Joint state cooperative control method and system of multiple execution modules of meridian instrument

Abstract

The application relates to the technical field of cooperative control, and discloses a meridian instrument multi-execution module joint state cooperative control method and system. The method comprises the following steps: collecting a first module output value and a second module output value at a fixed sampling period, and superimposedly calculating an interface equivalent state index in a recursive integral manner containing an attenuation term; calculating an effective safety output upper limit from the interface equivalent state index and a third module output upper limit, and cooperatively adjusting three-way outputs in priority order in an order when the upper limit is exceeded; updating a session-end converging interface equivalent state index model parameter group across sessions, and triggering an abnormality mark when a parameter drift exceeds a preset threshold. The application solves the problems that an existing meridian instrument controller cannot perceive the history accumulation effect of three-module superposition on the skin physical state, leading to systematic underestimation deviation of the pulse safety boundary, and that a cross-session parameter lacks a convergence and abnormality detection mechanism, leading to the problem of safety control effectiveness degradation in a long-term use scenario.

Description

Technical Field

[0001] This application relates to the field of collaborative control technology, and in particular to a method and system for collaborative control of the joint state of multiple execution modules of a meridian instrument. Background Technology

[0002] A meridian massager is a traditional Chinese medicine physiotherapy device that integrates three execution modules: negative pressure, heating, and pulse. It applies compound therapeutic stimulation to acupoints along the meridians of the human body through the synergistic effect of negative pressure adsorption, thermal stimulation, and pulsed current. Current meridian massagers typically use a microcontroller or ARM control circuit as the core processing unit in their hardware architecture. Each execution module is equipped with an independent sensor and control loop. The negative pressure module controls the output negative pressure value through PWM speed regulation of an air pump; the heating module maintains the set temperature through a temperature control circuit; and the pulse module outputs a set current through a boost circuit and a waveform generator. The three modules operate independently within their respective control loops, unaware of each other's output status.

[0003] However, the control architecture of existing meridian instruments has significant flaws. When negative pressure is continuously applied to the skin, local capillaries dilate and become congested, increasing skin conductivity. The temperature accumulation of the heating module further exacerbates the decrease in skin impedance. Under these physical conditions, when the pulse module outputs the nominal safe current, the actual effective stimulation intensity experienced by the skin significantly exceeds the nominal value. The existing controller only independently compares the instantaneous physical parameter readings of each module with fixed thresholds. It cannot perceive the historical cumulative effect of the combined effect of the three modules on the skin's physical state, nor can it perceive the safety risks within the time window during which the pulse stimulation intensity is still amplified while the skin conductivity is delayed in returning to the baseline state after the removal of negative pressure or temperature. This leads to a systematic underestimation bias in safety judgment.

[0004] Even with the introduction of a multi-module joint state overall perception mechanism, if the security boundary parameters are uniformly set for all users without distinguishing individual differences in skin physical characteristics, the accuracy of the mechanism's security judgment for different users will still have an inherent bias. Furthermore, if it relies solely on parameter settings within a single session without a cross-session parameter adaptive convergence mechanism, the initially calibrated model parameters will continuously deviate from the user's actual skin characteristics as the user's skin physical characteristics gradually change over long-term use, causing the effectiveness of security control to gradually decline with accumulated use. Moreover, if the cross-session parameter update mechanism lacks the ability to detect anomalies in systematic parameter drift, changes in skin physical characteristics caused by pathological factors will be incorrectly incorporated into the normal personalized parameter model, causing the security control boundary to continuously shift in the wrong direction and become unrecognizable. Summary of the Invention

[0005] This application provides a method and system for joint state coordination control of multiple execution modules of a meridian instrument, which solves the problems of existing meridian instrument controllers being unable to perceive the historical cumulative effect of the superimposed effect of the three modules on the physical state of the skin, resulting in a systematic underestimation of the pulse safety boundary, as well as the lack of convergence and anomaly detection mechanisms for cross-session parameters, leading to a decline in the effectiveness of safety control in long-term use scenarios.

[0006] Firstly, this application provides a method for joint state coordination control of multiple execution modules of a meridian instrument, the method comprising: Step S1: Determine the parameter set of the interface equivalent state index model based on the object feature profile; Step S2: Collect the output values ​​of the first module and the second module at a fixed sampling period. The instantaneous contribution of the first module output value and the second module output value to the interface conductivity and the state decay of the interface equivalent state index relative to the basic state are respectively superimposed and calculated by a recursive integral method with decay term according to the time step. The state decay is proportional to the current interface equivalent state index and weighted by the decay rate coefficient to obtain the interface equivalent state index that simultaneously reflects the historical accumulation effect of the first module and the second module and the delayed recovery process after removal. Step S3: Calculate the effective safe output limit based on the interface equivalent state index and the output limit of the third module in the interface equivalent state index model parameter group. When the current output of the third module exceeds the effective safe output limit, adjust the three outputs in a coordinated manner according to the priority order of the first module, the second module, and the third module. Step S4: Update the interface equivalent state index model parameter group that has converged after the session ends across sessions. When the parameter drift exceeds a preset threshold, trigger an anomaly flag.

