Intelligent control method and system for a trolley-type multi-spectrum therapeutic instrument

Abstract

This invention discloses an intelligent control method and system for a trolley-type multispectral therapy device, belonging to the field of biomedical engineering. The method includes: a parameter initialization step, establishing a multidimensional lookup table and determining the initial drive power; a real-time ranging and preprocessing step, acquiring real-time distance through a time-of-flight ranging sensor with integrated ambient light suppression circuitry, and performing median filtering and moving average filtering to extract real-time distance values ​​containing respiratory characteristics; a dynamic compensation calculation step, calculating the compensation power based on the square of the ratio of real-time distance to the initial standard distance, and generating drive current commands for each wavelength channel according to a preset light power ratio; and a closed-loop drive execution step, adjusting the output power of each wavelength LED array through multiple independent constant current drive circuits to form a uniform composite light spot. This invention ensures a constant irradiation dose, while combining hardware-level safety protection and temperature monitoring to improve the consistency and safety of treatment.

Description

Technical Field

[0001] This application belongs to the field of spectral therapy technology, specifically relating to an intelligent control method and system for a trolley-type multispectral therapy device. Background Technology

[0002] With the continuous development of photonic medical technology, the application value of multispectral therapy in clinical rehabilitation and dermatological intervention is becoming increasingly prominent. This technology uses narrow-spectrum light beams of specific wavelengths to act on biological tissues, inducing biological stimulation effects to accelerate healing and eliminate inflammation. Its therapeutic efficacy is highly dependent on the precise distribution of irradiation dose in the spatiotemporal dimensions.

[0003] Among them, the trolley-type multispectral therapy device, with its flexible robotic arm system and movable irradiation head, can be manually positioned according to different treatment scenarios. In the clinical operation process, medical staff need to adjust the height and tilt angle of the irradiation head based on experience, aiming to make the light source axis perpendicular to the target skin area and maintain a specific physical distance, thereby achieving a stable output of the preset power under ideal conditions.

[0004] Existing technologies exhibit poor adaptability in dynamic environments. Since a single treatment cycle typically involves continuous energy input, the distance between the irradiation head and the skin fluctuates in real time due to the patient's breathing, involuntary postural adjustments, or stress-induced avoidance movements. Because light energy density exhibits significant distance attenuation, even minor positional shifts can lead to a severe deviation of the irradiation dose from the clinically prescribed dose. This not only weakens the treatment effect due to insufficient energy but may also cause skin burns due to localized heat accumulation from excessively close proximity. Furthermore, conventional control logic lacks real-time sensing of distance feedback and energy compensation mechanisms, failing to synchronously adjust the drive current when displacement occurs, making it difficult to simultaneously ensure the consistency of irradiation energy and safety during treatment. Therefore, an intelligent control method and system for a trolley-type multispectral therapy device is desired. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent control method and system for a trolley-type multispectral therapy device, which can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A method for intelligent control of a trolley-type multispectral therapy device includes the following specific steps: Parameter initialization steps: In response to the operator's parameter setting instructions, a multi-dimensional lookup table containing a two-dimensional index of driving current and substrate temperature and storing the output values ​​of optical power for each wavelength is established, and the initial driving power is determined based on the target irradiance and the initial standard distance. Real-time ranging and preprocessing steps: The real-time distance between the irradiation head and the treatment area is collected at a preset sampling frequency using a time-of-flight ranging sensor with an integrated ambient light suppression circuit. Median filtering and moving average filtering are then performed on the collected raw distance data to extract the real-time distance value, which includes respiratory features. Dynamic compensation calculation steps: Calculate the real-time compensation power based on the square of the ratio of the real-time distance value to the initial standard distance, and allocate the real-time compensation power to each wavelength channel according to the preset multi-wavelength optical power ratio, generating the drive current command for each wavelength channel. Closed-loop drive execution steps: Based on the drive current command, the output power of each wavelength LED array is adjusted by multiple independent constant current drive circuits to form a composite light spot with uniform energy distribution in the treatment area.

[0007] Furthermore, the real-time ranging and preprocessing steps further include: By limiting the measurement field of view of the time-of-flight ranging sensor to between 15 and 25 degrees, it is ensured that the ranging area is consistent with the core range of the treatment spot; By utilizing the correlation dual sampling technology integrated within the sensor, the signal superimposed with ambient light when the laser pulse is emitted and the ambient light signal when the laser pulse is turned off are acquired within a single measurement cycle, and the two are differentially calculated to filter out ambient light interference. The preset number of continuously acquired ranging samples are numerically sorted, and the median value is selected as the median filter output to remove abnormal isolated values. The result after median filtering is fed into a moving average filter, and the data within the preset window is arithmetically averaged to smooth the measurement noise, thereby fully capturing the chest rise and fall characteristics of 0.2Hz to 0.5Hz caused by human breathing and outputting the real-time distance value.

[0008] Furthermore, in the dynamic compensation calculation step, the process of generating the drive current command for each wavelength channel includes: Based on the electro-optical conversion efficiency of each wavelength LED at the current substrate temperature stored in the multidimensional lookup table, the preset multi-wavelength optical power ratio is converted into the driving current ratio required for each wavelength channel. Based on the principle that light intensity is inversely proportional to the square of the distance, the total real-time compensation power is calculated according to the initial driving power, the initial standard distance, and the real-time distance value. The total real-time compensation power is smoothly adjusted using an incremental proportional-integral-derivative control algorithm. Based on the ratio of the drive current, the adjusted total real-time compensation power is distributed to each wavelength channel to generate drive current commands for each wavelength channel.

[0009] Furthermore, the closed-loop drive execution steps further include: The drive current command for each wavelength channel is converted into a high-resolution pulse width modulation signal and sent to a pulse width modulation controller, which has an enable pin. By using a high-frequency buck converter circuit topology, independent constant current drive is provided for each wavelength LED array based on the pulse width modulation signal; By using a miniature fly-eye lens array or a compound eye lens array, spatial mixing of different wavelength beams emitted by a multispectral LED array is performed, so that the energy distribution uniformity of the composite light spot in the effective working plane is better than 90%.

[0010] Furthermore, it also includes a safety monitoring step: when the real-time distance value is lower than the preset safe distance threshold, the light source output is directly turned off through a hardware-level analog comparator; at the same time, graded power limiting protection is implemented based on the real-time monitored substrate temperature.

