110, precise control of the shock wave energy can be achieved to adapt to different treatment scenarios.

[0036] By adding a fault diagnosis module, the status of the bullet valve 2000, solenoid valve, and photoelectric switch 200 can be monitored in real time. Once an abnormality is detected, operation will be stopped immediately and an alarm will be triggered to ensure the safe operation of the equipment.

[0037] When the bullet body 110 is in the successfully reset state, the automated process from bullet body 110 reset to shock wave generation is achieved by precisely controlling the states of the bullet valve 2000 and the solenoid valve of the air supply source 3000. This not only improves the system's operating efficiency and stability but also enhances the equipment's safety and reliability. By further adding a pressure sensor 150, optimizing shock wave energy control, and adding fault diagnosis functions, the system's performance can be further improved, enabling its wider application in the medical field.

[0038] The pneumatic ballistic shockwave projectile 110 self-retracting control system provided in this invention is mainly applied in the medical field, such as extracorporeal shock wave lithotripsy (ESWL) and shockwave therapy devices. By precisely controlling the movement and repositioning of the projectile 110, the treatment effect can be effectively improved, equipment failures reduced, and patient safety ensured.

[0039] In some embodiments of the present invention, the distance between the first electromagnet 120 and the second electromagnet 130 is 1.2 to 1.5 times the length of the bullet body 110.

[0040] Understandably, electromagnets exert a force on the bullet body 110 through a magnetic field, causing it to move within the barrel 100. The spacing between the electromagnets affects the distribution and strength of the magnetic field. If the spacing is too small, the magnetic fields may interfere with each other, leading to a decrease in control accuracy; if the spacing is too large, the magnetic field strength may weaken, affecting the power transmission of the bullet body 110.

[0041] Therefore, in this embodiment of the invention, by setting the distance between the first electromagnet 120 and the second electromagnet 130 to 1.2 to 1.5 times the length of the bullet body 110, precise control of the bullet body 110 can be achieved while ensuring the uniformity of the magnetic field strength and distribution. This design ensures that the bullet body 110 remains stable during acceleration, deceleration, and resetting, avoiding motion deviations caused by uneven magnetic fields.

[0042] Furthermore, when the bullet 110 moves within the barrel 100, sufficient space is required for acceleration and deceleration. The spacing between the first electromagnet 120 and the second electromagnet 130 provides the bullet 110 with a sufficient range of motion while preventing collisions between the bullet 110 and the first and second electromagnets 120 and 130, ensuring the safety and reliability of the system. Setting the spacing between the first electromagnet 120 and the second electromagnet 130 to 1.2 to 1.5 times the length of the bullet 110 ensures that the bullet 110 can sufficiently accelerate or decelerate under the influence of the magnetic field, and smoothly return to its initial position during the reset process.

[0043] For example, in one embodiment, when the length of the bullet body 110 is 20 mm, the distance between the first electromagnet 120 and the second electromagnet 130 is 25-30 mm. The distance between the first electromagnet 120 and the second electromagnet 130 is designed to be 1.2 to 1.5 times the length of the bullet body 110, which is an optimized structural design. It plays an important role in ensuring the stability of the bullet body 110's movement, its reset efficiency, and the reliability of the system.

[0044] In some embodiments of the present invention, the first electromagnet 120 and the second electromagnet 130 are DC electromagnets (such as 12V / 24V). The magnetic force of the first electromagnet 120 and the second electromagnet 130 is adjusted according to the weight of the bullet body 110. For example, when the weight of the bullet body 110 is 50g, the magnetic force of the first electromagnet 120 is ≥1.5N and the magnetic force of the second electromagnet 130 is ≥1.5N, so as to ensure that the first electromagnet 120 and the second electromagnet 130 can effectively attract the 50g bullet body 110.

[0045] The photoelectric switch 200 uses a through-beam infrared photoelectric sensor (response time ≤ 1ms) and is installed on the side wall of the second end of the barrel 100. The optical path selected by the photoelectric switch 200 is aligned with the reset position of the bullet body 110.

[0046] The controller 5000 uses an STM32 series microcontroller, which integrates an AD acquisition module, a relay module, and a serial communication module. The AD acquisition module is used to receive signals from the photoelectric switch 200, the relay module is used to control the on / off state of the electromagnet, and the serial communication module is used to connect to the display screen 4000.

[0047] The AD acquisition module is used to receive the photoelectric signal from the photoelectric switch 200. After the photoelectric switch 200 detects a change in the position of the bullet 110, it generates an analog or digital signal, which is converted into a digital signal by the AD acquisition module for processing by the microcontroller. The STM32's AD acquisition module has high precision and fast conversion capability, and can acquire the signal from the photoelectric switch 200 in real time and accurately, ensuring accurate detection of the position of the bullet 110.

[0048] The relay module controls the on / off state of the electromagnets. The STM32 microcontroller controls the current to the first electromagnet 120 and the second electromagnet 130 through the relay module, thereby accelerating, decelerating, and resetting the bullet 110. The STM32 microcontroller can precisely control the switching state of the relays, achieving accurate control of the electromagnets. Furthermore, the relay module can withstand large currents, ensuring stable operation of the electromagnets.