[0007] Secondly, this application provides a joint state coordination control system for multiple execution modules of a meridian instrument, the joint state coordination control system for multiple execution modules of a meridian instrument includes: The analysis unit is used to determine the parameter set of the interface equivalent state index model based on the object feature profile; The calculation unit is used to collect the output values ​​of the first module and the second module at a fixed sampling period, and to calculate the instantaneous contribution of the first module output value and the second module output value to the interface conductivity and the state decay of the interface equivalent state index relative to the base state by superimposing them in a recursive integral method with decay term according to the time step. The state decay is proportional to the current interface equivalent state index and weighted by the decay rate coefficient to obtain the interface equivalent state index that simultaneously reflects the historical accumulation effect of the first module and the second module and the delayed recovery process after removal. The control unit is used to calculate the effective safe output limit from the interface equivalent state index and the output limit of the third module in the interface equivalent state index model parameter group. When the current output of the third module exceeds the effective safe output limit, the three outputs are adjusted in a coordinated manner according to the priority order of the first module, the second module, and the third module. The update unit is used to update the interface equivalent state index model parameter group that converges after the session ends across sessions, and triggers an anomaly flag when the parameter drift exceeds a preset threshold.

[0008] Thirdly, a joint state coordination control device for multiple execution modules of a meridian instrument is provided, comprising: a memory and at least one processor, wherein the memory stores instructions; the at least one processor invokes the instructions in the memory to cause the joint state coordination control device for multiple execution modules of a meridian instrument to execute the aforementioned joint state coordination control method for multiple execution modules of a meridian instrument.

[0009] Fourthly, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, which, when executed on a computer, cause the computer to execute the above-mentioned meridian instrument multi-execution module joint state collaborative control method.

[0010] The technical solution provided in this application introduces an interface equivalent state index, calculated recursively with a fixed sampling period, into the controller. The instantaneous contributions of the negative pressure and contact temperature output values ​​to the interface conductivity are superimposed with the physiological decay of the interface equivalent state index relative to the baseline state using a recursive integral method containing a decay term. This enables the controller to, for the first time, possess the overall perception capability of the historical cumulative effect of the three modules acting on the execution interface and the delayed recovery process after their removal. The core contribution of this recursive integral algorithm lies in the introduction of the decay term. The decay amount is proportional to the current interface equivalent state index and weighted by a decay rate coefficient. This ensures that the interface equivalent state index does not immediately return to zero after the removal of negative pressure and temperature but decreases periodically according to the physiological recovery rate. This accurately describes the dynamic evolution law of the physical state of the execution interface, fundamentally solving the systemic defect of the instantaneous parameter comparison mechanism in blindly perceiving the historical cumulative state of the skin. Based on this, the dynamic tightening mechanism that calculates the effective safe current limit by the interface equivalent state index and the pulse current limit directly maps the real-time changes in the interface physical state to the dynamic adjustment of the safety boundary of the third module. This makes the safety judgment based on the actual physical state of the interface rather than on the nominal parameter reading, thus avoiding the systematic underestimation of the actual stimulus intensity by the nominal safe current under high conductivity conditions.

[0011] When the effective safe current limit triggers coordinated adjustment, the three outputs are adjusted sequentially according to the priority order of the first, second, and third modules. After each adjustment, the interface equivalent state index and the effective safe current limit are recalculated before determining whether to proceed to the next level. This upgrades the original single-module truncated response to a multi-module orderly coordinated adjustment, ensuring the safety of the joint output while avoiding abrupt changes in the device's operating state. Furthermore, the interface equivalent state index model parameter group, converged after the session ends, is updated across sessions using a decaying weighted approach. The weighting coefficients monotonically decrease with the number of sessions, allowing the model parameters to continuously converge towards the actual physical characteristics of the user interface over time. Simultaneously, the relative drift of parameters across multiple consecutive sessions is calculated and compared with a preset threshold. When the drift exceeds the threshold, an anomaly flag is triggered, and parameter updates are paused. This prevents pathological changes in interface physical characteristics from being incorrectly incorporated into the personalized parameter model, ensuring the reliability of the cross-session parameter convergence mechanism itself and maintaining the safety and control effectiveness of the entire control scheme over long-term use. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of an embodiment of the joint state collaborative control method of the meridian instrument multi-execution module in this application. Figure 2 This is a schematic diagram of the cross-session parameter convergence process in an embodiment of this application. Detailed Implementation

[0014] This application provides a method and system for coordinated control of the joint state of multiple execution modules of a meridian instrument. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0015] For ease of understanding, the specific process of the embodiments of this application is described below. Please refer to [link / reference]. Figure 1 One embodiment of the joint state collaborative control method for multiple execution modules of the meridian instrument in this application includes: Step S1: Determine the parameter set of the interface equivalent state index model based on the object feature profile; Specifically, the object characteristic profile refers to a data set recording the individual characteristic parameters of the object, including the object's physiological type classification identifier, historical tolerance assessment results, and usage records. The interface equivalent state index model parameter set refers to a set of control parameters used to describe the evolution of the physical state of the execution interface. It includes the contribution coefficient of the first module, the contribution coefficient of the second module, the decay rate coefficient, the safety boundary sensitivity coefficient, and the upper limit of the third module output. These five parameters jointly determine the calculation benchmark and safety control boundary of the interface equivalent state index in subsequent steps. The upper limit of the third module output is assigned based on the object's tolerance assessment results, reflecting the personalized safety threshold of the current object for the third module output. The decay rate coefficient reflects the rate at which the interface state reverts to the basic state after the removal of the first and second module outputs; its value is calibrated based on the physiological recovery time constant of the interface's physical characteristics.