[0011] The hardware-level light source shutdown in the safety monitoring process specifically includes: The distance analog voltage signal output by the time-of-flight ranging sensor and the preset safe distance threshold voltage are respectively connected to the two input terminals of the analog comparator; The output of the analog comparator is directly connected to the enable pin of the pulse width modulation controller in the constant current drive circuit; When the distance to the analog voltage signal is lower than the safe distance threshold voltage, the analog comparator output level jumps, directly pulling down the enable terminal of the pulse width modulation controller, forcibly turning off the output of the pulse width modulation signal, and thus turning off the light source.

[0012] Furthermore, the parameter initialization step further includes: A cross-shaped positioning spot is projected onto the skin surface by a laser pointer. After confirming that the center of the optical axis of the irradiation head coincides with the treatment area, the reading of the time-of-flight distance sensor is recorded as the initial standard distance. If the initial standard distance exceeds the preset distance range, a positioning deviation warning will be generated, prompting the user to readjust the position of the illumination head.

[0013] Furthermore, it also includes environmental temperature and humidity compensation steps: The ambient temperature and relative humidity in the treatment room are collected using digital temperature and humidity sensors. Calculate the air refractive index under the current environment based on the modified Edren formula; The vacuum speed of light constant in the time-of-flight ranging algorithm is replaced with the actual speed of light after correction based on the air refractive index, so as to perform a secondary correction on the real-time distance value.

[0014] Furthermore, the graded power limiting protection in the safety monitoring process includes: When the real-time monitored substrate temperature exceeds the first preset temperature threshold, an early warning state is triggered and a prompt message is displayed on the human-machine interface; When the substrate temperature exceeds the second preset temperature threshold which is higher than the first preset temperature threshold, the secondary protection mechanism is activated to dynamically reduce the global maximum duty cycle limit value and limit the drive current command output by the dynamic compensation calculation step. When the substrate temperature exceeds the third preset temperature threshold which is higher than the second preset temperature threshold, the enable terminal of the pulse width modulation controller is directly disconnected, and the light source output is completely turned off. When the substrate temperature drops from above the third preset temperature threshold to below the first preset temperature threshold and remains below the first preset temperature threshold for a preset time, the secondary protection mechanism is automatically released, and the global maximum duty cycle limit value is restored.

[0015] Furthermore, in the closed-loop drive execution step, multiple independent constant current drive circuits correspond to LED arrays with red light wavelength, blue light wavelength, and near-infrared light wavelength respectively; each constant current drive circuit samples the current through a precision sampling resistor connected in series in the LED array circuit and feeds the sampling signal back to the pulse width modulation controller to form a negative feedback closed loop, so as to control the steady-state current accuracy within ±2%.

[0016] A smart control system for a trolley-type multispectral therapy device, including The mobile base features a universal locking function; Damped balancing robotic arms have 4 to 6 degrees of freedom; The irradiation head is installed at the far end of the damped balance robotic arm and integrates a multispectral LED array, a miniature fly-eye lens array or compound eye lens array as described in claim 4, a time-of-flight ranging sensor, and a substrate temperature sensor. The main control unit is configured to: respond to parameter setting commands, establish a multi-dimensional lookup table containing a two-dimensional index of drive current and substrate temperature, store the output values ​​of optical power for each wavelength, and determine the initial drive power based on the target irradiance and the initial standard distance; perform median filtering and moving average filtering on the real-time distance collected by the time-of-flight ranging sensor to extract the real-time distance value; calculate the real-time compensation power based on the square of the ratio of the real-time distance value to the initial standard distance, and generate drive current commands for each wavelength channel according to the preset multi-wavelength optical power ratio; A multi-channel independent constant current driving circuit is connected to each wavelength LED array and the main control unit. The multi-channel independent constant current driving circuit includes a pulse width modulation controller, which is used to adjust the output power of each wavelength LED array based on the driving current command. The hardware-level safety protection circuit includes an analog comparator, whose input terminals are respectively connected to the distance analog voltage output terminal of the time-of-flight ranging sensor and the preset safe distance threshold voltage terminal. Its output terminal is directly connected to the enable pin of the pulse width modulation controller, which is used to directly shut off the light source output when the distance exceeds the limit.

[0017] In summary, this application includes at least one of the following beneficial technical effects: 1. This invention utilizes a physical-level compensation model, enabling the system to automatically adapt to the patient's breathing fluctuations, minor postural adjustments, or subconscious avoidance movements during treatment. When the distance between the patient and the irradiation head increases, the system continuously increases the drive duty cycle to enhance output power; when the distance decreases, the system correspondingly reduces power, ensuring that the actual irradiance received by the skin surface remains locked at the target value set in the clinical prescription, thereby guaranteeing the consistency of the treatment dose and the reliability of the treatment effect.

[0018] 2. By setting a preset high-frequency sampling frequency and a preset safe distance threshold, this invention enables the system to identify dangerous approach actions more quickly than manual operation and shut off the light source within a preset response time. Simultaneously, by combining substrate temperature monitoring and power limiting logic, it prevents overheating of the irradiation head caused by prolonged high-power compensation, ensuring patient skin safety from both light energy density and thermodynamic perspectives and reducing the probability of medical accidents.

[0019] 3. Medical staff only need to complete simple parameter settings and approximate positioning in the initial stage. The energy maintenance during subsequent treatment is automatically completed by the main control unit, eliminating the need for full-time monitoring or manual adjustment of the robotic arm position within the preset treatment cycle. The preset high-frequency pulse width modulation technology eliminates the visual stimulation of medical staff and patients caused by light flicker. Combined with an intuitive human-computer interaction interface, it significantly improves the comfort of the medical environment and enhances the automation level of clinical work.

[0020] 4. This invention can effectively address the complex lighting environment of the clinic and the differences in skin reflectivity among different patients, ensuring the accuracy of the ranging data. The application of multi-wavelength independent drive and dual closed-loop control technology enables the therapeutic device to maintain extremely high dose output accuracy even when facing LED aging or changes in ambient temperature and humidity, providing solid technical support for the standardized application of photonic medical technology in clinical rehabilitation, dermatological intervention, and other fields. Attached Figure Description

[0021] Figure 1 This is an overall schematic diagram of the intelligent control method for a trolley-type multispectral therapy device; Figure 2 It is a core principle diagram of energy servo compensation based on real-time distance feedback and the law of light energy transmission; Figure 3This is a flowchart illustrating the logic of real-time ranging data acquisition, environmental suppression, and filtering. Figure 4 It is a schematic diagram of the multi-level interaction relationship and data flow between the main control unit, the ranging sensor and the constant current drive circuit; Figure 5 It is a flowchart of a multi-dimensional safety monitoring and protection logic involving distance threshold, substrate temperature and orientation angle. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the following description is provided in conjunction with the appendix. Figure 1-5 The present invention will be further described in detail with reference to specific embodiments.