[0049] The serial communication module is used to connect to the display screen 4000, displaying system status (such as the reset status of bullet body 110, air pressure value, etc.) to the operator in real time. The STM32's serial communication module supports multiple communication protocols and is compatible with various display screen 4000 devices, achieving stable and efficient data transmission.

[0050] The air supply source 3000 is a medical air compressor with an output pressure of 0.6 MPa to 0.8 MPa. The solenoid valve is selected with a response time of less than or equal to 50ms. The air supply source 3000 is connected to the bullet valve 2000 through the solenoid valve (response time ≤ 50ms).

[0051] In one embodiment, combining the functional modules of the STM32 microcontroller, the overall system operation flow is as follows: Photoelectric switch 200 detection: Photoelectric switch 200 detects the position change of the bullet body 110 and generates a photoelectric signal. The signal is sent to the STM32 microcontroller through the AD acquisition module.

[0052] Signal processing and judgment: The STM32 microcontroller processes the acquired photoelectric signals to determine whether the bullet body 110 has been reset. If the bullet body 110 has not been reset, the microcontroller controls the on / off state of the first electromagnet 120 and the second electromagnet 130 through the relay module to adjust the movement state of the bullet body 110 and reset it.

[0053] Status display and feedback: The microcontroller sends the reset status of the bullet body 110 to the display screen 4000 through the serial communication module, and the operator can perform the next operation based on the displayed information.

[0054] Abnormal Handling: If an abnormal situation is detected (such as the bullet body 110 jamming, electromagnet failure, etc.), the microcontroller can cut off the power supply through the relay module and alert the operator through the 4000 alarm on the display screen.

[0055] The STM32 series microcontroller is used as the controller 5000, providing robust hardware support and functional expansion capabilities for the self-returning control system of the pneumatic ballistic shockwave projectile 110. By optimizing detection accuracy, intelligent control strategies, and system expansion functions, the system's performance and reliability can be further improved.

[0056] Reference Figure 3 As shown, Figure 3 This is a general flowchart of the pneumatic ballistic shockwave projectile self-return control method provided in this embodiment of the invention. The pneumatic ballistic shockwave projectile self-return control method includes, but is not limited to, steps S100 to S400. Specifically, S100: Acquire the photoelectric signal from the photoelectric switch; S200: Determines the reset status of the bullet body based on photoelectric signals, and sends the reset status of the bullet body to the display screen, which is equipped with a human-machine interaction area. S300: When the bullet body is in a successfully reset state, execute the first control operation; S400: When the bullet body is in a reset abnormal state, the control display will pop up a reset request message. When the user inputs an automatic reset request command through the human-machine interaction area, the second control operation will be executed.

[0057] In some embodiments of the present invention, the pneumatic ballistic shock wave projectile self-return control method includes: acquiring the photoelectric signal of a photoelectric switch. The photoelectric switch is a sensor that determines the position or state of an object by detecting the reflection or transmission of light. When the projectile moves or reaches a specific position, the photoelectric switch outputs a specific photoelectric signal (usually a high level or a low level). By acquiring the photoelectric signal of the photoelectric switch, the reset state of the projectile can be determined in real time and accurately, ensuring precise monitoring of the projectile's position.

[0058] The system determines whether the bullet has been reset based on the signal output by the photoelectric switch and sends the reset status of the bullet to the display screen. The display screen is used to show the status information of the bullet to the user, so that the user can keep track of the equipment's operation at any time, detect and deal with abnormal states in a timely manner, and improve the convenience and safety of operation. The display screen is equipped with a human-machine interaction area, and the user can interact with the system display screen through a touch screen, buttons or other input devices.

[0059] When the photoelectric signal indicates that the bullet's reset status is successful, the first control operation is automatically executed without manual intervention. If the photoelectric signal indicates an abnormal reset status, a reset request message pops up on the display screen, informing the user that the bullet has not been reset. After seeing the reset request message, the user can input an automatic reset request command through the human-machine interface on the display screen. Upon receiving the user's automatic reset request command, the second control operation is automatically executed. This automated control process reduces manual operation steps. In this application, when an abnormal bullet reset is detected, the system automatically pops up a reset request message and executes the automatic reset operation after user confirmation. This mechanism reduces reset failures due to human error, improving the reliability and automation of the reset process.

[0060] The pneumatic ballistic shockwave projectile self-return control method provided in this invention achieves efficient management and control of the projectile's reset state through mechanisms such as precise monitoring, automatic control, user interaction, and anomaly handling. By combining automatic reset with user intervention, it can adapt to different application scenarios and operational needs, enhance user experience and operational convenience, and provide strong support for the intelligent development of pneumatic ballistic shockwave equipment.

[0061] In some embodiments of the present invention, voice prompts or vibration feedback may be added to the human-computer interaction area of ​​the display screen to remind the user of reset abnormalities and provide a variety of reset options (such as automatic reset, manual reset, etc.), so that the user can choose the appropriate reset method according to the actual situation.