[0016] Step S2: Collect the output values ​​of the first module and the second module at a fixed sampling period. The instantaneous contribution of the output values ​​of the first module and the second module to the interface conductivity and the state decay of the interface equivalent state index relative to the basic state are respectively superimposed by the time step using a recursive integral method with decay term. The state decay is proportional to the current interface equivalent state index and weighted by the decay rate coefficient to obtain the interface equivalent state index that simultaneously reflects the historical accumulation effect of the first module and the second module and the delayed recovery process after removal. Specifically, the physical meaning of the interface equivalent state index is the cumulative quantized value of the conductivity deviation of the interface relative to the base state under the condition that the first and second modules are running synchronously. Its value range is limited to zero to the upper bound of the state index. The recursive integration method with a decay term means that in each sampling period, the sum of the instantaneous contributions of the first and second modules minus the state decay amount is added to the interface equivalent state index of the previous sampling period to obtain the interface equivalent state index for the current period. The state decay amount is equal to the product of the interface equivalent state index of the previous period, the decay rate coefficient, and the sampling period. The introduction of this decay term ensures that the interface equivalent state index does not immediately return to zero after the outputs of the first and second modules are removed, but decreases proportionally periodically, accurately describing the delayed recovery process of the interface's physical state.

[0017] Step S3: Calculate the effective safe output limit from the interface equivalent state index and the output limit of the third module in the interface equivalent state index model parameter group. When the current output of the third module exceeds the effective safe output limit, adjust the three outputs in a coordinated manner according to the priority order of the first module, the second module, and the third module. Specifically, the effective safe output upper limit is a dynamically tightened value obtained by applying the interface equivalent state index and the safety boundary sensitivity coefficient together to the output upper limit of the third module. The larger the interface equivalent state index, the greater the tightening of the effective safe output upper limit. The hierarchical coordinated adjustment of the three outputs is executed in the order of the first module, the second module, and the third module. After each level of adjustment is completed, the interface equivalent state index and the effective safe output upper limit are recalculated. The next level of adjustment is only initiated if the previous level of adjustment still does not meet the constraints. The three levels of adjustment form a closed-loop judgment chain.

[0018] Step S4: Update the interface equivalent state index model parameter group that has converged after the session ends across sessions. When the parameter drift exceeds the preset threshold, trigger an anomaly flag.

[0019] Specifically, cross-session update refers to merging the interface equivalent state index model parameter set converged at the end of the current session with the parameters of the previous session using a decay-weighted method. The weighting coefficient decreases as the number of sessions increases, gradually reducing the influence of early session data on later parameters. Parameter drift refers to the relative change of the mean of each parameter in the interface equivalent state index model parameter set relative to the historical mean in multiple consecutive sessions. When this change exceeds a preset threshold, it is determined that the interface physical characteristics have undergone a systematic shift, triggering an anomaly flag and pausing parameter updates to prevent abnormal states from being incorrectly included in the personalized parameter model.

[0020] In one specific embodiment, step S1 includes: Based on the object feature parameters in the object feature archive, a lookup process is performed on the preset hierarchical parameter table to obtain the contribution coefficient of the first module, the contribution coefficient of the second module, the attenuation rate coefficient, and the safety boundary sensitivity coefficient. The contribution coefficients of the first module, the contribution coefficients of the second module, the decay rate coefficient, and the safety boundary sensitivity coefficient are combined with the upper limit of the output of the third module corresponding to the object tolerance assessment results to obtain the parameter set of the interface equivalent state index model. The interface equivalent state index model parameter set is sent to the controller parameter register, and the interface equivalent state index is initialized to zero to obtain the initial parameter state of the current session.

[0021] Specifically, the object characteristic profile is a data set recording the individual attributes of the user object. Object characteristic parameters include the object's physiological type classification identifier, basic medical history type identifier, and historical tolerance assessment results. These three types of parameters jointly determine the lookup table entry point. A pre-set stratified parameter table is established based on statistical data of the interface physical characteristics of the user group, divided into several levels according to the combination type of object characteristic parameters. Each level corresponds to a set of initial parameter values. The contribution coefficient of the first module reflects the intensity of the first module's output value's influence on the interface conductivity per unit time, and the contribution coefficient of the second module reflects the intensity of the second module's output deviation's influence on the interface conductivity per unit time. The initial values ​​of both are read from the stratified parameter table based on the statistical results of the interface physical response characteristics under different combinations of object characteristic parameters. The decay rate coefficient reflects the rate at which the interface state naturally recovers to its base state after the outputs of the first and second modules are removed. Its value is calibrated based on the first-order time constant of the interface physical characteristics. A value that is too large will lead to excessively rapid decay, causing the interface state to be underestimated; a value that is too small will lead to excessively slow decay, causing the safe tightening duration to be too long. The safety boundary sensitivity coefficient determines the tightening effect of the interface equivalent state index on the upper limit of the third module's output. Its value is set based on the statistical results of tolerance margin under different combinations of object characteristic parameters.

[0022] The object tolerance assessment result refers to the personalized safety upper limit output by the third module, determined based on the object's characteristic parameters. This upper limit, together with the contribution coefficients of the first and second modules, the decay rate coefficient, and the safety boundary sensitivity coefficient, forms the interface equivalent state index model parameter set. This set is then sent to the controller parameter register for storage and can be used throughout the current session. The interface equivalent state index is initialized to zero at the start of the session. This is because before each session begins, the interface is in a basic state unaffected by any module, and its conductivity is at a baseline level. Starting from zero ensures that the interface equivalent state index calculation for this session is based on a clear physical baseline, eliminating interference from residual states across sessions. The resulting initial parameter state serves as the starting condition for all subsequent calculation steps in this session.