[0023] Firstly, the intelligent control method for the trolley-type multispectral therapy device disclosed in this application integrates high-precision time-of-flight ranging technology, dynamic power compensation algorithm, multi-wavelength constant current drive technology, and multi-dimensional safety monitoring logic to construct a closed-loop energy control system capable of adapting to changes in patient position. The main hardware of the trolley-type multispectral therapy device includes a mobile base with omnidirectional locking function, a damped balancing robotic arm with 4 to 6 degrees of freedom, and an irradiation head mounted at the distal end of the robotic arm. The intelligent control of the trolley-type multispectral therapy device is implemented according to the following steps: The first step, S1, involves parameter initialization and initial baseline establishment. Step S1 aims to complete the system's hardware self-test after power-on, treatment parameter setting, electro-optical conversion characteristic modeling, and initial spatial positioning of the irradiation head and treatment area, laying the foundation for subsequent real-time ranging and dynamic compensation. The specific implementation process is as follows: Step S101: After the system is powered on, the main control unit first executes a hardware self-test program, sequentially checking the status of the internal Flash memory, random access memory, clock circuit, and watchdog circuit. After the self-test passes, the main control unit establishes a link with the external communication interface through the I2C bus or SPI bus, completing the communication preparation with peripherals such as the touch screen and ranging sensor.

[0024] In step S102, the operator accesses the human-machine interface via a medical-grade capacitive touchscreen integrated on the upper part of the treatment device. This interface uses a 12-bit color depth graphical display. On the initialization screen, the operator sets the target irradiance. Its setting range is from 10 mW / cm² to 250 mW / cm², and the step adjustment accuracy is 0.5 mW / cm².

[0025] Step S103: The main control unit pre-stores electro-optical conversion efficiency characteristic curves for red light (630 nm ± 10 nm), blue light (460 nm ± 10 nm), and near-infrared light (850 nm ± 20 nm) under different driving currents. These curves exist in the form of a multidimensional lookup table, used to establish a nonlinear mapping model between irradiance and driving current based on the wavelength combination ratio during the initialization phase. The multidimensional lookup table is based on the driving current... For row indexing, increment by 1 mA, based on substrate temperature. Use column indexes, incrementing by 5 degrees, to store the optical power output values ​​corresponding to each wavelength. For example, a red LED has a storage value of 150 mW at a substrate temperature of 25°C and a driving current of 100mA. This model ensures the accuracy of subsequent driving parameter calculations and can compensate for the differences in electro-optical conversion between LED chips of different wavelengths and the impact of temperature changes on luminous efficacy.

[0026] In step S104, medical staff manually adjust the robotic arm's position to place the irradiation head directly above the target skin area to determine the initial standard distance. At this stage, the system activates the auxiliary positioning function, projecting a cross-shaped positioning spot onto the skin surface through the laser pointer to help confirm the alignment of the optical axis center of the irradiation head with the treatment area.

[0027] Step S105: The system records the current time-of-flight ranging sensor reading as the initial standard distance. The sensor's measurement field of view is limited to between 15 and 25 degrees by an optical cone lens, ensuring that the ranging area is consistent with the core range of the treatment spot. The value must be within the preset distance range of 20cm to 60cm. If it exceeds this range, the system will display a positioning deviation warning on the interactive interface, prompting the operator to readjust the position of the irradiation head.

[0028] The main control unit sets the target irradiance according to step S102. and the initial standard distance determined in step S105 Based on the nonlinear mapping model established in step S103, the initial drive current duty cycle is calculated. And determine the rated drive power at the initial standard distance. .Should and Together they serve as the benchmark parameters for subsequent dynamic compensation.

[0029] In summary, step S1 establishes the initial spatial relationship between the irradiation head and the treatment area through manual positioning and laser assistance, and calculates the initial driving parameters based on this relationship to ensure the consistency and accuracy of the treatment initiation state. After completing the above initialization and benchmark establishment, the system enters the real-time ranging and dynamic compensation stage, which is the real-time distance acquisition and preprocessing process described in step S2.

[0030] Regarding step S2, the real-time ranging and data preprocessing step, after establishing the initial baseline in step S1, the system enters the real-time ranging stage. This step aims to capture changes in the patient's position during treatment, particularly distance fluctuations caused by respiration and micro-movements, through high-frequency, high-precision distance measurement, providing real-time and reliable distance feedback data for subsequent energy compensation. The specific implementation process is as follows: Step S201: Configure the hardware parameters and anti-interference mechanism of the ranging sensor; the time-of-flight ranging sensor installed at the center of the illumination head enters high-frequency operating mode. This sensor uses a 940 nm wavelength near-infrared laser pulse as the detection light source and incorporates a built-in single-photon avalanche diode array for high-sensitivity photon detection. The ranging sampling frequency is set to 50 Hz, meaning a distance acquisition is completed every 20 ms.

[0031] The sensor's measurement field of view is limited to a preset angle range of 15 to 25 degrees by an optical cone lens. This design ensures that the projection center of the ranging area always covers the core area of ​​the treatment spot, avoiding errors caused by misalignment between the measurement area and the treatment area.

[0032] The sensor integrates a high-gain ambient light suppression circuit, which employs correlated double sampling technology to filter out ambient light interference. The specific operation of correlated double sampling is as follows: within a single measurement cycle, the sensor performs two sampling operations. The first sampling occurs after the laser pulse is emitted, acquiring the superimposed signal of the signal light and ambient light; the second sampling occurs after the laser pulse is turned off, acquiring only the ambient light signal. The sensor internally performs a differential operation on the signals obtained from the two samplings, and the difference result is the intensity of the pure signal light after subtracting the ambient light. This mechanism effectively filters out DC and high-frequency AC interference generated by lighting sources such as operating room lights, natural light, or indoor fluorescent lights. After this processing, the ranging accuracy error can still be controlled within 1% even in a 100 klux strong light environment.

[0033] The above steps completed the hardware selection and anti-interference design of the ranging sensor, ensuring that stable and accurate raw distance data can still be obtained under complex clinical lighting conditions.

[0034] Step S202: Acquire and transmit raw distance data; the raw distance data acquired in real time by the sensor is transmitted to the DMA receive buffer of the main control unit via a serial communication bus. This serial communication bus uses an I2C bus with a transmission rate set to 1 Mbps to meet the data bandwidth requirements at a 50 Hz sampling frequency. DMA (Direct Memory Access) allows data to be stored directly into memory without intervention from the main control unit, reducing the interrupt response burden on the main control unit and ensuring that distance data can be transmitted continuously and without loss at fixed intervals.