[0062] In some embodiments of the present invention, the pneumatic ballistic shock wave projectile self-return control method further includes: Record detailed information for each second control operation (such as time, reset status, user operation, etc.) to facilitate subsequent analysis and maintenance.

[0063] If the abnormal repositioning of the bullet body continues to occur, an alarm mechanism will be triggered to remind the operator to check whether the self-return control system of the pneumatic ballistic shock wave bullet body is malfunctioning.

[0064] In one embodiment, the output signal of the photoelectric switch is connected to the input terminal of the AD acquisition module of the STM32 microcontroller. The STM32 microcontroller acquires the photoelectric signal of the photoelectric switch in real time through the AD acquisition module. When the photoelectric switch detects the bullet, it outputs a specific signal (such as a low level or a high level). The microcontroller converts the analog signal into a digital signal through AD conversion. The STM32 microcontroller determines whether the bullet has reset based on the signal from the photoelectric switch. For example, if the photoelectric switch detects that the bullet has reached a designated position (such as the reset position), it determines that the reset is successful. If the photoelectric switch does not detect that the bullet has reached the designated position for a long time, it determines that the reset is abnormal. The display screen is used to display the reset status of the bullet and has a human-machine interaction area. When the bullet resets successfully, the display screen displays "Reset Successful"; when the bullet resets abnormally, the display screen pops up a "Reset Request Message" to prompt the user. When the bullet resets successfully, the normal control process is executed, such as preparing for the next shock wave launch or entering standby mode. When the bullet resets abnormally, the user inputs an "Automatic Reset Request Command" through the human-machine interaction area, and the microcontroller executes the automatic reset operation after receiving the command.

[0065] When determining a reset anomaly, a timeout period can be set. If the photoelectric switch still does not detect the bullet resetting within the timeout period, it is determined to be a reset anomaly. This can avoid false judgments caused by brief signal interference.

[0066] The self-return control method for a pneumatic ballistic shockwave projectile, implemented using an STM32 microcontroller, features a high degree of automation and intelligence. Further improvements in system reliability and user experience can be achieved by optimizing the reset logic, human-computer interaction, and fault diagnosis mechanisms.

[0067] Reference Figure 4 As shown, Figure 4 This is a detailed flowchart of step S300 in the pneumatic ballistic shock wave projectile self-return control method provided in this embodiment of the invention. Step S300 includes, but is not limited to, steps S310 to S320. Specifically, S310: When the bullet body is in the successfully reset state, the bullet valve is in the open state; S320: The solenoid valve controlling the gas supply is in the open state. The gas supply releases high-pressure gas, which is transmitted through the bullet valve to the barrel of the pneumatic ballistic shock wave instrument. The bullet is then pushed out to impact the treatment head.

[0068] In some embodiments of the present invention, the photoelectric signal of the photoelectric switch is acquired, and the reset state of the bullet body is determined based on the photoelectric signal. When it is determined that the bullet body is in a successfully reset state, the solenoid valve of the bullet valve is controlled to be in an open state. The opening of the bullet valve ensures the smooth flow of air. At the same time, the solenoid valve of the air supply source is controlled to open, so that high-pressure gas can be released from the air supply source. The high-pressure gas is transmitted through the bullet valve to the barrel of the pneumatic ballistic shock wave instrument, pushing the bullet body forward and finally impacting the treatment head to generate a shock wave. It can be understood that the bullet body moves at high speed under the push of high-pressure gas and releases energy when it impacts the treatment head to generate a shock wave. This shock wave can be used in the medical field for extracorporeal lithotripsy, rehabilitation therapy, etc.

[0069] In one embodiment, when the bullet body is in a successfully reset state, it enters the normal treatment mode. The workflow of this normal treatment mode is as follows: The controller opens the bullet valve, releasing high-pressure gas from the gas source. The bullet is propelled out to strike the treatment head, and the photoelectric switch outputs a high level (not reset). The bullet valve closes, the air pressure below the barrel increases, and combined with the magnetic force of the first and second electromagnets, the bullet is pushed back. Finally, it is attracted and reset by the permanent magnet, and the photoelectric switch outputs a low level, completing one firing cycle of the treatment head.

[0070] From the moment the bullet resets to the generation of the shock wave, the entire process is fully automated, reducing manual intervention and improving operational efficiency. Operators only need to monitor the system status and do not need to manually control each step. Once the system detects successful bullet reset, it immediately executes subsequent operations, reducing waiting time and improving equipment operating efficiency. In this embodiment of the invention, subsequent operations are only executed after successful bullet reset, avoiding equipment malfunctions or misoperations caused by failure to reset the bullet. This mechanism effectively reduces the risk of equipment damage and medical accidents.

[0071] Reference Figure 5 As shown, Figure 5 This is a detailed flowchart of step S400 in the pneumatic ballistic shock wave projectile self-return control method provided in this embodiment of the invention. Step S400 includes, but is not limited to, steps S410 to S440. Specifically, S410: When a user inputs a confirmation automatic reset request command through the human-machine interaction area, the bullet valve is controlled to be in the closed state; S420: Activate the first electromagnet to generate a magnetic force to attract the bullet and move it toward the rear of the barrel; S430: After the first electromagnet is energized for a first preset time, the first electromagnet is turned off and the second electromagnet is activated. The second electromagnet generates a magnetic force to attract the bullet body and move it towards the rear end of the barrel. S440: After the second electromagnet is energized for a second preset time, the second electromagnet is turned off, and the bullet body is attracted and reset by the permanent magnet.