[0023] In one specific embodiment, step S2 includes: The current output value of the first module is collected from the sensor of the first module at a fixed sampling period, and the current output value of the second module is collected from the sensor of the second module. Based on the difference between the output value of the second module and the preset base value, the deviation of the output value of the second module is extracted to obtain the output deviation of the second module. The output value of the first module is multiplied by the contribution coefficient of the first module and the sampling period to obtain the real-time contribution of the first module; the output deviation of the second module is multiplied by the contribution coefficient of the second module and the sampling period to obtain the real-time contribution of the second module. Based on the product of the interface equivalent state index, decay rate coefficient, and sampling period of the previous sampling period, the state decay amount is extracted from the interface equivalent state index of the previous sampling period to obtain the state decay amount; the instantaneous contribution amount of the first module and the instantaneous contribution amount of the second module are added together and the state decay amount is subtracted, and then accumulated with the interface equivalent state index of the previous sampling period. The accumulated result is limited to the interval from zero to the upper bound of the state index to obtain the current interface equivalent state index.

[0024] Specifically, the fixed sampling period is 500 milliseconds. This value is determined based on the minimum response time of the output changes of the first and second modules. A sampling period that is too long will decrease the calculation accuracy of the interface state accumulation process, while a sampling period that is too short will increase the controller's computational load. The first and second module sensors respectively collect the current output values ​​of the first and second modules. The output deviation of the second module is obtained by subtracting a preset baseline value from the second module's output value. The preset baseline value is the reference output value of the second module corresponding to the execution interface when no module is active. This value is calibrated based on the physical baseline state of the execution interface and is fixedly stored in the controller parameter register. The instantaneous contribution of the first module is the product of the first module's output value, the first module's contribution coefficient, and the sampling period, reflecting the instantaneous cumulative contribution of the first module's output to the interface conductivity within the current sampling period. The instantaneous contribution of the second module is the product of the second module's output deviation, the second module's contribution coefficient, and the sampling period. Only the deviation exceeding the baseline is calculated as a contribution to the interface conductivity; the portion below the baseline is not included in the contribution.

[0025] The state decay is the product of the interface equivalent state index, decay rate coefficient, and sampling period of the previous sampling period. Physically, it represents the amount by which the interface state naturally reverts to its base state due to the weakening outputs of the first and second modules within the current sampling period. The state decay is proportional to the interface equivalent state index of the previous period; the larger the interface equivalent state index, the greater the decay, forming a first-order linear decay characteristic. The net increment of the interface equivalent state index for the current period is obtained by adding the instantaneous contributions of the first and second modules and subtracting the state decay. This net increment is then added to the interface equivalent state index of the previous sampling period to obtain the original calculated value of the current interface equivalent state index. This original calculated value is then limited to the range from zero to the upper bound of the state index, where the upper bound of the state index is 1.0 as a normalization upper bound to prevent numerical overflow. Finally, the current interface equivalent state index is obtained. When the outputs of both the first and second modules drop to the baseline value, the instantaneous contribution of both modules is zero. The interface equivalent state index decreases periodically only driven by the state decay amount until it decays to zero, accurately describing the delayed recovery process of the physical state of the execution interface.

[0026] In one specific embodiment, the output value of the first module is multiplied by the contribution coefficient of the first module and the sampling period to obtain the instantaneous contribution of the first module; the output deviation of the second module is multiplied by the contribution coefficient of the second module and the sampling period to obtain the instantaneous contribution of the second module, including: Based on the sampling time of the first module output value, the first module output value is processed by segmented weighting according to the first module contribution coefficient. When the first module output value is in the first output interval, the instantaneous contribution of the first module is calculated by multiplying the first interval contribution coefficient with the sampling period; when the first module output value is in the second output interval, the instantaneous contribution of the first module is calculated by multiplying the second interval contribution coefficient with the sampling period, thus obtaining the segmented weighted instantaneous contribution of the first module. Based on the sampling time of the output deviation of the second module, the output deviation of the second module is processed by segmented weighting according to the contribution coefficient of the second module. When the output deviation of the second module is in the first deviation interval, the instantaneous contribution of the second module is calculated by multiplying the contribution coefficient of the first deviation interval with the sampling period; when the output deviation of the second module is in the second deviation interval, the instantaneous contribution of the second module is calculated by multiplying the contribution coefficient of the second deviation interval with the sampling period, thus obtaining the segmented weighted instantaneous contribution of the second module. The real-time contribution of the first module after segmented weighting is superimposed with the real-time contribution of the second module after segmented weighting to obtain the total real-time contribution after segmented weighting. Subtract the state decay amount from the total instantaneous contribution after segmented weighting, and add it to the interface equivalent state index of the previous sampling period to obtain the current interface equivalent state index after segmented weighting correction.

[0027] Specifically, the first output interval and the second output interval are divided by 60% of the rated output upper limit of the first module. The first output interval is from 0 to 60% of the rated output upper limit, and the second output interval is from 60% to the rated output upper limit. The division boundary is set at 60% of the rated output upper limit because the impact of the first module's output on the interface conductivity is in a linear response range below this level. Above this level, the rate of change of interface conductivity accelerates significantly, entering a nonlinear strong response range. Therefore, two different contribution coefficients are calculated separately to more accurately reflect the actual cumulative rate of interface conductivity under different output intensities. The contribution coefficient of the first interval corresponding to the first output interval is the basic contribution coefficient, and the contribution coefficient of the second interval corresponding to the second output interval is the enhanced contribution coefficient. The enhanced contribution coefficient is 1.5 times the basic contribution coefficient, and this multiplier is determined based on the statistical results of the impact of the first module's output on interface conductivity in the high-intensity range. The first deviation interval and the second deviation interval are divided by 50% of the upper limit of the rated deviation of the second module. The first deviation interval corresponds to the basic deviation contribution coefficient, and the second deviation interval corresponds to the reinforcement deviation contribution coefficient. The values ​​of the two coefficients are based on the same segmentation logic as the first module, reflecting the difference in the nonlinear influence of the output deviation of the second module on the interface conductivity in different intervals.