[0035] Step S203: Perform median filtering. The main control unit calls the floating-point arithmetic unit to perform median filtering on the 10 continuously acquired ranging samples. The specific operation of median filtering is as follows: sort the 10 samples (including the current time and the previous 9 times) according to their numerical values, and select the 5th value in the middle position after sorting, or the average of the 5th and 6th values, as the filtered output. This algorithm can effectively remove abnormal isolated values ​​caused by sudden occlusion or instantaneous shaking of the human body surface, such as instantaneous distance jumps caused by a patient coughing or subconscious movements, while retaining the trend characteristics of the true distance change. The selection of the window length for the 10 samples balances the ability to remove outliers and the system response speed; if the window is too short, it will be difficult to remove persistent noise, and if the window is too long, it will lead to response lag.

[0036] Step S204: Perform a moving average filter; the result after median filtering is fed into a moving average filter of length 5. The moving average filter maintains a first-in, first-out queue. Each time new data enters, the oldest data in the queue is discarded, and the arithmetic mean of the five currently stored data in the queue is calculated. This processing is used to eliminate measurement noise introduced by uneven skin surface reflectivity, hair interference, or minute vibrations, further smoothing the distance signal. The selection of the 5-point window length allows the filter to effectively suppress high-frequency noise components above 10 Hz while retaining low-frequency physiological signals such as human respiration.

[0037] Median filtering and moving average filtering together form a two-stage filtering chain. Median filtering is responsible for eliminating large abnormal jumps, while moving average filtering is used to smooth the remaining random measurement noise. The combination of the two can obtain a high signal-to-noise ratio measurement signal while preserving the true distance change characteristics.

[0038] Step S205: Extract respiratory features and output real-time distance. The distance signal, after dual processing with median filtering and moving average filtering, can completely capture the chest rise and fall characteristics caused by human respiration. Human respiratory frequency is typically 0.2 Hz to 0.5 Hz, corresponding to a period of 2 to 5 seconds. This frequency is far lower than the 50 Hz sampling frequency and lower than the cutoff frequency of the two-stage filters. Therefore, respiratory motion exhibits slow, periodic fluctuations in the time series. The filtered distance signal retains this low-frequency component while filtering out high-frequency noise and isolated outliers, providing a high signal-to-noise ratio data foundation for subsequent smoothing compensation. The main control unit uses the filtered distance value at the current moment as the real-time distance. The output is used for the dynamic compensation calculation in step S3.

[0039] In summary, step S2 constructs a complete ranging link from physical signal acquisition to feature extraction through sensor hardware configuration, ambient light suppression, data acquisition, and two-stage filtering. This link removes outliers and noise while fully preserving distance fluctuation information reflecting the patient's respiratory movements. After completing the above processing, the system can use the real-time distance value as input to enter the dynamic compensation calculation stage in step S3, adjusting the light source output power in real time according to distance changes.

[0040] The next step is S3, the dynamic compensation calculation step. After completing real-time distance acquisition and preprocessing, the system enters the dynamic compensation calculation stage. The core of this step is to dynamically adjust the light source output power based on real-time distance fluctuations, thereby ensuring that the irradiance received by the skin surface remains constant at the clinically prescribed value. The specific implementation process is as follows: Step S301: Establish compensation benchmark; the main control unit will output the real-time distance from step S205. The initial standard distance determined in step S105 Real-time comparison is performed. The compensation logic follows the physical principle of light energy transmission, namely, under far-field conditions, the illuminance of a point light source on its irradiated surface is inversely proportional to the square of the distance from the light source to the irradiated surface. This is to maintain the target irradiance on the skin surface. For constant power, the system needs to compensate for changes in output power in real time based on distance variations.

[0041] Step S302: Determine the rated drive power and calculate the real-time compensation power; the main control unit first determines the initial standard distance. Rated drive power at the following levels . Instead of a preset constant, it is based on the nonlinear mapping model established in step S103, and by querying the target irradiance of the skin surface at the initial standard distance. Required drive power value.

[0042] This nonlinear mapping model exists in the form of a multidimensional lookup table, recording the electro-optical conversion efficiency of LEDs at different wavelengths under different driving currents. The main control unit can then accurately calculate the corresponding... and of .

[0043] Subsequently, based on the physical principle that light intensity is inversely proportional to the square of the distance, the main control unit calculates the required real-time compensation power through its internal compensation logic. Its core computational model is:

[0044] in, Represents the initial standard distance Below, in order to achieve the target irradiance on the skin surface The required rated drive power, in watts; The initial standard distance is measured in centimeters. This is the real-time distance value after filtering, in centimeters. The calculated real-time compensation power is expressed in watts.

[0045] This model ensures that when the patient moves further away from the irradiation head, resulting in increased distance, the output power increases quadratically, and vice versa, thus theoretically compensating for the effect of distance changes on irradiance.

[0046] Step S303 introduces a PID control algorithm for fine-tuning. To prevent drastic energy jumps or control oscillations during compensation, the main control unit introduces a proportional-integral-derivative (PID) control algorithm for fine-tuning based on the coarse compensation power calculated in step S302. The core of this algorithm is to construct a closed-loop control circuit, with the irradiance deviation as input and the final pulse width modulation signal duty cycle as output. .

[0047] The main control unit first obtains the current driving current flowing through the LED array through real-time sampling. Then, based on the nonlinear mapping model established in step S103, by... Calculate the actual output power of the light source at the light-emitting surface of the illumination head under the current hardware conditions, without considering distance attenuation. .

[0048] Next, combine the real-time distance output in step S205 The predicted irradiance actually received by the skin surface is calculated using a light energy transfer model. This inverse calculation model is based on the criterion that the illuminance of a point light source is inversely proportional to the square of the distance, and its formula is: ,in These are constants determined by the optical system. The method for determining it is as follows: at the standard distance The irradiance value was obtained by measuring it using a standard radiometer. ,according to Calculated. For the compound eye lens system of this embodiment, The value range is usually between 0.85 and 1.15.

[0049] Target irradiance and By subtracting the values, we obtain the irradiance deviation. The PID controller dynamically adjusts the output duty cycle based on this deviation. This system employs an incremental PID control algorithm, where the control quantity is the duty cycle increment. The calculation formula is:

[0050] in, This represents the irradiance deviation at the current moment; This represents the irradiance deviation at the previous moment; This represents the irradiance deviation between the two previous moments; This is a scaling factor used for rapid response to step changes in distance; These are the integral coefficients used to eliminate static errors; These are differential coefficients used to predict distance change trends and suppress overshoot. For low-frequency displacements caused by human respiration, with a frequency range of 0.2 Hz to 0.5 Hz, a proportional coefficient is recommended to ensure a smooth system response and zero steady-state error. The value range is [0.1, 0.5], and the integral coefficient is... The value range is [0.01, 0.05], and the differential coefficient is... Set to a smaller value to suppress noise.