[0072] In some embodiments of the present invention, the pneumatic ballistic shockwave projectile self-return control method includes: when an abnormality in the projectile's reset is detected, a reset request message will pop up on the display screen. After the user confirms the message through the human-machine interface, an automatic reset operation will begin. The user's confirmation of the reset request through the human-machine interface avoids the system automatically executing a reset operation without confirmation, reducing the possibility of misoperation and enhancing the user experience.

[0073] The automatic reset operation includes controlling the bullet valve to be in the closed state, cutting off the gas circuit, preventing high-pressure gas from entering the barrel, avoiding reset failure or equipment damage due to gas pressure interference, and ensuring the safety of the reset process.

[0074] The first electromagnet is activated, generating a magnetic force to attract the bullet and move it towards the rear of the barrel. After the first electromagnet is energized for a first preset time, it is deactivated. Simultaneously, the second electromagnet is activated, continuing to attract the bullet towards the rear of the barrel using magnetic force. After the second electromagnet is deactivated, the permanent magnet uses its magnetic force to pull the bullet to the reset position, completing the reset operation. By controlling the on / off state of the electromagnets in stages, the bullet's movement during reset is ensured to be smooth, avoiding mechanical impact or damage caused by a single strong attraction. The controllable magnetic force of the electromagnets and the stable magnetic force of the permanent magnets ensure accurate reset of the bullet, improving the reliability of the reset process.

[0075] It is understandable that the timing control of delaying the first preset time T1 and the second preset time T2 has the following technical effects on the operation of the first electromagnet and the second electromagnet: To achieve segmented and orderly bullet retraction and improve reset stability, two electromagnets are spaced apart along the outer wall of the barrel (the spacing is adapted to the bullet length). Through timing control of a first preset time T1 (when the bullet moves to the range of the first electromagnet) and a second preset time T2 (when the bullet moves to the range of the second electromagnet), the bullet is sequentially subjected to segmented attraction forces from the first and second electromagnets during retraction. This segmented driving method avoids the magnetic interference caused by the simultaneous energization of two electromagnets (such as mutual cancellation of magnetic fields or the formation of a chaotic magnetic field), ensuring that the bullet is stably stressed along the barrel axis, reducing abnormalities such as jamming and deviation caused by uneven force distribution, and significantly improving the stability of the retraction process.

[0076] To adapt to the bullet's motion characteristics and improve reset accuracy, the first preset time T1 and the second preset time T2 are set to match the bullet's residual kinetic energy after the air pressure disappears, the electromagnet's magnetic range, and the bullet's length: the first electromagnet is activated first, using magnetic force to pull the unreset bullet from any abnormal position (such as the middle or front of the barrel) towards the rear of the barrel; once the bullet enters the second electromagnet's range (determined by the first preset time T1 delay), the second electromagnet is switched on, further pushing the bullet closer to the permanent magnet; finally, the second preset time T2 delay ensures the bullet is fully within the permanent magnet's strong attraction range, then the second electromagnet is turned off, allowing the bullet to be reliably attracted by the permanent magnet. This timing control precisely adapts to the bullet's motion trajectory and force requirements, avoiding situations where the bullet fails to reach the reset position due to premature or delayed activation, ensuring consistency in the reset endpoint.

[0077] During the reset process, the photoelectric switch detects the photoelectric signal in real time and provides feedback on the reset status through the photoelectric signal, forming a closed-loop control to ensure the validity of the reset. The photoelectric switch is located at the rear of the barrel (near the permanent magnet), and its output signal (low level / high level) directly reflects whether the bullet is in the reset position: it outputs a low level when blocking light during reset and a high level when not reset. This detection mechanism provides the controller with real-time and accurate reset status feedback, allowing the controller to determine whether the reset was successful based on the feedback signal (e.g., if the photoelectric switch continuously outputs a high level after executing the reset procedure, a secondary reset or alarm can be triggered), forming a closed-loop control logic of "drive-detection-determination". This avoids "false resets" caused by unknown factors such as the magnetic attenuation of the first and second electromagnets or bullet jamming (e.g., the controller executes the reset command but determines success without confirming the actual state), ensuring the validity of the reset result.

[0078] To achieve immediate response to abnormal conditions and improve system safety, the photoelectric switch continuously monitors before and during treatment: if the bullet is not reset (high level) before treatment, it can prevent treatment from starting, thus avoiding the inability to generate ideal shock wave energy in the treatment head when the bullet is not reset; if the bullet is not reset during treatment, it can immediately trigger an abnormality prompt to prevent the abnormal condition from continuously affecting the treatment effect or causing safety risks (such as handle vibration or abnormal noise caused by abnormal movement of the bullet in the barrel).

