Gas source pressure adjustment method, device, equipment and computer readable storage medium

Abstract

This application relates to the field of medical device control technology, and discloses a method, apparatus, device, and computer-readable storage medium for adjusting air source pressure. The method is applied to a pneumatic ballistic shockwave therapy device, which includes an air source, a first handle, and a second handle. The method includes: determining a target pressure of the air source based on a target event; determining a target strategy based on the target event; and processing a first operating frequency of the first handle, a second operating frequency of the second handle, the actual pressure of the air source, and the target pressure based on the target strategy to determine a target control signal for the air source; and adjusting the actual pressure output by the air source to the target pressure based on the target control signal. By combining the first operating frequency of the first handle, the second operating frequency of the second handle, the actual pressure of the air source, and the target pressure for processing, the coupling characteristics of the air source pressure between the two channels are considered, thus improving the accuracy of air source pressure adjustment.

Description

Technical Field

[0001] This application relates to the field of medical device control technology, and in particular to a method, apparatus, device and computer-readable storage medium for adjusting gas source pressure. Background Technology

[0002] In medical devices, there is a type of physical therapy equipment called pneumatic ballistic shockwave therapy equipment. It typically consists of a main unit, a handle, and a treatment head. The main unit mainly comprises an electronic control system and an air source, while the handle mainly consists of a projectile and a ballistic tube. Air compressed by a compressor possesses high kinetic energy. After entering the ballistic tube, the compressed air drives the projectile to impact the treatment head. The resulting shockwave is transmitted to the treatment head, causing it to elastically collide with the skin or tissue, generating shockwaves within the skin or tissue, ultimately achieving treatment of the affected area.

[0003] Existing pneumatic ballistic shockwave therapy devices typically employ a single-source, dual-channel structure, meaning the same gas source supplies pressure to two independent handpieces. However, when dealing with asynchronous start-stop, inter-frequency operation, and sudden load changes between the two independent handpieces, independent closed-loop control strategies or fixed pressure margin compensation are commonly used to adjust the gas source output. These methods do not consider the pressure coupling characteristics between the two channels, resulting in low accuracy in adjusting the gas source output. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a method for adjusting air source pressure. This method is applied to a pneumatic ballistic shockwave therapy device, which includes an air source, a first handle, and a second handle. The method includes: The working status information of the pneumatic ballistic shockwave therapy device is obtained, and the target event is determined based on the working status information. If the target event is determined to have occurred, then based on the target event, the target pressure that the gas source needs to output is determined; The first operating frequency of the first handle, the second operating frequency of the second handle, and the actual pressure output by the air source are obtained, and the target control signal of the air source is determined based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure. Based on the target control signal, the actual pressure output by the gas source is adjusted to the target pressure.

[0005] In one embodiment, the step of determining the target control signal of the gas source based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure includes: If the target event is a preset load increase event or a preset frequency increase event, then a first target strategy is determined, and the first operating frequency, the second operating frequency, the actual pressure and the target pressure are processed based on the first target strategy to determine the target control signal of the gas source; If the target event is a preset load reduction event or a preset frequency reduction event, then a second target strategy is determined, and the first operating frequency, the second operating frequency, the actual pressure, and the target pressure are processed based on the second target strategy to determine the target control signal of the gas source.

[0006] In one embodiment, the step of processing the first operating frequency, the second operating frequency, the actual pressure, and the target pressure based on the first target strategy to determine the target control signal of the gas source includes: Based on the first target strategy, obtain the first model and the second model from the preset model library; Based on the first model, the first operating frequency and the second operating frequency are processed to determine the reference control signal of the gas source; Based on the second model, the reference control signal, the actual pressure, and the target pressure are processed to determine the target control signal of the gas source.

[0007] In one embodiment, the pneumatic ballistic shockwave therapy device includes a vent valve, and the step of processing the first operating frequency, the second operating frequency, the actual pressure, and the target pressure based on the second target strategy to determine the target control signal of the gas source includes: Based on the second target strategy, a first model and a second model are obtained from a preset model library, and the pressure difference between the actual pressure and the target pressure is calculated. If the pressure difference is greater than a preset threshold, a third model is obtained from a preset model library; Based on the first model, the first operating frequency and the second operating frequency are processed to determine the reference control signal of the gas source; Based on the second model, the reference control signal, the actual pressure, and the target pressure are processed to determine the target control signal of the gas source; Based on the third model, the actual pressure and the target pressure are processed to determine the target venting duration, and based on the target venting duration, the venting valve is controlled to open to vent.

[0008] In one embodiment, the step of processing the first operating frequency and the second operating frequency based on the first model to determine the reference control signal of the gas source includes: Based on the first model, and combining the first preset frequency load slope of the first handle, the second preset frequency load slope of the second handle, and the preset pressure drift value of the air source, the first working frequency and the second working frequency are processed to determine the influence coefficients of the first working frequency and the second working frequency on the pressure adjustment of the air source. Based on the first model, and combining the influence coefficient and the preset pressure adjustment gain slope of the gas source, the reference control signal of the gas source is determined.