[0051] The final duty cycle output is ,in This represents the duty cycle at the previous time step. This algorithm ensures the smoothness and accuracy of the compensation process.

[0052] Step S304 ensures real-time responsiveness; to ensure the real-time performance of the control system, the main control unit uses an internal hardware timer to trigger a dynamic compensation calculation interrupt with a fixed period of 20 milliseconds. In the interrupt service routine, the main control unit executes all calculations from steps S301 to S303 sequentially.

[0053] The main control unit's floating-point arithmetic unit ensures that the total core computation time is kept within 5 milliseconds, far less than the 20-millisecond interrupt cycle. This periodic interrupt-driven mechanism based on a hardware timer guarantees that the entire closed-loop response speed, from the acquisition of new data by the ranging sensor to the execution of new power output by the drive circuit, is sufficient to capture and compensate for distance changes caused by the patient's physiological activities such as breathing, achieving real-time energy tracking. Simultaneously, if a calculation times out or an anomaly occurs, the watchdog circuit will reset the system, ensuring the long-term stable operation of the control system.

[0054] In summary, step S3 combines a physical compensation model based on the inverse square law with an incremental PID control algorithm to construct an energy servo calculation framework that combines physical accuracy with dynamic adaptability. This framework can not only calculate the required compensation power based on distance change theory, but also achieve smooth, accurate, and rapid power output adjustment through closed-loop control, providing precise control commands for subsequent drive execution stages.

[0055] Next, step S4 is performed, and the closed-loop drive is executed; in step S3, dynamic compensation calculation is completed and the final pulse width modulation signal duty cycle is obtained. Afterward, the system enters the closed-loop drive execution phase. The core of this step lies in converting control commands into precise, stable, and uniform optical energy output, and achieving independent multi-wavelength control. The specific implementation process is as follows: Step S4: Closed-loop drive execution; Step S3: Dynamic compensation calculation completed and final pulse width modulation signal duty cycle obtained. Afterward, the system enters the closed-loop drive execution phase. The core of this step lies in converting control commands into precise, stable, and uniform optical energy output, and achieving independent multi-wavelength control. The specific implementation process is as follows: Step S401: Generate a high-precision pulse width modulation (PWM) adjustment signal; the PWM output terminal of the main control unit generates a high-resolution adjustment signal, which is connected to the PWM controller. This signal has a resolution of 12 bits or 16 bits, corresponding to 4096 or 65536 adjustable duty cycles, ensuring the precision of output power adjustment. The main control unit then calculates the final duty cycle obtained in step S303. It is directly loaded into the pulse width modulation controller, thereby achieving a seamless connection from the control algorithm to the drive signal.

[0056] Step S402: Perform multi-channel independent constant current drive; the PWM adjustment signal generated in step S401 acts on the multi-channel independent constant current drive circuit. Each drive channel corresponds to an LED array of one wavelength, namely the red light channel, the blue light channel, and the near-infrared light channel.

[0057] The constant current drive circuit adopts a high-frequency buck converter circuit topology, with its switching frequency set at 100kHz. This frequency is much higher than the flicker fusion frequency of the human visual system, which is usually 60Hz, thus completely avoiding visual fatigue and flickering under high-speed photography or naked-eye observation.

[0058] To achieve constant current output, each drive channel includes current sampling and closed-loop control. Specifically, a precision sampling resistor is connected in series in the LED array circuit to convert the current flowing through the LEDs into a voltage signal. This signal is amplified by a differential amplifier and then sent to the feedback input of the pulse width modulation controller. The pulse width modulation controller integrates an error amplifier and a comparator to compare the sampled feedback voltage with the reference voltage corresponding to the PWM duty cycle provided in step S401, and adjusts the on-time of the power switch in real time to form a negative feedback closed loop. This mechanism ensures that the output current does not change with power supply voltage fluctuations, load changes, or temperature drift, and the steady-state current accuracy is better than ±2%.

[0059] The output of the drive circuit is connected to a large-capacity electrolytic capacitor with low equivalent series resistance and a precision power inductor. Through the filtering effect of the inductor, the current ripple is further reduced, ensuring that the current ripple coefficient flowing through the multispectral LED array is less than 3%, providing the LED with a stable and clean drive current.

[0060] Step S403: Configure the multispectral LED array and spatial light mixing; the multispectral LED array consists of 36 high-power LED chips arranged in an alternating pattern, including red light-emitting diodes, blue light-emitting diodes, and near-infrared light-emitting diodes. The 36 chips are arranged in an alternating pattern to pre-mix the emitted light of different wavelengths in space, providing a uniform incident light distribution for the subsequent light mixing lens.

[0061] Light sources of different wavelengths are precisely distributed through a spatial mixing lens covering the array. This spatial mixing lens employs a miniature fly-eye lens array or a compound-eye lens array. Its working principle is to split the incident light beam into numerous tiny sub-beams, and through the refraction and superposition of each sub-lens, achieve uniform mixing of light energy of different wavelengths at the illumination surface. After this processing, a composite light spot with an energy distribution uniformity of better than 90% can be formed within the effective working plane 30 to 50 centimeters below the illumination head.

[0062] Step S404 achieves independent compensation and proportional control of multiple wavelengths; the driving channels of each monochromatic light are independent of each other, and the main control unit can synchronously perform energy compensation according to the requirements of the clinical protocol and the preset light power ratio. This preset ratio is input by the operator through the human-machine interface during the parameter initialization stage of step S102, for example, the red-blue light power ratio is set to 1:1 or 2:1, and stored in the internal memory of the main control unit.

[0063] During real-time operation, the main control unit first calculates the final duty cycle obtained in step S303. This serves as a benchmark for the total driving intensity. However, due to the differences in electro-optical conversion efficiency among LEDs of different wavelengths, directly allocating the duty cycle according to the optical power ratio will cause the actual output optical power ratio to deviate from the preset value.

[0064] To this end, the system uses the nonlinear mapping model established in step S103 to convert the preset optical power ratio into the driving current ratio required by each channel, and then further into the duty cycle allocation ratio.

[0065] The specific conversion process is as follows: the main control unit converts the optical power ratio according to the preset optical power ratio. And the electro-optical conversion efficiency of LEDs of various wavelengths under current operating conditions. , , Calculate the proportion of drive current that should be allocated to each channel. .

[0066] Subsequently, based on the linear relationship between the current and duty cycle of each channel's constant current drive circuit, the total duty cycle is... The current is distributed to each channel according to this ratio to obtain the duty cycle of the red light channel. The same applies to the blue light channel and the near-infrared channel.