[0079] Compared to related technologies that use contact sensors to determine whether the bullet has reset, the embodiments of the present invention can avoid detection errors caused by mechanical wear, simplify the reset determination logic, and improve system reliability. The photoelectric switch directly outputs an electrical signal based on the physical state of blocked / unblocked light. The signal is stable and has strong anti-interference ability, so that the control board can determine the reset state without complex algorithms, reducing logical operation errors and improving the overall reliability of the system.

[0080] The timing control of the first preset time T1 and the second preset time T2, combined with the detection mechanism of the photoelectric switch, enables the bullet self-retraction control system to have both "driving precision" and "state verifiability": the former ensures that the bullet retracts reliably along the preset trajectory through segmented driving, while the latter ensures that the reset result is verifiable through real-time feedback. The combination of the two significantly improves the success rate of bullet self-retraction (reducing the reset failure rate), the safety of system operation (avoiding misoperation under abnormal conditions), and the durability of the equipment (reducing ineffective driving and component wear), ultimately ensuring the stability of the therapeutic effect and the reliability of use of the pneumatic ballistic shockwave therapy equipment.

[0081] Understandably, by setting a first preset time and a second preset time, the energizing time of the first and second electromagnets can be adjusted according to different reset requirements, thus adapting to bullets of different lengths or different reset conditions. This phased control strategy can be optimized based on feedback from actual applications, such as adjusting the energizing sequence or timing of the electromagnets to further improve the reset effect. By controlling the on / off state of the electromagnets in stages, the bullet can move smoothly during the reset process, reducing violent collisions between mechanical parts and thus extending the service life of the equipment.

[0082] This control method achieves automated reset of the bullet body by controlling the on / off state of the electromagnet and the bullet valve in stages. It not only improves the reliability and safety of reset but also enhances user experience and ease of operation. Further improvements can be made by adding a position feedback mechanism, dynamically adjusting the preset time, adding fault diagnosis functions, and optimizing the human-machine interface, thus enabling wider application in the medical and industrial fields.

[0083] Reference Figure 6 As shown, Figure 6 This is a detailed flowchart of step S200 in the pneumatic ballistic shock wave projectile self-return control method provided in this embodiment of the invention. Step S200 includes, but is not limited to, steps S210 to S220. Specifically, S210: When the photoelectric signal is low, it is determined that the bullet body is attracted and reset by the permanent magnet, the bullet body is in the reset successful state, and the message "bullet body reset successful" is displayed on the screen. S220: When the photoelectric signal is high, it indicates that the bullet body is in an abnormal reset state, and displays the message "Bullet body reset failed. Please select automatic bullet body reset operation or manual intervention reset operation" on the display screen.

[0084] In some embodiments of the present invention, the reset state of the bullet is determined based on photoelectric signals, and the reset state of the bullet is sent to a display screen. The display screen includes a human-computer interaction area. When the photoelectric switch outputs a low-level signal, it indicates that the bullet has been successfully reset by the permanent magnet. The bullet is then determined to be in a successfully reset state, and the message "Bullet reset successful" is displayed on the screen, informing the user that the device is ready to proceed to the next step.

[0085] When the photoelectric switch outputs a high-level signal, it indicates that the bullet body reset has not been detected, and the bullet body is determined to be in an abnormal reset state. The display screen will show the message "Bullet body reset failed. Please select automatic bullet body reset operation or manual intervention reset operation" to prompt the user to take further measures.

[0086] The photoelectric signal from the photoelectric switch accurately determines the reset status of the bullet, preventing equipment malfunctions or treatment interruptions due to misjudgment. When reset fails, it not only alerts the user but also provides two solutions: automatic reset or manual intervention. This satisfies the needs of automated operation while also adapting to manual adjustments in complex situations, improving the system's flexibility and adaptability. Users can choose the most suitable operation method based on the actual situation, enhancing the user experience. The reset status information is directly displayed on the screen, allowing users to intuitively understand the equipment status and reducing operational complexity.

[0087] In some embodiments of the present invention, the pneumatic ballistic shock wave projectile self-return control method further includes: When the user selects automatic reset, a preset number of attempts can be set (e.g., 3 attempts). If the reset fails 3 times consecutively, the system will automatically enter manual intervention mode, prompting the user to perform manual operation, thus further improving the system's intelligence.

[0088] When a reset fails, in addition to displaying information on the screen, the system can also alert the user with sound or light alarms to further enhance the system's warning effect.

[0089] Reference Figure 7 As shown, Figure 7 This is a detailed flowchart of the first embodiment of the pneumatic ballistic shockwave projectile self-retraction control method provided by the present invention. The pneumatic ballistic shockwave projectile self-retraction control method also includes, but is not limited to, steps S450 to S490. Specifically, S450: When the bullet body is in a reset abnormal state, the control display will pop up a reset request message. When a manual intervention reset operation command is received from the user through the human-machine interaction area; S460: Control bullet valve to be in the closed state; S470: The solenoid valve controlling the gas supply is in the closed state; S480: Pause the driving commands to the first electromagnet and the second electromagnet, and control the first electromagnet and the second electromagnet to be in a de-energized state. S490: Pauses any execution commands and counting operations of the treatment head's treatment parameters, freezes the intensity output signal, and saves the current treatment progress of the treatment head, which includes the number of pulses completed and the number of pulses remaining.

