CN106730401A - A kind of hand tool device and the anti-interference recognition methods of quick identification hand tool treatment head classification - Google Patents

A kind of hand tool device and the anti-interference recognition methods of quick identification hand tool treatment head classification Download PDF

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Publication number
CN106730401A
CN106730401A CN201611123261.8A CN201611123261A CN106730401A CN 106730401 A CN106730401 A CN 106730401A CN 201611123261 A CN201611123261 A CN 201611123261A CN 106730401 A CN106730401 A CN 106730401A
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hand tool
treatment head
hand
data
quick identification
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CN201611123261.8A
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CN106730401B (en
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李大钢
关巍
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Jilin Keying Medical Laser Co ltd
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JILIN KING LASER TECHNOLOGY Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N5/0613—Apparatus adapted for a specific treatment
    • A61N5/0616—Skin treatment other than tanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N5/0613—Apparatus adapted for a specific treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N5/067—Radiation therapy using light using laser light
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00452—Skin
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N2005/0626—Monitoring, verifying, controlling systems and methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N2005/0632—Constructional aspects of the apparatus
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/06—Radiation therapy using light
    • A61N2005/0664—Details

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Surgery (AREA)
  • Electromagnetism (AREA)
  • Otolaryngology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Numerical Control (AREA)
  • Magnetic Treatment Devices (AREA)

Abstract

Have device the invention discloses a kind of hand of quick identification hand tool treatment head classification, including：Hand has handle, its positioning through hole for including being arranged on the hand tool handle base lower surface；Treatment head, it is removably mounted to the hand tool handle lower surface by being arranged on the positioning component inside the treatment head；Wherein, the deep enough positioning through hole of the positioning component energy is simultaneously locked, the present apparatus proposes a kind of easy to loading and unloading, medical laser treatment hand tool that identification is accurate, fixing is tight, and use multi-stage data filtering process algorithm, the interference in effectively removing signal while quick identification hand tool signal can be ensured, not by the time, temperature, the change of voltage and drift about.