[0028] The instantaneous contribution of the first module after segmented weighting is obtained by multiplying the contribution coefficient of the corresponding interval and the sampling period, and then multiplying the first module's output value. The instantaneous contribution of the second module after segmented weighting is obtained by multiplying the contribution coefficient of the corresponding deviation interval and the sampling period, and then multiplying the second module's output deviation. The two are directly added together to obtain the total instantaneous contribution after segmented weighting. The total instantaneous contribution after segmented weighting is then subtracted from the state decay and added to the interface equivalent state index of the previous sampling period to obtain the current interface equivalent state index after segmented weighting correction. This value is physically consistent with the current interface equivalent state index, but the difference is that the instantaneous contribution is calculated using a segmented weighting method, which allows for a more accurate quantification of the accumulation rate of interface conductivity within the high-intensity output interval.

[0029] In one specific embodiment, based on the sampling time of the first module's output value, the first module's output value is segmented and weighted according to the first module's contribution coefficient, including: Using the rated output upper limit of the first module as the segmentation benchmark, the output value range of the first module is divided into a first output interval and a second output interval, wherein the first output interval is from 0 to 60% of the rated output upper limit, and the second output interval is from 60% of the rated output upper limit to the rated output upper limit. For the output value of the first module within the first output interval, the real-time contribution of the first module is calculated by multiplying the basic contribution coefficient by the sampling period to obtain the real-time contribution of the first output interval. For the output value of the first module within the second output interval, the real-time contribution of the first module is calculated by multiplying the enhancement contribution coefficient by the sampling period, where the enhancement contribution coefficient is 1.5 times the basic contribution coefficient, to obtain the real-time contribution of the second output interval. The instantaneous contribution of the first output interval and the instantaneous contribution of the second output interval are selected according to the interval where the output value of the first module is located, and the segmented weighted instantaneous contribution of the first module is obtained.

[0030] Specifically, the rated output upper limit is the maximum allowable output value of the first module under normal operating conditions. This value is determined by the hardware specifications of the first module and stored in the controller parameter register. A segment boundary is set at 60% of the rated output upper limit. This is based on the fact that when the output value of the first module is below this level, the conductivity of the execution interface changes linearly with the increase of the output value, and a uniform basic contribution coefficient can accurately describe its contribution rate. When the output value of the first module exceeds 60% of the rated output upper limit, the conductivity change rate of the execution interface increases significantly due to prolonged high-intensity action, and the linear coefficient is no longer sufficient to accurately reflect the actual contribution rate. Therefore, an enhanced contribution coefficient is needed for correction. The basic contribution coefficient is calibrated based on statistical data of the impact of the first module's output on the interface conductivity within the first output range. The enhanced contribution coefficient is taken as 1.5 times the basic contribution coefficient. This 1.5-fold multiplier is determined based on the statistical results of the average increase in the interface conductivity change rate of the first module's output within the second output range relative to the first output range.

[0031] For the first module output value within the first output interval, the output value is multiplied by the base contribution coefficient and the sampling period to obtain the instantaneous contribution of the first output interval. For the first module output value within the second output interval, the output value is multiplied by the enhancement contribution coefficient and the sampling period to obtain the instantaneous contribution of the second output interval. Selection based on the interval in which the first module output value is located means that at each sampling time, it is determined whether the current first module output value falls into the first output interval or the second output interval. Only the instantaneous contribution of the corresponding interval is selected as the segmented weighted instantaneous contribution of the first module for subsequent calculations. The instantaneous contributions of the two intervals are not superimposed simultaneously, ensuring that only one contribution matching the interval of the current output value is output in each sampling period.

[0032] In one specific embodiment, step S3 includes: Based on the interface equivalent state index and the safety boundary sensitivity coefficient in the interface equivalent state index model parameter set, the upper limit of the third module's output is dynamically tightened to obtain an effective safe output upper limit. The current output of the third module is compared with the effective safe output limit. When the output of the third module exceeds the effective safe output limit, the output of the first module is gradually reduced according to the first priority and the preset adjustment step size. After each reduction, the interface equivalent state index and the effective safe output limit are recalculated. When the output of the third module falls back to within the effective safe output limit, the first priority adjustment is terminated, and the effective safe output limit after the first priority adjustment is obtained. When the output of the third module still exceeds the effective safe output limit after the first priority adjustment, the output of the second module is gradually reduced according to the preset adjustment step size based on the second priority. After each reduction, the interface equivalent state index and the effective safe output limit are recalculated. When the output of the third module falls back to within the effective safe output limit, the second priority adjustment is terminated, and the effective safe output limit after the second priority adjustment is obtained. If the output of the third module still exceeds the effective safe output limit after the second priority adjustment, the output of the third module is directly truncated to the effective safe output limit according to the third priority, and the output status after the three-way coordinated adjustment is obtained.