[0090] In some embodiments of the present invention, the pneumatic ballistic shockwave projectile self-return control method further includes: when an abnormal reset state is detected in the projectile, a reset request message is displayed on the control screen, prompting the user to choose between automatic reset or manual intervention reset. When the user selects manual intervention reset through the human-machine interface, the projectile valve is closed to cut off the gas path, ensuring that the equipment is not damaged or misoperated due to gas pressure interference during the reset process. The solenoid valve controlling the gas supply source is closed to further ensure gas path safety and prevent high-pressure gas from entering the barrel.

[0091] Pausing the drive commands to the first and second electromagnets and de-energizing them ensures that the electromagnets will not be accidentally activated during manual intervention, preventing injury to the operator or equipment. Pausing any execution commands and counting operations for the treatment head's treatment parameters. By pausing the electromagnet drive commands and de-energizing them, accidental activation of the electromagnets during manual intervention is prevented, ensuring operator safety. Pausing all operations of the treatment head and freezing the intensity output signal prevents the treatment head from continuing to output shock waves during reset, ensuring the safety of the equipment and the patient. Saving the current treatment progress of the treatment head, including the number of completed shocks and the remaining shocks, ensures that the treatment process can resume from the last interrupted position after reset, avoiding repeated or missed treatments and improving the accuracy and reliability of the treatment.

[0092] In one embodiment, when the user selects manual intervention, the controller pauses the treatment process by interrupting all critical steps that could drive the bullet's movement or maintain the treatment, ensuring no energy output or mechanical action during manual reset. Specifically, this includes: The gas supply source is cut off from the energy connection with the barrel, and the controller drives the bullet valve to remain in a normally closed state (even if it is in a state of waiting to be opened or periodically opened in the original treatment process), forcibly cutting off the high-pressure gas delivery channel from the gas supply source to the barrel, so as to avoid accidental firing of the bullet due to accidental triggering or residual gas pressure during manual intervention.

[0093] Pause any drive command output to the two electromagnets (including timing control in the original automatic reset program) to de-energize the first and second electromagnets, eliminate the additional force of the magnetic field on the bullet body, and ensure that the bullet body is only controlled by external force (such as manual push by the user) during manual reset, thus avoiding reset difficulties or position deviations caused by magnetic field interference.

[0094] If manual intervention is triggered during treatment (such as executing preset number of impacts, intensity adjustment, etc.), the controller will immediately pause the execution logic of the current treatment parameters (such as stopping the accumulation of the number of impacts, freezing the intensity output signal) and save the current treatment progress (such as the number of impacts completed, the number of impacts remaining). After manual reset and confirmation of normality, the treatment can continue based on the saved progress to avoid parameter disorder caused by interruption of the treatment process.

[0095] During the pause period, the controller temporarily blocks all treatment-related operation commands on the display screen except for "Confirm Manual Reset Complete" (such as "Start Treatment" and "Adjust Intensity"). It only responds to status confirmation commands after the manual reset is completed, preventing secondary risks caused by user misoperation.

[0096] When the bullet body malfunctions and fails to reset, the display screen prompts the user to choose between automatic or manual reset, allowing them to select the most appropriate method based on the situation. Furthermore, during manual reset, all related operations are paused, and the treatment progress resumes after reset, reducing complexity for the user and enhancing the user experience.

[0097] Reference Figure 8 As shown, Figure 8 This is a detailed flowchart of the second embodiment of the pneumatic ballistic shockwave projectile self-retraction control method provided by the present invention. The pneumatic ballistic shockwave projectile self-retraction control method also includes, but is not limited to, steps S500 to S540. Specifically, S500: After the user manually intervenes to reset the bullet, when the system detects that the user has confirmed the completion of the manual intervention reset operation through the human-computer interaction area, it continuously detects the photoelectric signal of the photoelectric switch at least twice at a preset time interval. S510: If the photoelectric signal from the photoelectric switch is low for at least two consecutive times, it is determined that the bullet has been attracted and reset by the permanent magnet. S520: The control display shows the message "Bullet body successfully reset"; S530: Release the power-off operation of the first electromagnet and the second electromagnet, restore any execution instructions and counting operations of the treatment head's treatment parameters, and restore the user's response permission for treatment operation instructions; S540: Continue treatment based on the saved current treatment progress.

[0098] In some embodiments of the present invention, the pneumatic ballistic shockwave projectile self-return control method further includes: after the user manually intervenes to reset the projectile, the user confirms the completion of the reset operation through a human-machine interface. The photoelectric signal of the photoelectric switch is continuously detected at least twice at preset time intervals (e.g., 50ms intervals). This multiple detection mechanism avoids erroneous judgments caused by momentary misjudgments or interference from the photoelectric switch. If at least two consecutively acquired photoelectric signals are both low-level, the system determines that the projectile has been attracted and reset by the permanent magnet. This judgment mechanism ensures the accuracy of the reset state through multiple confirmations.