Description

A kind of hand tool device and the anti-interference recognition methods of quick identification hand tool treatment head classification
Technical field
The present invention relates to laser hand tool field, more particularly to a kind of hand tool device and one of speed identification hand tool treatment head classification Plant the recognition methods that quick identification hand has treatment head classification.
Background technology
Medical laser treatment hand tool is an important feature in laser cure apparatus, is emitted from generating laser Laser will be transferred in area for treatment by light-conducting arm or optical fiber eventually through laser therapy hand tool, and is directed to specific treatment Difference, the treatment hand tool for being used also is not quite similar, due to clinical practice laser cure apparatus therapeutic domain than wide, Human body superfluous hairs, treatment telangiectasis, treatment hemangioma, tender skin and removal color spot field are such as removed, and is directed to this The laser therapy light spot shape and size that a little different fields are used also are not quite similar, it is therefore desirable to often change different treatments Can head, quickly and accurately recognize that treatment head is particularly important over the course for the treatment of.
In existing laser therapy hand tool, hand is had head and is connected in the form of bayonet ring with the installation of hand tool handle, hand tool head End is provided with the buckle of hand tool identification circuit plate and projection, and the mounting seat on hand tool handle is provided with one for buckle permanent magnet and consolidates Fixed groove, need to only snap among groove buckle when exchanging different types of hand tool head for, but the presence of this structure is as follows Shortcoming：1. using the connection between the hand tool head and hand tool handle of click on fashion built on the sand, hand tool head exists left over the course for the treatment of The situation that the right side is rocked, so as to lead to not be accurately aimed at area for treatment, brings certain potential safety hazard；2. because hand has head and hand Connected built on the sand between tool handle, the direction that the possible None- identified permanent magnet of magnetic coder is specifically laid causes main frame not can determine that Installed hand has the type of head, delays the treatment best opportunity.
The content of the invention
The present invention has designed and developed a kind of easy to loading and unloading, medical laser treatment hand tool that identification is accurate, fixing is tight.
A further object of the invention is using multi-stage data filtering process algorithm, it is ensured that in quick identification hand tool signal While effectively remove interference in signal, not by the time, temperature, the change of voltage and drift about.
The present invention provide technical scheme be：
A kind of hand tool device of quick identification hand tool treatment head classification, including：
Hand has handle, its positioning through hole for including being arranged on the hand tool handle base lower surface；
Treatment head, the hand tool handle lower end is removably mounted to by being arranged on the positioning component inside the treatment head Face；
Encoder, it is arranged on the base lower surface；
Permanent magnet, it is arranged on the treatment head upper surface, after the hand tool handle and the treatment head are fixed, the permanent magnetism Body is located at encoder lower section；
Wherein, the positioning component the deep enough positioning through hole and can be locked.
Preferably, the positioning through hole is spirality slotted eye.
Preferably, the positioning component, including：
Lock screw；
Split washer, it is fixed in the lock screw lower end；
Pad, it is arranged between the lock screw and the treatment head upper surface.
Preferably, the treatment head has Multiple Type, and the permanent magnet has at the top of the treatment head of different model The installation site of different angles.
Preferably, the encoder is magnetic coder.
Preferably, also include：Hall sensor, its quantity is four, circumferentially arranges insertion and is arranged on the coding In device chip.
Preferably, also include：
Stopper slot, it is arranged on the hand tool handle lower surface；
Limit convex is bittiness, and it is arranged on the treatment head upper surface, in the deep enough stopper slot of energy, for hand tool Handle and the treatment head are pre-fixed.
Preferably, also include：
Differentiating amplifier, it is respectively communicated with two Hall sensors being oppositely arranged；
Analog-digital converter, its described differentiating amplifier of connection, the analog signal for Hall sensor to be detected is converted to Angle signal；
Dead-center position means for correcting, its described analog-digital converter of connection；
Decoder, its connection dead-center position means for correcting.
A kind of quick identification hand has the anti-interference recognition methods for the treatment of head classification, including：
Hand is had into handle and treatment head is fixed, the magnetic field angle that Hall element paired on the encoder detects permanent magnet is set Angle signal is converted into frequency signal by degree change, the encoder；The angle position of permanent magnet in treatment head is determined, to determine Hand has classification；
Wherein, frequency signal is filtered, to eliminate electromagnetic interference, is comprised the following steps：
Step one：It is n to set the adjacent twice frequency acquisition interval time, and at intervals of m, every group is adopted two adjacent groups data sampling J data of collection, gather k groups altogether, then i-th group of data are { Di1,Di2,Di3......DijWherein i=1,2......k, calculate Go out the average value of i-th group of data：
Obtain a class mean data queue
Step 2：One span A of restriction of setting1
IfThen remove i-th group of average value of data
IfThen retain i-th group of average value of data
Step 3：By x dataAs a queue, wherein i=1,2......k, often One of secondary storage newTail of the queue is put into, and gives up head of the queue dataCalculate Mean square value：
Step 4：One mean difference A of restriction of setting2
IfThen store equal difference
IfThen retain average data；
Step 5：Equal value difference such as continuous k groups is all increasing, then data acquisition is normal；All data are otherwise removed, again Performed at the beginning from step.
Preferably, in the step one：The μ s of adjacent twice frequency acquisition interval time 15≤n≤25 μ s, two adjacent groups Data sampling is spaced 0.5ms≤m≤1.5ms.
Beneficial effects of the present invention
1st, the present invention locks hand tool handle and treatment head completely using positioner, and treatment head is not resulted in over the course for the treatment of Double swerve, can accurately aim at required area for treatment, improve the accuracy rate for the treatment of.
2nd, the present invention realizes the preliminary fixation of hand tool handle and treatment head using spacing device, it is ensured that the two side installed To magnetic coder accurately can quickly recognize the installation direction of permanent magnet, and after fixed hand tool handle with treatment head, main frame can display The hand tool installed, hot spot needed for fast and safely exporting.