[0033] Specifically, the effective safe output upper limit is obtained by dividing the output upper limit of the third module by the product of the interface equivalent state index and the safety boundary sensitivity coefficient, plus one. That is, the effective safe output upper limit is equal to the quotient of the output upper limit of the third module and the sum of the safety boundary sensitivity coefficient and the interface equivalent state index. The larger the interface equivalent state index, the larger the denominator, and the smaller the effective safe output upper limit, thus achieving dynamic tightening of the output upper limit of the third module. The preset adjustment step size refers to the fixed reduction amount each time the output of the first module or the second module is reduced. The preset adjustment step size of the first module is set according to the single-step influence of the first module output on the interface equivalent state index, and the preset adjustment step size of the second module is set according to the single-step influence of the second module output on the interface equivalent state index. Both are taken as a fixed proportion of the rated output upper limit of their respective modules to ensure that the change in the interface equivalent state index after each adjustment is within a controllable range.

[0034] The first priority adjustment targets the output of the first module. Each time the output of the first module is reduced by a preset adjustment step, the recursive integral calculation of the interface equivalent state index is re-executed based on the updated output value of the first module. This yields the updated interface equivalent state index, which is then used to recalculate the effective safe output limit. It is then determined whether the output of the third module has fallen back to within the effective safe output limit. If the condition is met, the first priority adjustment terminates, resulting in the effective safe output limit after the first priority adjustment. The reason for targeting the first module with the first priority adjustment is that the response speed of the interface equivalent state index after the output of the first module is reduced is faster than that of the second module, resulting in higher adjustment efficiency and less disturbance to the overall output state. The second priority adjustment is triggered only when the output of the third module still exceeds the effective safe output limit after the first priority adjustment has reached its maximum number of adjustments. The same logic is applied to the output of the second module, gradually reducing it and recalculating to obtain the effective safe output limit after the second priority adjustment. The third priority adjustment is triggered only when the constraints cannot be met by the first two levels of adjustment. The output of the third module is directly truncated to the current effective safe output limit to obtain the output state after the three-way coordinated adjustment. The three-level adjustment is strictly executed in sequence. The next level will not start if the previous level does not meet the termination condition.

[0035] Figure 2 This is a schematic diagram of the cross-session parameter convergence process in an embodiment of this application. Figure 2 The diagram illustrates the cross-session decay weighted update process of the contribution coefficients of the first and second modules in the parameter group of the interface equivalent state index model over twenty consecutive sessions. The horizontal axis represents the number of sessions, the left vertical axis represents the contribution coefficient of the first module (in units of multiplied by 10 to the power of negative cube), and the right vertical axis represents the contribution coefficient of the second module. The black solid line and square markers represent the successive update trajectory of the contribution coefficient of the first module, and the gray solid line and triangle markers represent the successive update trajectory of the contribution coefficient of the second module. The black dashed line and gray dashed line represent the baseline of the true value of the two parameters, respectively. As can be seen from the figure, both parameters monotonically approach their true values ​​as the number of sessions increases, and the update magnitude gradually decreases with the increase of the number of sessions, reflecting the calculation law that the decay weighted coefficient decreases with the number of sessions.

[0036] In one specific embodiment, step S4 includes: The interface equivalent state index model parameter set that converges after the session ends is updated by weighting it with the corresponding parameters of the previous session in a decay weighting manner to obtain the interface equivalent state index model parameter set updated across sessions. Based on the parameter set of the interface equivalent state index model of multiple consecutive sessions, the relative drift of each parameter is calculated and processed to obtain the parameter drift. The parameter drift is compared with a preset threshold. When the parameter drift exceeds the preset threshold, an anomaly is triggered, and the update operation of the interface equivalent state index model parameter group after cross-session update is paused, thus obtaining the interface equivalent state index model parameter group after anomaly marking.

[0037] Specifically, the attenuation weighting method refers to taking the parameters of the interface equivalent state index model parameter set that converges after the current session and averaging them with the corresponding parameters of the previous session using a weighted coefficient. The weighted coefficient is the reciprocal of the current session number plus five; that is, the weighted coefficient is one-sixth for the first session, one-fifteenth for the tenth session, and the weighted coefficient monotonically decreases with the number of sessions. This gradually reduces the influence of early session data on later parameters, causing the parameters to gradually converge towards the actual physical characteristics of the user interface. For multiple consecutive sessions, the interface equivalent state index model parameter set of the most recent five sessions is used. The parameter drift is the relative change obtained by dividing the difference between the mean of the corresponding parameters in the most recent five sessions and the mean of the historical parameters before the fifth session by the mean of the historical parameters. The numerator is the absolute value of the difference between the current mean and the historical mean, and the denominator is the historical mean. The quotient of the two is the relative drift.

[0038] Preset thresholds are set for the contribution coefficients of the first and second modules respectively. The preset threshold for the contribution coefficient of the first module is 20%, and the preset threshold for the contribution coefficient of the second module is 25%. The difference between the two is determined based on the statistical results of the natural fluctuation range of the two types of parameters under normal use conditions. If the difference exceeds the range, it is determined that the physical characteristics of the execution interface have undergone a systematic shift. When the drift of any parameter exceeds the corresponding preset threshold, an anomaly flag is triggered. The processing is suspended for the update operation of the corresponding parameter that has drifted. The remaining parameters that have not drifted continue to be updated normally in a decay-weighted manner. The parameter group of the interface equivalent state index model after the anomaly flag is set remains unchanged from the parameter value at the time the anomaly flag is triggered until the anomaly is cleared and the update is manually resumed upon confirmation.