[0099] The control display shows "Bullet body reset successful," informing the user that the reset operation is complete. It also de-energizes the first and second electromagnets, restoring them to normal operation, resumes the execution of treatment parameters and counting operations on the treatment head, and restores the user's access to treatment commands, allowing the user to continue treatment. Based on the saved current treatment progress, treatment continues, ensuring the continuity of the treatment process.

[0100] In the above embodiments, by repeatedly detecting the photoelectric signal of the photoelectric switch, erroneous judgments caused by momentary interference or misjudgment are avoided, significantly improving the reliability of the reset status judgment. Only when a low level is detected consecutively multiple times is the successful reset of the bullet body confirmed, further ensuring the accuracy of the reset operation. Gradually releasing the power-off operation, restoring treatment parameters and operating permissions allows the user to seamlessly continue the treatment operation, reducing operational complexity and interruption time. Treatment continues based on the saved current treatment progress, ensuring the continuity and integrity of the treatment process and avoiding treatment interruptions caused by the reset operation.

[0101] Reference Figure 9 As shown, Figure 9 This is a detailed flowchart of the third method for controlling the self-return of a pneumatic ballistic shockwave projectile provided in this embodiment of the invention. The method further includes, but is not limited to, steps S550 to S560. Specifically, S550: If the photoelectric signals from the photoelectric switch are not both low level in two consecutive acquisitions, then the bullet body reset is determined to have failed. S560: The control display shows the message "Bullet body reset failed, please perform manual intervention reset operation again".

[0102] In some embodiments of the present invention, the pneumatic ballistic shockwave projectile self-return control method further includes: after the user completes the manual intervention reset operation, continuously detecting the photoelectric signal of the photoelectric switch twice at a preset time interval. By continuously detecting the photoelectric signal twice, the reset state of the projectile can be determined more accurately, avoiding erroneous conclusions caused by misjudgment due to a single detection. If the two detected photoelectric signals are not both low level (i.e., at least one high level is detected), the projectile reset is determined to have failed.

[0103] When the bullet body reset fails, the control display shows the message "Bullet body reset failed, please try manual intervention again." This message not only informs the user that the current reset operation was unsuccessful, but also clearly guides the user on the next steps, reducing equipment misoperation or treatment interruption caused by reset failure.

[0104] In some embodiments of the present invention, the pneumatic ballistic shock wave projectile self-return control method further includes: After two consecutive failed tests, the system automatically enters the troubleshooting mode, which may increase the number of tests (e.g., 5 consecutive tests) to further confirm the reset status of the bullet. If all 5 consecutive tests fail, the user will be prompted to perform a manual reset operation again.

[0105] This control method, which determines the bullet's reset status by continuously detecting the photoelectric signal of the photoelectric switch and prompts the user to reoperate when the reset fails, significantly improves the system's reliability and user experience.

[0106] It should be understood that the method steps in the embodiments of the present invention can be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable storage medium. The method can use standard programming techniques. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system. However, if necessary, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. Furthermore, for this purpose, the program can run on a programmed application-specific integrated circuit (ASIC).

[0107] Furthermore, the procedures described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by the context. The procedures described herein (or variations and / or combinations thereof) may be executed under the control of one or more computer systems configured with executable instructions, and may be implemented by hardware or a combination thereof as code (e.g., executable instructions, one or more computer programs, or one or more applications) that commonly executes on one or more processors. The computer program comprises a plurality of instructions executable by one or more processors.

[0108] Furthermore, the method can be implemented in any suitable type of computing platform, including but not limited to personal computers, minicomputers, mainframes, workstations, networked or distributed computing environments, standalone or integrated computer platforms, or in communication with charged particle tools or other imaging devices, etc. Aspects of the invention can be implemented as machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the processes described herein. Furthermore, the machine-readable code, or portions thereof, can be transmitted via wired or wireless networks. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media comprises instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. When programmed according to the methods and techniques described in the invention, the invention may also include the computer itself.

[0109] A computer program can be applied to input data to perform the functions described herein, thereby transforming the input data to generate output data stored in non-volatile memory. The output information can also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects generated on the display.

[0110] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection of the present invention. Within the scope of protection of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A pneumatic ballistic shockwave projectile self-return control system, characterized in that, include: A pneumatic ballistic shockwave instrument (1000) includes a barrel (100), a photoelectric switch (200), and a treatment head (300). The barrel (100) contains a bullet body (110), a first electromagnet (120), and a second electromagnet (130). The first end of the barrel (100) is connected to the treatment head (300), and the second end of the barrel (100) is connected to a permanent magnet (140). The photoelectric switch (200) is located on one side of the second end of the barrel (100), and the distance between the photoelectric switch (200) and the second electromagnet (130) is smaller than the distance between the permanent magnet (140) and the second electromagnet (130). A bullet valve (2000) is connected to the air inlet of the pneumatic ballistic shock wave instrument (1000); An air supply source (3000) is connected to the bullet valve (2000) via a solenoid valve; Display screen (4000), the display screen (4000) is used to display the reset state of the bullet body (110) of the pneumatic ballistic shock wave instrument (1000); The controller (5000) is communicatively connected to the display screen (4000), the air supply source (3000), and the pneumatic ballistic shock wave instrument (1000). The controller (5000) is used to acquire the photoelectric signal of the photoelectric switch (200), determine the reset state of the bullet body (110) based on the photoelectric signal, and send the reset state of the bullet body (110) to the display screen (4000). Based on the reset state of the bullet body (110), the controller performs the corresponding control operation.