[0009] In one embodiment, the step of processing the reference control signal, the actual pressure, and the target pressure based on the second model to determine the target control signal of the gas source includes: Based on the actual pressure and the target pressure, the pressure error of the gas source is determined; Based on the second model, and in combination with the preset proportional coefficient, preset integral coefficient, preset control cycle and the pressure error, the error correction amount is determined; Based on the second model, the reference control signal is corrected by combining the error correction amount to determine the target control signal of the gas source.

[0010] In one embodiment, the step of processing the actual pressure and the target pressure based on the third model to determine the target deflation duration includes: Based on the third model, and combining the pressure difference and the preset pressure drop rate, a reference venting duration is determined; Based on the third model, the reference venting time is corrected by combining the preset venting correction coefficient, the preset minimum venting time, and the preset maximum allowable venting time, and the target venting time is determined.

[0011] This application also provides a gas source pressure regulating device, the gas source pressure regulating device comprising: The judgment module is used to acquire the working status information of the pneumatic ballistic shockwave therapy device, and to determine whether a target event has occurred based on the working status information. The target event will cause a change in the target pressure output by the gas source. The first determining module is used to determine the target pressure that the gas source needs to output based on the target event if the target event is determined to have occurred. The second determining module is used to acquire the first operating frequency of the first handle, the second operating frequency of the second handle, and the actual pressure output by the air source, and to determine the target control signal of the air source based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure. An adjustment module is used to adjust the actual pressure output by the gas source to the target pressure based on the target control signal.

[0012] This application also provides a pneumatic ballistic shockwave therapy device, which includes an air source, a first handle, a second handle, and a control module. The control module stores a computer program and is used to execute the computer program to implement the above-described air source pressure adjustment method.

[0013] This application also provides a computer-readable storage medium storing a computer program that, when run on a processor, executes the above-described gas source pressure adjustment method.

[0014] The embodiments of this application have the following beneficial effects: This application embodiment acquires the working status information of the pneumatic ballistic shockwave therapy device and determines whether a target event has occurred based on the working status information. If the target event is determined to have occurred, the target pressure that the air source needs to output is determined based on the target event. The first operating frequency of the first handle, the second operating frequency of the second handle, and the actual pressure output by the air source are acquired; and a target control signal for the air source is determined based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure; based on the target control signal, the actual pressure output by the air source is adjusted to the target pressure. By combining the first operating frequency of the first handle, the second operating frequency of the second handle, the actual pressure output by the air source, and the target pressure for processing, the target control signal of the air source is determined to adjust the actual pressure output by the air source to the target pressure. The processing considers the air source pressure coupling characteristics between the first and second handles, improving the accuracy of air source pressure adjustment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and therefore should not be considered as a limitation on the scope of protection of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A flowchart illustrating the first embodiment of the gas source pressure adjustment method provided in this application; Figure 2 A schematic diagram of the pneumatic ballistic shockwave therapy device provided in this application; Figure 3 A flowchart illustrating the second embodiment of the gas source pressure adjustment method provided in this application; Figure 4 A flowchart illustrating the third embodiment of the gas source pressure adjustment method provided in this application; Figure 5 This is a schematic diagram of the gas source pressure adjustment device provided in this application. Detailed Implementation

[0017] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0018] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0020] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0022] It is understood that the method of this application is applied to a pneumatic ballistic shockwave therapy device, which includes a gas source, a first handle, and a second handle. For ease of description, the following embodiments use the pneumatic ballistic shockwave therapy device as the execution subject.

[0023] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0024] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a first embodiment of the gas source pressure adjustment method provided in this application. The method is applied to a pneumatic ballistic shockwave therapy device, which includes a gas source, a first handle, and a second handle. The method includes steps S101 to S103: Step S101: Obtain the working status information of the pneumatic ballistic shockwave therapy device, and determine whether a target event has occurred based on the working status information.

[0025] In this embodiment, the pneumatic ballistic shockwave therapy device acquires operational status information and determines whether a target event has occurred based on this information. In one embodiment, such as Figure 2 As shown, Figure 2 This is a schematic diagram of the structure of the pneumatic ballistic shockwave therapy device provided in this application. The pneumatic ballistic shockwave therapy device includes a power supply module, a display module, a storage module, a control module, a pressure monitoring module, an air source, a pressure relief valve, a first air path module, a first handle, a second air path module, and a second handle. Specifically, the pneumatic ballistic shockwave therapy device can execute the following control steps in each control cycle: collecting real-time operating status information such as the pressure of the air source, the frequency of the first handle, the frequency of the second handle, and the operating status of the first and second air path modules, to determine whether a target event has occurred, such as one handle starting while the other handle stops working, or a frequency change.