[0039] The above describes the joint state coordination control method of the multi-execution module of the meridian instrument in the embodiments of this application. The following describes the joint state coordination control system of the multi-execution module of the meridian instrument in the embodiments of this application. One embodiment of the joint state coordination control system of the multi-execution module of the meridian instrument in the embodiments of this application includes: The analysis unit is used to determine the parameter set of the interface equivalent state index model based on the object feature profile; The calculation unit is used to collect the output values ​​of the first module and the second module at a fixed sampling period, and to calculate the instantaneous contribution of the first module output value and the second module output value to the interface conductivity and the state decay of the interface equivalent state index relative to the base state by superimposing them in a recursive integral method with decay term according to the time step. The state decay is proportional to the current interface equivalent state index and weighted by the decay rate coefficient to obtain the interface equivalent state index that simultaneously reflects the historical accumulation effect of the first module and the second module and the delayed recovery process after removal. The control unit is used to calculate the effective safe output limit from the interface equivalent state index and the output limit of the third module in the interface equivalent state index model parameter group. When the current output of the third module exceeds the effective safe output limit, the three outputs are adjusted in a coordinated manner according to the priority order of the first module, the second module, and the third module. The update unit is used to update the interface equivalent state index model parameter group that converges after the session ends across sessions, and triggers an anomaly flag when the parameter drift exceeds a preset threshold.

[0040] This invention also provides a multi-module joint state collaborative control device for a meridian instrument, which can be a server. This device includes a processor, memory, display screen, input device, network interface, and database connected via a system bus. The processor, designed as a computer, provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores the data corresponding to this embodiment. The network interface communicates with external terminals via a network connection. The computer program, when executed by the processor, implements the above-described method.

[0041] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the meridian instrument multi-execution module joint state collaborative control method.

[0042] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0043] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a meridian instrument multi-execution module joint state collaborative control device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for joint state coordination control of multiple execution modules of a meridian instrument, characterized in that, The method includes: Step S1: Determine the parameter set of the interface equivalent state index model based on the object feature profile; Step S2: Collect the output values ​​of the first module and the second module at a fixed sampling period. The instantaneous contribution of the first module output value and the second module output value to the interface conductivity and the state decay of the interface equivalent state index relative to the basic state are respectively superimposed and calculated by a recursive integral method with decay term according to the time step. The state decay is proportional to the current interface equivalent state index and weighted by the decay rate coefficient to obtain the interface equivalent state index that simultaneously reflects the historical accumulation effect of the first module and the second module and the delayed recovery process after removal. Step S3: Calculate the effective safe output limit based on the interface equivalent state index and the output limit of the third module in the interface equivalent state index model parameter group. When the current output of the third module exceeds the effective safe output limit, adjust the three outputs in a coordinated manner according to the priority order of the first module, the second module, and the third module. Step S4: Update the interface equivalent state index model parameter group that has converged after the session ends across sessions. When the parameter drift exceeds a preset threshold, trigger an anomaly flag.

2. The method for joint state coordination control of multiple execution modules of a meridian instrument according to claim 1, characterized in that, Step S1 includes: Based on the object feature parameters in the object feature archive, a lookup process is performed on the preset hierarchical parameter table to obtain the contribution coefficient of the first module, the contribution coefficient of the second module, the attenuation rate coefficient, and the safety boundary sensitivity coefficient. The contribution coefficients of the first module, the contribution coefficients of the second module, the decay rate coefficient, and the safety boundary sensitivity coefficient are combined with the upper limit of the third module output corresponding to the object tolerance assessment result to obtain the interface equivalent state index model parameter set. The interface equivalent state index model parameter set is sent to the controller parameter register, and the interface equivalent state index is initialized to zero to obtain the initialization parameter state of the current session.

3. The method for joint state coordination control of multiple execution modules of a meridian instrument according to claim 1, characterized in that, Step S2 includes: The current output value of the first module is collected from the sensor of the first module at a fixed sampling period, and the current output value of the second module is collected from the sensor of the second module. Based on the difference between the output value of the second module and the preset base value, the output value of the second module is subjected to deviation extraction processing to obtain the output deviation of the second module. The output value of the first module is multiplied by the contribution coefficient of the first module and the sampling period to obtain the real-time contribution of the first module; the output deviation of the second module is multiplied by the contribution coefficient of the second module and the sampling period to obtain the real-time contribution of the second module. Based on the product of the interface equivalent state index and the decay rate coefficient of the previous sampling period and the sampling period, the state decay amount is extracted from the interface equivalent state index of the previous sampling period to obtain the state decay amount; the instantaneous contribution amount of the first module and the instantaneous contribution amount of the second module are added together and the state decay amount is subtracted, and then the result is accumulated with the interface equivalent state index of the previous sampling period. The accumulated result is limited to the interval from zero to the upper bound of the state index to obtain the current interface equivalent state index.

4. The method for joint state coordination control of multiple execution modules of a meridian instrument according to claim 3, characterized in that, The output value of the first module is multiplied by the contribution coefficient of the first module and the sampling period to obtain the real-time contribution of the first module. The output deviation of the second module is multiplied by the contribution coefficient of the second module and the sampling period to obtain the instantaneous contribution of the second module, including: Based on the sampling time of the first module output value, the first module output value is segmented and weighted according to the first module contribution coefficient. When the first module output value is in the first output interval, the instantaneous contribution of the first module is calculated by multiplying the first interval contribution coefficient with the sampling period; when the first module output value is in the second output interval, the instantaneous contribution of the first module is calculated by multiplying the second interval contribution coefficient with the sampling period, thus obtaining the segmented weighted instantaneous contribution of the first module. Based on the sampling time of the output deviation of the second module, the output deviation of the second module is processed by segmented weighting according to the contribution coefficient of the second module. When the output deviation of the second module is in the first deviation interval, the instantaneous contribution of the second module is calculated by multiplying the contribution coefficient of the first deviation interval with the sampling period; when the output deviation of the second module is in the second deviation interval, the instantaneous contribution of the second module is calculated by multiplying the contribution coefficient of the second deviation interval with the sampling period, thus obtaining the segmented weighted instantaneous contribution of the second module. The segmented weighted real-time contribution of the first module is superimposed with the segmented weighted real-time contribution of the second module to obtain the segmented weighted real-time total contribution. Subtracting the state decay amount from the total instantaneous contribution after segmented weighting, and then adding it to the interface equivalent state index of the previous sampling period, yields the current interface equivalent state index after segmented weighting correction.