[0067] When the patient moves further away from the irradiation head, causing the ranging value to increase, step S303 calculates... The output current of each channel is increased accordingly to compensate for the light energy attenuation caused by the increased distance; conversely, when the distance decreases, the output current of each channel is increased synchronously according to the above ratio. The output current of each channel is reduced synchronously.

[0068] This mechanism ensures that the dose ratio of each spectral component remains constant during multi-wavelength synergistic therapy, and that the total dose is adjusted in real time as the distance changes.

[0069] In summary, step S4 converts the duty cycle command output in step S3 into an actual driving current and utilizes independent channels and a proportional control mechanism to ensure that the dose ratio of each spectral component remains stable in multi-wavelength synergistic treatment scenarios. The execution of this step allows the energy compensation command calculated in the preceding steps to be accurately implemented, providing hardware and driving-level guarantees for the stability and consistency of treatment effects.

[0070] Finally, step S5, the multi-dimensional safety monitoring and protection step, is performed. While the closed-loop drive execution is completed in step S4, the system executes multi-level real-time protection logic in parallel. The core of step S5 is to ensure patient skin safety and device reliability from both light energy density and thermodynamic dimensions. The specific implementation process is as follows: Step S501: Configure the distance over-limit protection hardware trigger mechanism; minimum safe distance. The preset distance is 15 centimeters. To achieve a microsecond-level fast response, the system constructs an independent trigger channel at the hardware level.

[0071] The main control unit uses its built-in digital-to-analog converter (DAC) module to convert the real-time digital distance value, which is obtained and filtered via the I2C bus in step S202, into an analog voltage signal that is linearly related to the distance. This conversion process is periodically executed by the main control unit at a frequency of 50Hz, synchronized with the ranging sampling, to ensure... It reflects the current distance value in real time.

[0072] The generated analog voltage signal voltage relative to the preset safe distance threshold Each input is connected to one of the two input terminals of an analog comparator chip. The setting method is as follows: the desired voltage value corresponding to 15 cm is generated by a precision resistor voltage divider circuit. This voltage divider circuit is composed of a high-precision fixed resistor and an adjustable potentiometer connected in series, and is fixed after factory calibration.

[0073] The output of the analog comparator is directly connected to the enable pin of the pulse width modulation controller in step S402, without passing through any software logic or programmable devices. Below When the comparator output level changes from high to low, this low-level signal directly pulls down the enable terminal of the pulse width modulation controller, forcibly turning off the PWM output, and the light source immediately stops emitting light.

[0074] The total delay of this hardware cascaded path consists of the comparator response time and the pulse width modulation controller enable response time, both of which are in the microsecond range, ensuring that the total delay from the occurrence of the distance violation event to the shutdown of the light source is controlled within 10 milliseconds.

[0075] At the same time, the comparator's output switching signal is simultaneously sent to the external interrupt pin of the main control unit. After detecting the interrupt, the main control unit drives the piezoelectric buzzer through the general-purpose input / output port, triggering an audible and visual alarm that lasts for 3 seconds, and displays the message "Too close, automatically turned off" on the human-machine interface.

[0076] Step S502: Real-time monitoring and sampling of substrate temperature is performed. The main control unit monitors the substrate temperature in real time through a negative temperature coefficient thermistor attached to the back of the multispectral LED array inside the irradiation head. This thermistor and a precision fixed resistor form a voltage divider circuit. The resistance value of the precision fixed resistor is selected to be equal to the nominal resistance value of the thermistor at 25 degrees Celsius, so as to obtain better linearity within the commonly used temperature range.

[0077] The main control unit acquires the voltage values ​​at the voltage divider points using an analog-to-digital converter at a sampling frequency of 1 Hz. Each acquisition performs 10 consecutive conversions, followed by an arithmetic average to suppress single-sampling noise. The main control unit then calculates the current substrate temperature based on the thermistor's resistance-temperature characteristic curve. The characteristic curve is pre-stored in the main control unit in the form of a lookup table. The table records the resistance value corresponding to each degree Celsius in the range from 0 degrees Celsius to 100 degrees Celsius, and the intermediate temperature is calculated by linear interpolation.

[0078] Step S503: Execute the three-level temperature protection logic and recovery mechanism; the main control unit will display the real-time substrate temperature. The system compares the temperature with three preset temperature thresholds and executes a tiered protection strategy. Level 1 Warning: When When the temperature exceeds 55 degrees Celsius, the system enters a Level 1 warning state. The main control unit does not change the current drive output, but only displays temperature information through the human-machine interface and issues a warning with a yellow icon in the status bar to remind medical staff to pay attention to the equipment temperature. This warning state remains in effect until the temperature drops below 55 degrees Celsius.

[0079] Level 2 power limit: When When the temperature exceeds 60 degrees Celsius, the system automatically activates a secondary safety protection mechanism. Under this mechanism, the main control unit sets a global maximum duty cycle limit at the software level. The initial value is 100%. After entering secondary protection, The duty cycle is dynamically reduced to 70% of the maximum allowable duty cycle. The PID control algorithm in step S303 outputs the final duty cycle. Subsequently, the main control unit adds a limiting element, which is the actual output duty cycle. ,in The function represents taking the smaller of the two values.

[0080] This mechanism ensures that regardless of the increase in distance, the calculation in step S303... No matter how much power is increased, the actual output power will not exceed the safety limit. Meanwhile, the system displays a high-temperature alarm with a red icon on the human-machine interface and restricts users from adjusting the target irradiance via the touchscreen.

[0081] Level 3 Complete Shutdown: If the temperature continues to rise and exceeds 65 degrees Celsius despite the Level 2 protection mechanism, the system determines that thermal management has failed or the environment is abnormal. The main control unit directly pulls down the enable pin of the pulse width modulation controller through the general-purpose input / output port, completely shutting off the light source output. At this time, the system issues a continuous buzzer alarm and displays the message "Equipment overheating, automatically shut down" on the interface.

[0082] Temperature drop recovery mechanism: When the substrate temperature If the temperature drops from above 65 degrees Celsius to below 55 degrees Celsius for more than 30 seconds, the system will automatically release the duty cycle limit in the secondary protection. The system will be restored to 100%, resuming the user's control over the target irradiance, while maintaining the continuous operation of temperature monitoring and protection logic. If the temperature fluctuates between 55 and 60 degrees Celsius, the system will maintain a Level 1 warning state but will not remove the Level 2 protection restrictions to avoid frequent switching of protection states.