[0026] Step S102: If the target event is determined to have occurred, then based on the target event, determine the target pressure that the gas source needs to output.

[0027] In this embodiment, if the pneumatic ballistic shockwave therapy device determines that a target event has occurred, it can determine the target frequency required for the first handle to operate and the target frequency required for the second handle to operate after the target event occurs, and then determine the target pressure that the air source needs to output based on the target frequency required for the first handle to operate and the target frequency required for the second handle to operate.

[0028] It should be noted that the target frequency refers to the operating frequency of the controller after the target event occurs.

[0029] Step S103: Obtain the first operating frequency of the first handle, the second operating frequency of the second handle, and the actual pressure output by the air source, and determine the target control signal of the air source based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure.

[0030] In this embodiment, the pneumatic ballistic shockwave therapy device acquires the first operating frequency of the first handle, the second operating frequency of the second handle, the actual pressure and the target pressure output by the air source, and determines the target strategy based on the specific target event. Based on the target strategy, the first operating frequency, the second operating frequency, the actual pressure and the target pressure are processed to determine the target control signal of the air source.

[0031] It should be noted that the first operating frequency refers to the operating frequency of the first handle before the target event occurs, and the second operating frequency refers to the operating frequency of the second handle before the target event occurs.

[0032] In one embodiment, the step of determining the target control signal of the gas source based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure includes steps S1021 to S1022: Step S1021: If the target event is a preset load increase event or a preset frequency increase event, then a first target strategy is determined, and the first operating frequency, the second operating frequency, the actual pressure and the target pressure are processed based on the first target strategy to determine the target control signal of the gas source.

[0033] Step S1022: If the target event is a preset load reduction event or a preset frequency reduction event, then a second target strategy is determined, and the first operating frequency, the second operating frequency, the actual pressure and the target pressure are processed based on the second target strategy to determine the target control signal of the gas source.

[0034] In this embodiment, if the pneumatic ballistic shockwave therapy device determines that the target event is a preset load increase event or a preset frequency increase event, it determines a first target strategy and processes the first operating frequency, second operating frequency, actual pressure, and target pressure based on the first target strategy to determine the target control signal of the gas source. It should be noted that the preset load increase event is: when one handle in the pneumatic ballistic shockwave therapy device performs inflation and impact, the other handle suddenly starts; the preset frequency increase event is: when both handles in the pneumatic ballistic shockwave therapy device operate at the same frequency, one handle temporarily needs to increase its frequency to operate.

[0035] In this embodiment, if the target event of the pneumatic ballistic shockwave therapy device is a preset load reduction event or a preset frequency reduction event, a second target strategy is determined. Based on the second target strategy, the first operating frequency, the second operating frequency, the actual pressure, and the target pressure are processed to determine the target control signal of the gas source. It should be noted that the preset load reduction event is: when both handles in the pneumatic ballistic shockwave therapy device are operating at high frequency simultaneously, one handle suddenly stops operating; the preset frequency reduction event is: when both handles in the pneumatic ballistic shockwave therapy device are operating at the same frequency, one handle temporarily needs to reduce its frequency.

[0036] Understandably, preset load increase events and preset frequency increase events will cause the gas source pressure to fluctuate dynamically due to a sudden increase in instantaneous flow demand. Preset load decrease events and preset frequency decrease events will cause the gas source pressure to fluctuate dynamically due to a sudden decrease in instantaneous flow demand.

[0037] It should be noted that, through extensive experiments and data processing, a first model, a second model, and a third model of the pneumatic ballistic shockwave therapy device were extracted and stored in the device's storage module. The first model is used to pre-calculate a reference control signal to maintain stable air source pressure, given the first operating frequency of the first handle and the second operating frequency of the second handle. The second model is used to correct the reference control signal obtained from the first model to obtain the final target control signal for maintaining stable air source pressure. The third model is used to calculate the venting duration of the venting valve when the air source shows an overpressure trend or has already experienced overpressure. The first target strategy uses the first and second models to handle the first operating frequency, the second operating frequency, the actual pressure, and the target pressure. The second target strategy uses the first, second, and third models to handle the first operating frequency, the second operating frequency, the actual pressure, and the target pressure.

[0038] Step S103: Based on the target control signal, adjust the actual pressure output by the gas source to the target pressure.

[0039] In this embodiment, after determining the target control signal, the pneumatic ballistic shockwave therapy device adjusts the actual pressure output by the gas source to the target pressure based on the target control signal. At this time, the pneumatic ballistic shockwave therapy device can respond to sudden target events, quickly determine the target control signal, and then control the target pressure output by the gas source, ensuring rapid and stable suppression of pressure fluctuations. This forms an adaptive closed-loop mechanism that changes with load, while significantly reducing pressure peak deviation and overpressure / stalled events, thus improving the overall stability and lifespan of the device.