5. The method for joint state coordination control of multiple execution modules of a meridian instrument according to claim 4, characterized in that, Based on the sampling time of the output value of the first module, the output value of the first module is processed by segmented weighting according to the contribution coefficient of the first module, including: Using the rated output upper limit of the first module as the segmentation benchmark, the output value range of the first module is divided into a first output interval and a second output interval, wherein the first output interval is from 0 to 60% of the rated output upper limit, and the second output interval is from 60% of the rated output upper limit to the rated output upper limit. For the output value of the first module within the first output interval, the instantaneous contribution of the first module is calculated by multiplying the basic contribution coefficient by the sampling period to obtain the instantaneous contribution of the first output interval. For the output value of the first module within the second output interval, the instantaneous contribution of the first module is calculated by multiplying the enhancement contribution coefficient by the sampling period, wherein the enhancement contribution coefficient is 1.5 times the basic contribution coefficient, to obtain the instantaneous contribution of the second output interval. The instantaneous contribution of the first output interval and the instantaneous contribution of the second output interval are selected according to the interval where the output value of the first module is located, and the segmented weighted instantaneous contribution of the first module is obtained.

6. The method for joint state coordination control of multiple execution modules of a meridian instrument according to claim 1, characterized in that, Step S3 includes: Based on the interface equivalent state index and the safety boundary sensitivity coefficient in the interface equivalent state index model parameter group, the output upper limit of the third module is dynamically tightened to obtain an effective safe output upper limit. The current output of the third module is compared with the effective safe output limit. When the output of the third module exceeds the effective safe output limit, the output of the first module is gradually reduced according to the first priority and the preset adjustment step size. After each reduction, the interface equivalent state index and the effective safe output limit are recalculated. When the output of the third module falls back to within the effective safe output limit, the first priority adjustment is terminated, and the effective safe output limit after the first priority adjustment is obtained. When the output of the third module after the first priority adjustment still exceeds the effective safe output limit after the first priority adjustment, the output of the second module is gradually reduced according to the second priority by a preset adjustment step size. After each reduction, the interface equivalent state index and the effective safe output limit are recalculated. When the output of the third module falls back to within the effective safe output limit, the second priority adjustment is terminated, and the effective safe output limit after the second priority adjustment is obtained. If the output of the third module after the second priority adjustment still exceeds the effective safe output limit after the second priority adjustment, the output of the third module is directly truncated to the effective safe output limit according to the third priority, and the output state after the three-way coordinated adjustment is obtained.

7. The method for joint state coordination control of multiple execution modules of a meridian instrument according to claim 1, characterized in that, Step S4 includes: The interface equivalent state index model parameter set that converges after the session ends is weighted and updated with the corresponding parameters of the previous session in a decay weighting manner to obtain the interface equivalent state index model parameter set updated across sessions. Based on the parameter set of the interface equivalent state index model from multiple consecutive sessions, the relative drift of each parameter is calculated to obtain the parameter drift. The parameter drift is compared with a preset threshold. When the parameter drift exceeds the preset threshold, an anomaly flag is triggered, and the update operation of the interface equivalent state index model parameter group after the cross-session update is paused, thus obtaining the interface equivalent state index model parameter group after the anomaly flag.

8. A joint state collaborative control system for multiple execution modules of a meridian instrument, characterized in that, For implementing the joint state collaborative control method of multiple execution modules of a meridian instrument as described in any one of claims 1-7, the joint state collaborative control system of the multiple execution modules of the meridian instrument comprises: The analysis unit is used to determine the parameter set of the interface equivalent state index model based on the object feature profile; The calculation unit is used to collect the output values ​​of the first module and the second module at a fixed sampling period, and to calculate the instantaneous contribution of the first module output value and the second module output value to the interface conductivity and the state decay of the interface equivalent state index relative to the base state by superimposing them in a recursive integral method with decay term according to the time step. The state decay is proportional to the current interface equivalent state index and weighted by the decay rate coefficient to obtain the interface equivalent state index that simultaneously reflects the historical accumulation effect of the first module and the second module and the delayed recovery process after removal. The control unit is used to calculate the effective safe output limit from the interface equivalent state index and the output limit of the third module in the interface equivalent state index model parameter group. When the current output of the third module exceeds the effective safe output limit, the three outputs are adjusted in a coordinated manner according to the priority order of the first module, the second module, and the third module. The update unit is used to update the interface equivalent state index model parameter group that converges after the session ends across sessions, and triggers an anomaly flag when the parameter drift exceeds a preset threshold.

9. A joint state coordination control device for multiple execution modules of a meridian instrument, characterized in that, It includes a memory and a processor, the memory storing a computer program that can run on the processor, and the processor executing the computer program to implement the meridian instrument multi-execution module joint state collaborative control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is run by the processor, it causes the processor to execute the meridian instrument multi-execution module joint state collaborative control method as described in any one of claims 1 to 7.

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