[0083] Step S504: Execute software watchdog and exception reset; To ensure the long-term stable operation of the control system, the main control unit integrates an independently operating watchdog timer. This watchdog timer counts down in 1-second cycles, and its counter register is automatically decremented by hardware. In each complete cycle, the main control unit's main loop program executes a dedicated instruction to perform a "feed" operation on the watchdog timer, resetting its counter register to its initial value.

[0084] If the main loop fails to execute the "watchdog timer" operation within one second due to software crashes, infinite loops, or abnormal interrupt service routine usage, the watchdog timer will overflow and generate a reset signal. This reset signal is directly connected to the reset pin of the main control unit, forcing the main control unit to restart. After restarting, the system automatically executes the hardware self-test and initialization process in step S101, returning to standby mode, waiting for medical staff to resume treatment. This mechanism prevents control failures caused by software malfunctions.

[0085] In summary, step S5 constructs a multi-dimensional safety protection system encompassing light energy density, thermodynamics, hardware, and software through hardware-level rapid shutdown, three-level temperature protection, and a software watchdog mechanism. This system not only enables microsecond-level light source shutdown when danger approaches but also allows for tiered intervention in case of temperature anomalies, ensuring the treatment process remains safe and controllable at all times. The execution of this step ensures that the preceding energy compensation and drive control operate reliably within safety boundaries, providing a robust safety guarantee for clinical treatment.

[0086] The method also includes environmental temperature and humidity compensation logic. The main control unit collects real-time environmental parameters of the treatment room through a built-in digital temperature and humidity sensor, which uses an integrated temperature and humidity sensor chip such as the SHT3x series. Since the air refractive index will have a slight shift with changes in temperature and humidity, which will affect the optical round-trip time calculation of the time-of-flight ranging sensor, the main control unit uses a pre-stored correction formula to perform a secondary correction on the ranging value.

[0087] The specific process of ambient temperature and humidity compensation is as follows: The main control unit collects the current ambient temperature through the built-in digital temperature and humidity sensor. With relative humidity Since the air refractive index varies with temperature and humidity, affecting the speed of light and thus the accuracy of time-of-flight ranging, the system calculates the air refractive index under the current environment based on the modified Edlén formula. The calculation formula is as follows: First, calculate the refractive index under standard conditions. : ,in, Atmospheric pressure, unit: hPa; Ambient temperature, in °C; Water vapor partial pressure, in hPa, is determined by relative humidity. The calculation yielded: .

[0088] Considering the operating wavelength of the ranging sensor Dispersion correction at nm yields the final refractive index. :

[0089] Then the standard vacuum speed of light m / s divided by refractive index To obtain the actual speed of light under the current environment The main control unit replaces the speed of light constant in the ranging algorithm with... Recalculate the distance value.

[0090] To verify the effectiveness of the compensation mechanism, under the baseline conditions of 25℃ ambient temperature and 50% relative humidity, the ranging error was ±0.5 mm. When the ambient temperature rose to 35℃ and the relative humidity reached 80%, the ranging error reached ±3.2 mm without compensation, but after compensation, the error was reduced to within ±0.8 mm. When the ambient temperature dropped to 10℃ and the relative humidity reached 20%, the error without compensation was ±2.5 mm, but after compensation, the error was controlled within ±0.7 mm. This compensation mechanism ensures that the ranging accuracy remains within ±1 mm even under extreme weather conditions, providing accurate distance input for subsequent dynamic compensation.

[0091] In addition, the intelligent control system for a trolley-type multispectral therapy device disclosed in this application includes: The mobile base features a universal locking function; Damped balancing robotic arms have 4 to 6 degrees of freedom; The irradiation head is installed at the far end of the damped balance robotic arm and integrates a multispectral LED array, a miniature fly-eye lens array or compound eye lens array as described in claim 4, a time-of-flight ranging sensor, and a substrate temperature sensor. The main control unit is configured to: respond to parameter setting commands, establish a multi-dimensional lookup table containing a two-dimensional index of drive current and substrate temperature, store the output values ​​of optical power for each wavelength, and determine the initial drive power based on the target irradiance and the initial standard distance; perform median filtering and moving average filtering on the real-time distance collected by the time-of-flight ranging sensor to extract the real-time distance value; calculate the real-time compensation power based on the square of the ratio of the real-time distance value to the initial standard distance, and generate drive current commands for each wavelength channel according to the preset multi-wavelength optical power ratio; A multi-channel independent constant current driving circuit is connected to each wavelength LED array and the main control unit. The multi-channel independent constant current driving circuit includes a pulse width modulation controller, which is used to adjust the output power of each wavelength LED array based on the driving current command. The hardware-level safety protection circuit includes an analog comparator, whose input terminals are respectively connected to the distance analog voltage output terminal of the time-of-flight ranging sensor and the preset safe distance threshold voltage terminal. Its output terminal is directly connected to the enable pin of the pulse width modulation controller, which is used to directly shut off the light source output when the distance exceeds the limit.

[0092] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects.

[0093] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A smart control method for a trolley-type multispectral therapeutic instrument, characterized in that, Includes the following steps: Parameter initialization steps: In response to the operator's parameter setting instructions, a multi-dimensional lookup table containing a two-dimensional index of driving current and substrate temperature and storing the output values ​​of optical power for each wavelength is established, and the initial driving power is determined based on the target irradiance and the initial standard distance. Real-time ranging and preprocessing steps: The real-time distance between the irradiation head and the treatment area is collected at a preset sampling frequency using a time-of-flight ranging sensor with an integrated ambient light suppression circuit. Median filtering and moving average filtering are then performed on the collected raw distance data to extract the real-time distance value, which includes respiratory features. Dynamic compensation calculation steps: Calculate the real-time compensation power based on the square of the ratio of the real-time distance value to the initial standard distance, and allocate the real-time compensation power to each wavelength channel according to the preset multi-wavelength optical power ratio, generating the drive current command for each wavelength channel. Closed-loop drive execution steps: Based on the drive current command, the output power of each wavelength LED array is adjusted by multiple independent constant current drive circuits to form a composite light spot with uniform energy distribution in the treatment area.

2. The intelligent control method for the trolley-type multispectral therapeutic instrument according to claim 1, characterized in that, The real-time ranging and preprocessing steps further include: By limiting the measurement field of view of the time-of-flight ranging sensor to between 15 and 25 degrees, it is ensured that the ranging area is consistent with the core range of the treatment spot; By utilizing the correlation dual sampling technology integrated within the sensor, the signal superimposed with ambient light when the laser pulse is emitted and the ambient light signal when the laser pulse is turned off are acquired within a single measurement cycle, and the two are differentially calculated to filter out ambient light interference. The preset number of continuously acquired ranging samples are numerically sorted, and the median value is selected as the median filter output to remove abnormal isolated values. The result after median filtering is fed into a moving average filter, and the data within the preset window is arithmetically averaged to smooth the measurement noise, thereby fully capturing the chest rise and fall characteristics of 0.2Hz to 0.5Hz caused by human breathing and outputting the real-time distance value.