[0040] The pneumatic ballistic shockwave therapy device of this embodiment acquires the working status information of the pneumatic ballistic shockwave therapy device and determines whether a target event has occurred based on the working status information. The target event will cause a change in the target pressure output by the air source. If the target event is determined to have occurred, the first working frequency of the first handle, the second working frequency of the second handle, and the actual pressure output by the air source are acquired. Based on the first working frequency, the second working frequency, the actual pressure, and the target pressure, a target control signal for the air source is determined. Based on the target control signal, the actual pressure output by the air source is adjusted to the target pressure. By combining the first working frequency of the first handle, the second working frequency of the second handle, the actual pressure output by the air source, and the target pressure for processing, the target control signal of the air source is determined to adjust the actual pressure output by the air source to the target pressure. The processing takes into account the air source pressure coupling characteristics between the first handle and the second handle, which improves the accuracy of air source pressure adjustment.

[0041] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating a second embodiment of the gas source pressure adjustment method provided in this application. The difference between the second embodiment and the first embodiment is that the step of processing the first operating frequency, the second operating frequency, the actual pressure, and the target pressure based on the first target strategy to determine the target control signal of the gas source includes steps S201 to S203: Step S201: Based on the first target strategy, obtain the first model and the second model from the preset model library.

[0042] In this embodiment, the pneumatic ballistic shockwave therapy device obtains a first model and a second model from a preset model library based on a first target strategy.

[0043] Step S202: Based on the first model, process the first operating frequency and the second operating frequency to determine the reference control signal of the gas source.

[0044] In this embodiment, the pneumatic ballistic shockwave therapy device processes the first operating frequency and the second operating frequency based on the first model to determine the reference control signal of the gas source.

[0045] In one embodiment, the step of processing the first operating frequency and the second operating frequency based on the first model to determine the reference control signal of the gas source includes steps S2021 to S2022: Step S2021: Based on the first model, and combining the first preset frequency load slope of the first handle, the second preset frequency load slope of the second handle, and the preset pressure drift value of the air source, process the first working frequency and the second working frequency to determine the influence coefficients of the first working frequency and the second working frequency on the pressure adjustment of the air source.

[0046] Step S2022: Based on the first model, and combining the influence coefficient and the preset pressure of the gas source to adjust the gain slope, determine the reference control signal of the gas source.

[0047] In this embodiment, the pneumatic ballistic shockwave therapy device acquires a first preset frequency load slope of the first handle, a second preset frequency load slope of the first handle, and a preset pressure drift value of the air source. It inputs these values, along with the first operating frequency of the first handle and the second operating frequency of the second handle, into a first model. The first model then outputs the influence coefficients of the first and second operating frequencies on the pressure adjustment of the air source. The pneumatic ballistic shockwave therapy device also acquires a preset pressure adjustment gain slope of the air source and inputs it into the first model. Based on the first model, and combining the influence coefficients and the preset pressure adjustment gain slope of the air source, a reference control signal for the air source is determined.

[0048] In one embodiment, the calculation formula for the first model is as follows:

[0049] in, This is the reference control signal for the gas source, where the output pressure is typically determined using a PWM wave. Therefore, the reference control signal is specifically the duty cycle of the PWM wave; f A Indicates the first operating frequency of the first handle; f B Indicates the second operating frequency of the second handle; s A Indicates the first preset frequency load slope of the first handle; s B s represents the second preset frequency load slope of the second handle; s0 represents the air source zero-point offset slope, used to characterize the preset pressure drift value of the air source under dual-path non-operation or reference operating conditions; s s This represents the preset pressure adjustment gain slope of the air source, indicating the gain slope of the PWM wave relative to the rate of increase of the air source pressure. s s The pressure curve of the air source is obtained by setting multiple different PWM duty cycles for the air source and collecting and fitting the curves of air source pressure changes over time under the condition that neither the first nor the second handle is working; s0 is obtained by measuring the rate of change of the natural pressure of the air source under the condition that neither the first nor the second handle is working and the air source is at zero output or reference output; s A and sB This was achieved by fitting the data after collecting the rate of change of the gas source pressure under fixed gas source output conditions, either by activating only the first handle or only the second handle and setting different operating frequencies. A f A +s B f B -s0 represents the influence coefficient of the first and second operating frequencies on the pressure adjustment of the gas source.

[0050] The meaning of the first model is to convert the load changes of the first and second handles into a comprehensive impact on the rate of change of the pressure output of the air source, and then to deduce the duty cycle of the PWM wave required to control the output of the air source under the current working condition, so as to perform pre-compensation before the pressure fluctuates significantly.

[0051] Step S203: Based on the second model, process the reference control signal, the actual pressure, and the target pressure to determine the target control signal of the gas source.

[0052] In this embodiment, the pneumatic ballistic shockwave therapy device processes the reference control signal, actual pressure, and target pressure based on the second model to determine the target control signal of the gas source.