2. The pneumatic ballistic shockwave projectile self-return control system according to claim 1, characterized in that, The distance between the first electromagnet (120) and the second electromagnet (130) is 1.2 to 1.5 times the length of the bullet body.

3. The method for controlling the self-return of a pneumatic ballistic shockwave projectile according to claim 1, characterized in that, The method, applied to the pneumatic ballistic shockwave projectile self-return control system as described in any one of claims 1 to 2, comprises: Acquire the photoelectric signal from the photoelectric switch; The reset state of the bullet is determined based on the photoelectric signal, and the reset state of the bullet is sent to the display screen, which is provided with a human-computer interaction area. When the bullet body is in a successfully reset state, the first control operation is executed; When the bullet body is in a reset abnormal state, the display screen is controlled to pop up a reset request message. When an automatic reset request command is received from the user through the human-computer interaction area, the second control operation is executed.

4. The pneumatic ballistic shockwave projectile self-return control method according to claim 3, characterized in that, When the bullet body is in a successfully reset state, the first control operation includes: When the bullet body is in a successfully reset state, the bullet valve is controlled to be in an open state. The solenoid valve controlling the gas supply is in the open state. The gas supply releases high-pressure gas, which is transmitted through the bullet valve to the barrel of the pneumatic ballistic shock wave instrument. The bullet is then pushed out to strike the treatment head.

5. The pneumatic ballistic shockwave projectile self-return control method according to claim 3, characterized in that, The step of executing the second control operation upon receiving an automatic reset request command input by the user through the human-computer interaction area includes: When a user inputs a confirmation automatic reset request command through the human-computer interaction area, the bullet valve is controlled to be in the closed state; The first electromagnet is activated to generate a magnetic force that attracts the bullet body and moves it toward the rear end of the barrel; After the first electromagnet is energized for a first preset time, the first electromagnet is turned off and the second electromagnet is activated. The second electromagnet generates a magnetic force to attract the bullet body and move it toward the rear end of the barrel. After the second electromagnet is energized for a second preset time, the second electromagnet is turned off, and the bullet body is attracted and reset by the permanent magnet.

6. The pneumatic ballistic shockwave projectile self-return control method according to claim 3, characterized in that, The step of determining the reset state of the bullet body based on the photoelectric signal and sending the reset state of the bullet body to the display screen includes: When the photoelectric signal is low, it is determined that the bullet body is attracted and reset by the permanent magnet, the bullet body is in a reset successful state, and the message "the bullet body has been successfully reset" is displayed on the display screen. When the photoelectric signal is high, it is determined that the bullet body is in a reset abnormal state, and the message "The bullet body reset has failed. Please select automatic bullet body reset operation or manual intervention reset operation" is displayed on the display screen.

7. The pneumatic ballistic shockwave projectile self-return control method according to claim 6, characterized in that, Also includes: When the bullet body is in a reset abnormal state, the display screen is controlled to pop up a reset request message. When a manual intervention reset operation command is received from the user through the human-computer interaction area; The bullet valve is kept in the closed state. The solenoid valve controlling the gas supply source is in the closed state; Pause the driving commands to the first electromagnet and the second electromagnet, and control the first electromagnet and the second electromagnet to be in a de-energized state. Pause any execution instructions and counting operations of the treatment parameters of the treatment head, freeze the intensity output signal, and save the current treatment progress of the treatment head, which includes the number of pulses completed and the number of pulses remaining.

8. The method for controlling the self-return of a pneumatic ballistic shockwave projectile according to claim 7, characterized in that, Also includes: After the user manually resets the bullet, when the user confirms the completion of the manual reset operation through the human-computer interaction area, the photoelectric signal of the photoelectric switch is continuously detected at least twice at a preset time interval. If the photoelectric signal from the photoelectric switch is low for at least two consecutive times, it is determined that the bullet has been attracted and reset by the permanent magnet. Control the display screen to show the message "The bullet body has been successfully reset"; Release the power-off operation on the first electromagnet and the second electromagnet, restore any execution instructions and counting operations of the treatment parameters of the treatment head, and restore the user's response permission for treatment operation instructions; Treatment will continue based on the saved current treatment progress.

9. The method for controlling the self-return of a pneumatic ballistic shockwave projectile according to claim 8, characterized in that, Also includes: If the photoelectric signals from the photoelectric switch are not both low level in two consecutive acquisitions, then the bullet body reset is determined to have failed. The display screen is controlled to show the message "The bullet body reset failed. Please perform manual intervention reset again." 10. A computer device comprising a memory and a processor, characterized in that, When the processor executes a computer program stored in the memory, it performs the method as described in any one of claims 3 to 9.

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