3. The intelligent control method for the trolley-type multispectral therapeutic instrument according to claim 1, characterized in that, In the dynamic compensation calculation step, the process of generating drive current commands for each wavelength channel includes: Based on the electro-optical conversion efficiency of each wavelength LED at the current substrate temperature stored in the multidimensional lookup table, the preset multi-wavelength optical power ratio is converted into the driving current ratio required for each wavelength channel. Based on the principle that light intensity is inversely proportional to the square of the distance, the total real-time compensation power is calculated according to the initial driving power, the initial standard distance, and the real-time distance value. The total real-time compensation power is smoothly adjusted using an incremental proportional-integral-derivative control algorithm. Based on the ratio of the drive current, the adjusted total real-time compensation power is distributed to each wavelength channel to generate drive current commands for each wavelength channel.

4. The intelligent control method for the trolley-type multispectral therapeutic instrument according to claim 1, characterized in that, The closed-loop drive execution steps further include: The drive current command for each wavelength channel is converted into a high-resolution pulse width modulation signal and sent to a pulse width modulation controller, which has an enable pin. By using a high-frequency buck converter circuit topology, independent constant current drive is provided for each wavelength LED array based on the pulse width modulation signal; By using a miniature fly-eye lens array or a compound eye lens array, spatial mixing of different wavelength beams emitted by a multispectral LED array is performed, so that the energy distribution uniformity of the composite light spot in the effective working plane is better than 90%.

5. The intelligent control method for the trolley-type multispectral therapeutic instrument according to claim 4, characterized in that, It also includes a safety monitoring step, in which the light source output is directly turned off through a hardware-level analog comparator when the real-time distance value is lower than the preset safe distance threshold; at the same time, graded power limiting protection is implemented based on the real-time monitored substrate temperature. The hardware-level light source shutdown in the safety monitoring process specifically includes: The distance analog voltage signal output by the time-of-flight ranging sensor and the preset safe distance threshold voltage are respectively connected to the two input terminals of the analog comparator; The output of the analog comparator is directly connected to the enable pin of the pulse width modulation controller in the constant current drive circuit; When the distance to the analog voltage signal is lower than the safe distance threshold voltage, the analog comparator output level jumps, directly pulling down the enable terminal of the pulse width modulation controller, forcibly turning off the output of the pulse width modulation signal, and thus turning off the light source.

6. The intelligent control method for the trolley-type multispectral therapeutic instrument according to claim 1, characterized in that, The parameter initialization steps further include: A cross-shaped positioning spot is projected onto the skin surface by a laser pointer. After confirming that the center of the optical axis of the irradiation head coincides with the treatment area, the reading of the time-of-flight distance sensor is recorded as the initial standard distance. If the initial standard distance exceeds the preset distance range, a positioning deviation warning will be generated, prompting the user to readjust the position of the illumination head.

7. The intelligent control method for the trolley-type multispectral therapeutic instrument according to claim 1, characterized in that, It also includes environmental temperature and humidity compensation steps: The ambient temperature and relative humidity in the treatment room are collected using digital temperature and humidity sensors. Calculate the air refractive index under the current environment based on the modified Edren formula; The vacuum speed of light constant in the time-of-flight ranging algorithm is replaced with the actual speed of light after correction based on the air refractive index, so as to perform a secondary correction on the real-time distance value.

8. The intelligent control method for the trolley-type multispectral therapy device according to claim 5, characterized in that, The graded power limiting protection in the safety monitoring process includes: When the real-time monitored substrate temperature exceeds the first preset temperature threshold, an early warning state is triggered and a prompt message is displayed on the human-machine interface; When the substrate temperature exceeds the second preset temperature threshold which is higher than the first preset temperature threshold, the secondary protection mechanism is activated to dynamically reduce the global maximum duty cycle limit value and limit the drive current command output by the dynamic compensation calculation step. When the substrate temperature exceeds the third preset temperature threshold which is higher than the second preset temperature threshold, the enable terminal of the pulse width modulation controller is directly disconnected, and the light source output is completely turned off. When the substrate temperature drops from above the third preset temperature threshold to below the first preset temperature threshold and remains below the first preset temperature threshold for a preset time, the secondary protection mechanism is automatically released, and the global maximum duty cycle limit value is restored.

9. The intelligent control method for the trolley-type multispectral therapeutic instrument according to claim 1, characterized in that, In the closed-loop drive execution step, multiple independent constant current drive circuits correspond to LED arrays with red light wavelength, blue light wavelength, and near-infrared light wavelength respectively; each constant current drive circuit samples the current through a precision sampling resistor connected in series in the LED array circuit and feeds the sampling signal back to the pulse width modulation controller to form a negative feedback closed loop, so as to control the steady-state current accuracy within ±2%.

10. A trolley-type multispectral therapy device intelligent control system, used to execute the method as described in any one of claims 1 to 9, characterized in that, include: The mobile base features a universal locking function; Damped balancing robotic arms have 4 to 6 degrees of freedom; The irradiation head is installed at the far end of the damped balance robotic arm and integrates a multispectral LED array, a miniature fly-eye lens array or compound eye lens array as described in claim 4, a time-of-flight ranging sensor, and a substrate temperature sensor. The main control unit is configured to: respond to parameter setting instructions, establish a multi-dimensional lookup table containing a two-dimensional index of driving current and substrate temperature, store the output values ​​of optical power for each wavelength, and determine the initial driving power based on the target irradiance and the initial standard distance; The real-time distance collected by the time-of-flight ranging sensor is subjected to median filtering and moving average filtering to extract the real-time distance value; the real-time compensation power is calculated based on the square of the ratio of the real-time distance value to the initial standard distance, and the drive current command of each wavelength channel is generated according to the preset multi-wavelength optical power ratio. A multi-channel independent constant current driving circuit is connected to each wavelength LED array and the main control unit. The multi-channel independent constant current driving circuit includes a pulse width modulation controller, which is used to adjust the output power of each wavelength LED array based on the driving current command. The hardware-level safety protection circuit includes an analog comparator, whose input terminals are respectively connected to the distance analog voltage output terminal of the time-of-flight ranging sensor and the preset safe distance threshold voltage terminal. Its output terminal is directly connected to the enable pin of the pulse width modulation controller, which is used to directly shut off the light source output when the distance exceeds the limit.

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