[0053] In one embodiment, the step of processing the reference control signal, the actual pressure, and the target pressure based on the second model to determine the target control signal of the gas source includes steps S2031 to S2033: Step S2031: Determine the pressure error of the gas source based on the actual pressure and the target pressure.

[0054] Step S2032: Based on the second model, and in combination with the preset proportional coefficient, preset integral coefficient, preset control cycle, and the pressure error, determine the error correction amount.

[0055] Step S2033: Based on the second model, the reference control signal is corrected by combining the error correction amount to determine the target control signal of the gas source.

[0056] In this embodiment, the pneumatic ballistic shockwave therapy device calculates the difference between the actual pressure and the target pressure, determines the pressure error of the gas source, obtains a preset proportional coefficient, a preset integral coefficient, a preset control cycle, and the pressure error, and inputs them into the second model. The second model outputs an error correction amount, obtains a reference control signal, inputs the reference control signal into the second model, and corrects the reference control signal by combining the error correction amount with the second model to determine the target control signal of the gas source.

[0057] In one embodiment, the calculation formula for the second model is as follows:

[0058] Among them, u s The target control signal for the gas source is the duty cycle of the PWM wave; sat() represents the saturation function, which is used to limit the pressure output of the gas source controlled by the duty cycle of the PWM wave within the safe operating range of the gas source. K is the reference control signal for the gas source. p Indicates the preset scaling factor; K i Indicates the preset integral coefficient; T s Indicates the preset control period; Σe*T s This represents the error integral term, used to eliminate the system's steady-state error. e represents the current pressure error, and p... m p represents the actual pressure of the gas source. ref Indicates the target pressure of the gas source; K p and K i It was determined through calibration and optimization based on the results of whole-machine experiments, taking into account the comprehensive requirements of system response speed, pressure stability, overpressure suppression effect, and prevention of reverse undervoltage. K p e+Σe*T s This is the error correction amount.

[0059] In one embodiment, when the pneumatic ballistic shockwave therapy device determines that a preset overload event occurs where the second handle suddenly activates when the first handle performs an inflation strike, the pneumatic ballistic shockwave therapy device first acquires the actual pressure p of the air source. m Target pressure p ref The first operating frequency f of the first handle A The second operating frequency f after the second handle is started B ; and then immediately f A and f B Substitute into the first model to calculate the reference control signal of the gas source. Then, by superimposing the error correction amount corresponding to the current pressure error into the second model, the duty cycle u of the PWM wave that ultimately controls the output of the air source is obtained. s .

[0060] In this way, the pneumatic ballistic shockwave therapy device does not need to compensate after the public gas source pressure has dropped significantly. Instead, it predicts and feeds forward when the preset load event occurs, thereby offsetting the expected pressure drop or instantaneous fluctuation, achieving "pre-intervention" rather than "post-correction", and thus controlling the gas source to enter a new stable working state more quickly.

[0061] In one embodiment, when the pneumatic ballistic shockwave therapy device determines that the first and second handles are operating at the same frequency, and the second handle experiences a preset frequency increase event that temporarily requires a higher frequency, the pneumatic ballistic shockwave therapy device collects the actual pressure pm of the air source, the target pressure pref, and the first operating frequency f of the first handle. A The second operating frequency f after the change of the second handle B Then immediately f A and f B Substitute into the first model to calculate the reference control signal of the gas source. Then, by superimposing the error correction amount corresponding to the current pressure error into the second model, the duty cycle u of the PWM wave that ultimately controls the output of the air source is obtained. s .

[0062] In this way, when the operating frequency of one handle increases, the pneumatic ballistic shockwave therapy device increases the output of the air source in advance according to the first model to compensate for the increased air supply demand caused by the increased load; when the operating frequency of one handle decreases, the output of the air source is reduced in advance to avoid excessive air supply causing high pressure. In this way, the air source pressure can be quickly predicted and corrected, suppressing the pressure deviation of the other channel and ensuring stable output during dual-channel frequency operation.

[0063] In this embodiment, the pneumatic ballistic shockwave therapy device, upon determining the occurrence of a preset overload event or a preset frequency increase event, calculates the duty cycle of the PWM wave that ultimately controls the air source output, i.e., the target control signal, through the coordination of a preset first model and a second model. When the preset overload event occurs, prediction and feedforward adjustment are performed to offset the expected pressure drop or instantaneous fluctuation, thereby controlling the air source to enter a new stable operating state more quickly. When the preset frequency increase event occurs, prediction and feedforward adjustment are performed to quickly predict and correct the air source pressure, suppressing pressure deviation in the other channel and ensuring stable output during dual-channel frequency operation. This significantly suppresses pressure fluctuations in the air source output of the pneumatic ballistic shockwave therapy device, ensuring that the operating frequency of the handle does not fluctuate drastically, thus ensuring energy consistency during sudden events.

[0064] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating a third embodiment of the gas source pressure adjustment method provided in this application. The difference between the third embodiment and the first to second embodiments is that the pneumatic ballistic shockwave therapy device includes a vent valve, and the step of processing the first operating frequency, the second operating frequency, the actual pressure, and the target pressure based on the second target strategy to determine the target control signal of the gas source includes steps S301 to S305: Step S301: Based on the second target strategy, obtain the first model and the second model from the preset model library, and calculate the pressure difference between the actual pressure and the target pressure.

[0065] In this embodiment, the pneumatic ballistic shockwave therapy device, based on a second target strategy, obtains a first model and a second model from a preset model library, and calculates the pressure difference between the actual pressure and the target pressure.

[0066] Step S302: If the pressure difference is greater than a preset threshold, then obtain a third model from the preset model library.

[0067] In this embodiment, the pneumatic ballistic shockwave therapy device compares the pressure difference with a preset threshold. If the pressure difference is greater than the preset threshold, a third model is obtained from a preset model library.

[0068] Step S303: Based on the first model, process the first operating frequency and the second operating frequency to determine the reference control signal of the gas source.

[0069] In this embodiment, the pneumatic ballistic shockwave therapy device acquires a first preset frequency load slope of the first handle, a second preset frequency load slope of the first handle, and a preset pressure drift value of the air source. It inputs these values, along with the first operating frequency of the first handle and the second operating frequency of the second handle, into a first model. The first model then outputs the influence coefficients of the first and second operating frequencies on the pressure adjustment of the air source. The pneumatic ballistic shockwave therapy device also acquires a preset pressure adjustment gain slope of the air source and inputs it into the first model. Based on the first model, and combining the influence coefficients and the preset pressure adjustment gain slope of the air source, a reference control signal for the air source is determined.

[0070] Step S304: Based on the second model, process the reference control signal, the actual pressure, and the target pressure to determine the target control signal of the gas source.

[0071] In this embodiment, the pneumatic ballistic shockwave therapy device calculates the difference between the actual pressure and the target pressure, determines the pressure error of the gas source, obtains a preset proportional coefficient, a preset integral coefficient, a preset control cycle, and the pressure error, and inputs them into the second model. The second model outputs an error correction amount, obtains a reference control signal, inputs the reference control signal into the second model, and corrects the reference control signal by combining the error correction amount with the second model to determine the target control signal of the gas source.

[0072] Step S305: Based on the third model, process the actual pressure and the target pressure to determine the target venting time, and based on the target venting time, control the venting valve to open for venting.

[0073] In this embodiment, the pneumatic ballistic shockwave therapy device processes the actual pressure and target pressure based on the third model, determines the target venting time, and controls the venting valve to open to vent based on the target venting time. On the one hand, it quickly releases the excess gas formed due to the sudden load reduction, and on the other hand, it reduces the subsequent gas supply in time, thereby preventing overpressure and mechanical blockage of the air pump.

[0074] In one embodiment, the step of processing the actual pressure and the target pressure based on the third model to determine the target deflation duration includes steps S3051 to S3052: Step S3051: Based on the third model, and combining the pressure difference and the preset pressure drop rate, determine the reference venting time.

[0075] Step S3052: Based on the third model, and in conjunction with the preset deflation correction coefficient, the preset minimum deflation duration, and the preset maximum allowable deflation duration, the reference deflation duration is corrected to determine the target deflation duration.

[0076] In this embodiment, the pneumatic ballistic shockwave therapy device acquires the pressure difference and the preset pressure drop rate, inputs the pressure difference and the preset pressure drop rate into the third model, calculates the reference deflation time, and then acquires the preset deflation correction coefficient, the preset minimum deflation time, and the preset maximum allowable deflation time and inputs them into the third model. The third model corrects the reference deflation time based on the preset deflation correction coefficient, the preset minimum deflation time, and the preset maximum allowable deflation time to determine the target deflation time.

[0077] In one embodiment, the calculation formula for the third model is:

[0078] Among them, t vent This represents the target venting time of the vent valve; `clip()` represents the clipping function, used to constrain the calculated venting time to a preset minimum venting time `t`. min With the preset maximum allowable venting time t max Between; β is the preset leakage correction coefficient, used to compensate for factors such as valve response delay, air path resistance, and sampling lag; Δp represents the pressure deviation of the air source relative to the target pressure, p m p represents the actual pressure of the gas source. ref Indicates the target pressure of the gas source; r v This indicates the rate at which the air source pressure decreases after the vent valve opens; the preset pressure decrease rate is t.min Indicates the preset minimum deflation time; t max Indicates the preset maximum allowable venting time. β, t min and t max It was determined through calibration and optimization based on the results of whole-machine testing, taking into account the comprehensive requirements of system response speed, pressure stability, overpressure suppression effect, and prevention of reverse undervoltage. Δp / r v This indicates the reference duration of the deflation.

[0079] In one embodiment, when the pneumatic ballistic shockwave therapy device determines that a preset load reduction event has occurred, in which the first and second handles operate at the same frequency and the second handle stops operating, the pneumatic ballistic shockwave therapy device first collects the actual pressure p of the air source. m Target pressure p ref The first operating frequency f of the first handle A The second operating frequency f after the change of the second handle B Subsequently, according to Δp = p m - p ref Calculate the pressure difference. When Δp is greater than the preset threshold, it indicates that the system has a pressure surge trend or has experienced overpressure. At this time, the third model is triggered to calculate the target venting time t of the vent valve. vent The pressure relief valve is controlled to briefly depressurize. Simultaneously, the pneumatic ballistic shockwave therapy device immediately... A and f B Substitute into the first model to calculate the reference control signal of the gas source. Then, by superimposing the error correction amount corresponding to the current pressure error into the second model, the duty cycle u of the PWM wave that ultimately controls the output of the air source is obtained. s In other words, in this scenario, a linkage control method of "short pulse venting + reduced air pump output" is adopted: on the one hand, excess gas formed due to sudden load reduction is quickly released, and on the other hand, subsequent air supply is reduced in a timely manner to prevent overpressure and mechanical blockage of the air pump.

[0080] In one embodiment, when the pneumatic ballistic shockwave therapy device determines that the first and second handles are operating at the same frequency, and the second handle experiences a preset frequency reduction event that temporarily requires a frequency reduction, the pneumatic ballistic shockwave therapy device collects the actual pressure pm of the air source, the target pressure pref, and the first operating frequency f of the first handle. A The second operating frequency f after the change of the second handle B Then immediately f A and f B Substitute into the first model to calculate the reference control signal of the gas source. Then, by superimposing the error correction amount corresponding to the current pressure error into the second model, the duty cycle u of the PWM wave that ultimately controls the output of the air source is obtained.s .

[0081] In this way, when the operating frequency of one of the handles decreases, the pneumatic ballistic shockwave therapy device reduces the output of the air source in advance according to the first model to avoid excessive air supply causing high pressure. This method allows for rapid prediction and correction of the air source pressure, suppressing pressure deviation in the other channel and ensuring stable output during dual-channel frequency operation.

[0082] The pneumatic ballistic shockwave therapy device of this embodiment, upon determining the occurrence of a preset load reduction event or a preset frequency reduction event, calculates the duty cycle of the PWM wave outputting the final control air source (i.e., the target control signal) and the target venting duration of the pressure relief valve simultaneously. Predictive and feedforward adjustments are performed immediately upon the occurrence of the preset load reduction event to counteract the expected pressure drop or instantaneous fluctuation, thereby controlling the air source to enter a new stable operating state more quickly, while simultaneously controlling the pressure relief valve to vent. This significantly suppresses pressure fluctuations in the air source output of the pneumatic ballistic shockwave therapy device, ensuring that the operating frequency of the handle does not fluctuate drastically, thus ensuring energy consistency during emergencies. It also significantly reduces pressure peak deviation and overpressure / lock events, improving the overall stability and lifespan of the pneumatic ballistic shockwave therapy device.

[0083] refer to Figure 5 , Figure 5 This is a schematic diagram of the gas source pressure adjustment device provided in this application. The gas source pressure adjustment device includes: The judgment module 10 is used to acquire the working status information of the pneumatic ballistic shock wave therapy device, and to determine whether a target event has occurred based on the working status information. The target event will cause the target pressure output by the gas source to change.

[0084] The first determining module 20 is used to determine the target pressure that the gas source needs to output based on the target event if the target event is determined to occur.

[0085] The second determining module 30 is used to acquire the first operating frequency of the first handle, the second operating frequency of the second handle, and the actual pressure output by the air source, and to determine the target control signal of the air source based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure.

[0086] The adjustment module 40 is used to adjust the actual pressure output by the gas source to the target pressure based on the target control signal.

[0087] It is understood that the gas source pressure adjustment device in this embodiment corresponds to the gas source pressure adjustment method in the above embodiment. The options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0088] This application also provides a pneumatic ballistic shockwave therapy device, which includes an air source, a first handle, a second handle, and a control module. The control module stores a computer program and is used to execute the computer program to implement the above-described air source pressure adjustment method.

[0089] The control module may include a processor and a memory. The processor may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0090] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0091] This application also provides a computer storage medium for storing the computer program used in the aforementioned pneumatic ballistic shockwave therapy device. The computer storage medium can be a readable storage medium, a non-volatile storage medium, or a volatile storage medium. For example, the computer storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0093] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0094] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a 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 computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0095] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for adjusting gas source pressure, characterized in that, The method is applied to a pneumatic ballistic shockwave therapy device, which includes a gas source, a first handle, and a second handle. The method includes: The working status information of the pneumatic ballistic shockwave therapy device is obtained, and the target event is determined based on the working status information. If the target event is determined to have occurred, then based on the target event, the target pressure that the gas source needs to output is determined; The first operating frequency of the first handle, the second operating frequency of the second handle, and the actual pressure output by the air source are obtained, and the target control signal of the air source is determined based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure. Based on the target control signal, the actual pressure output by the gas source is adjusted to the target pressure.

2. The gas source pressure adjustment method according to claim 1, characterized in that, The step of determining the target control signal of the gas source based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure includes: If the target event is a preset load increase event or a preset frequency increase event, then a first target strategy is determined, and the first operating frequency, the second operating frequency, the actual pressure and the target pressure are processed based on the first target strategy to determine the target control signal of the gas source; If the target event is a preset load reduction event or a preset frequency reduction event, then a second target strategy is determined, and the first operating frequency, the second operating frequency, the actual pressure, and the target pressure are processed based on the second target strategy to determine the target control signal of the gas source.

3. The gas source pressure adjustment method according to claim 2, characterized in that, The step of processing the first operating frequency, the second operating frequency, the actual pressure, and the target pressure based on the first target strategy to determine the target control signal of the gas source includes: Based on the first target strategy, obtain the first model and the second model from the preset model library; Based on the first model, the first operating frequency and the second operating frequency are processed to determine the reference control signal of the gas source; Based on the second model, the reference control signal, the actual pressure, and the target pressure are processed to determine the target control signal of the gas source.

4. The gas source pressure adjustment method according to claim 2, characterized in that, The pneumatic ballistic shockwave therapy device includes a vent valve. The step of processing the first operating frequency, the second operating frequency, the actual pressure, and the target pressure based on the second target strategy to determine the target control signal of the gas source includes: Based on the second target strategy, a first model and a second model are obtained from a preset model library, and the pressure difference between the actual pressure and the target pressure is calculated. If the pressure difference is greater than a preset threshold, a third model is obtained from the preset model library; Based on the first model, the first operating frequency and the second operating frequency are processed to determine the reference control signal of the gas source; Based on the second model, the reference control signal, the actual pressure, and the target pressure are processed to determine the target control signal of the gas source; Based on the third model, the actual pressure and the target pressure are processed to determine the target venting duration, and based on the target venting duration, the venting valve is controlled to open to vent.

5. The gas source pressure adjustment method according to any one of claims 3-4, characterized in that, The step of processing the first operating frequency and the second operating frequency based on the first model to determine the reference control signal of the gas source includes: Based on the first model, and combining the first preset frequency load slope of the first handle, the second preset frequency load slope of the second handle, and the preset pressure drift value of the air source, the first working frequency and the second working frequency are processed to determine the influence coefficients of the first working frequency and the second working frequency on the pressure adjustment of the air source. Based on the first model, and combining the influence coefficient and the preset pressure adjustment gain slope of the gas source, the reference control signal of the gas source is determined.

6. The gas source pressure adjustment method according to any one of claims 3-4, characterized in that, The step of processing the reference control signal, the actual pressure, and the target pressure based on the second model to determine the target control signal of the gas source includes: Based on the actual pressure and the target pressure, the pressure error of the gas source is determined; Based on the second model, and combined with the preset proportional coefficient, preset integral coefficient, preset control cycle and the pressure error, the error correction amount is determined; Based on the second model, the reference control signal is corrected by combining the error correction amount to determine the target control signal of the gas source.

7. The gas source pressure adjustment method according to claim 4, characterized in that, The step of processing the actual pressure and the target pressure based on the third model to determine the target deflation duration includes: Based on the third model, and combining the pressure difference and the preset pressure drop rate, a reference venting duration is determined; Based on the third model, the reference venting time is corrected by combining the preset venting correction coefficient, the preset minimum venting time, and the preset maximum allowable venting time, and the target venting time is determined.

8. A gas source pressure adjustment device, characterized in that, The gas source pressure adjustment device includes: The judgment module is used to acquire the working status information of the pneumatic ballistic shockwave therapy device, and to determine whether a target event has occurred based on the working status information. The target event will cause a change in the target pressure output by the gas source. The first determining module is used to determine the target pressure that the gas source needs to output based on the target event if the target event is determined to have occurred. The second determining module is used to acquire the first operating frequency of the first handle, the second operating frequency of the second handle, and the actual pressure output by the air source, and to determine the target control signal of the air source based on the first operating frequency, the second operating frequency, the actual pressure, and the target pressure. An adjustment module is used to adjust the actual pressure output by the gas source to the target pressure based on the target control signal.

9. A pneumatic ballistic shockwave therapy device, characterized in that, The pneumatic ballistic shockwave therapy device includes an air source, a first handle, a second handle, and a control module. The control module stores a computer program and is used to execute the computer program to implement the air source pressure adjustment method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a processor, executes the gas source pressure adjustment method according to any one of claims 1-7.

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