3. anti-interference hand tool recognition methods proposed by the present invention, using multi-stage data filtering process algorithm, it is ensured that fast Effectively remove interference in signal while speed identification hand tool signal, not by the time, temperature, the change of voltage and drift about.This Outward, system only realizes digital filtering by software algorithm, without increasing hardware cost, significantly reduces the spending of system.
4. anti-interference hand tool recognition methods proposed by the present invention, frequency is automatically performed using the automatic DMA functions of host chip Rate signal acquisition, is not take up CPU process times, frequency signal collection and Processing Algorithm can synchronously carry out, it is ensured that whole hand tool knowledge The time of other process is less than 100ms.
Brief description of the drawings
Fig. 1 is the structural representation of the hand tool device of quick identification hand tool treatment head classification of the present invention.
Fig. 2 is hand of the present invention tool handle lower surface structural representation.
Fig. 3 is treatment head upper end surface structure schematic diagram of the present invention.
Fig. 4 is the structured flowchart of encoder of the present invention.
Fig. 5 is decoder output frequency pulsewidth schematic diagram of the present invention.
Fig. 6 is encoder of the present invention and main controller circuit connection diagram.
Fig. 7 is angle schematic diagram residing for permanent magnet of the present invention.
Fig. 8 a are the structural representation that hand of the present invention has model 2002.
Fig. 8 b are the structural representation that hand of the present invention has model 2003.
Fig. 8 c are the structural representation that hand of the present invention has model 2004.
Fig. 8 d are the structural representation that hand of the present invention has model 2005.
Fig. 8 e are the structural representation that hand of the present invention has model 2006.
Fig. 9 is the FB(flow block) of the anti-interference recognition methods of quick identification hand tool treatment head classification of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text Word can be implemented according to this.The present invention provides a kind of medical laser treatment hand tool and treatment head recognition methods, to make mesh of the invention , technical scheme and better clear, clear and definite, the present invention is described in more detail below.It should be appreciated that described herein Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As Figure 1-3, the hand tool device of the quick identification hand tool treatment head classification that the present invention is provided includes that hand has the He of handle 1 Treatment head 2.
Hand tool handle 1 includes holding shell and base 3, and wherein base 3 is located at hand tool handle terminal position corresponding position, is set on base Hand tool 401, locating slot 501 of identification circuit and a stopper slot 601 and first light hole 7 are put, first One dust-proof eyeglass 9 is set at light hole 7, and dust-proof eyeglass 9 is preferably an eyeglass with anti-reflection film, hand tool identification circuit 401 are made up of magnetic coder 403 and peripheral circuit.Treatment head 2 is made up of fixed seat 201 and support bar 202, in fixed seat 201 It is provided with permanent magnet 402, positioning component 502 and limit convex bittiness 602 and the second light extraction through hole 8 is constituted, the second light extraction through hole Place sets a spacer ring, and positioning component 502 is made up of lock screw 5001, pad (not shown) and split washer 5002, pads Piece is arranged between the lock screw and fixed seat, and split washer is fixed below lock screw, first when installing treatment head Limit convex bittiness 602 and stopper slot 601 are first fixed, the preliminary fixation between treatment head 2 and hand tool handle 1 is realized, at this moment permanent magnet , be locked to positioning component 502 in positioning through hole afterwards by 402 lower sections for being placed exactly in encoder circuit, completes the installation of hand tool.
As shown in figure 4, the internal structure of magnetic coder 403, is embedded in 4 Hall sensors for circumferentially arranging in the chips 4001, the circle diameter of arrangement is 2.2mm, and two relative Hall sensors are micro- by the first differentiating amplifier 4002 and second Point amplifier 4003 links together, output just, cosine analog signal processed by analog-digital converter 4004, be output as Angle signal, carries out zero correction by dead-center position means for correcting 4005 afterwards, by PWM decoders 4006, by what is be input into Angle signal is exported with frequency signal, and different angle signals, the pulsewidth of frequency signal is also differed.
As shown in figure 5, encoder output voltage is 0~5V, according to the setting of encoder, the every stepping of encoder is once (1.40625 °), pulsewidth increases 2.26us, because encoder is 8 bit resolutions, 256 positions is can recognize that in the range of 360 ° of a circle Move, therefore maximum identification angle, up to 358.6 °, in different displacements or angle, the pulse width of the frequency signal of output is not Together.When displacement is 0, PWM port output frequency signal pulsewidth is minimum pulse width 2.26us, when displacement is 128, PWM outputs Frequency signal pulsewidth be 291.54us, displacement be 255 when, PWM output frequency signal pulsewidth be 578.56us.
As shown in fig. 6, frequency signal transmission carries out respective digital filtering process by PWM port to main frame I/O port, pass through Corresponding filtering programmed algorithm is write in software, suppresses frequency signal interference.
As shown in Fig. 7,8a-8e, the N-S poles that the permanent magnet 8 in each treatment head 2 is laid in hand tool head fixed seat 201 Angle is different, therefore encoder 403 senses that the angle of permanent magnet 402 is different.According to software set, when recognizing permanent magnet 8 When residing angle is 45 ° ± 20 °, the hand tool that the identification of encoder 4 is installed is hand tool 2001, when recognizing residing for permanent magnet 8 When angle is 90 ° ± 20 °, the hand tool that the identification of encoder 4 is installed is hand tool 2002, is when the angle residing for permanent magnet 8 is recognized At 135 ° ± 20 °, encoder 4 recognizes that the hand tool installed is hand tool 2003, is 180 ° when the angle residing for permanent magnet 13 is recognized At ± 20 °, the hand tool 2004 that the identification of encoder 4 is installed, when it is 270 ° ± 20 ° to recognize the angle residing for permanent magnet 13, is compiled The hand tool that the code identification of device 4 is installed is hand tool 2005.
As shown in figure 9, a kind of quick identification hand has the anti-interference recognition methods for the treatment of head classification, comprise the following steps：
S701：One permanent magnet is set in treatment head fixed seat, one is set on the hand tool recognizer component of hand tool handle lower end Individual Magnetic Sensor, the Magnetic Sensor is just installed to the permanent magnet；
S702：The angle of the riding position of the Magnetic Sensor identification permanent magnet, produces angle signal；
S703：Angle signal is converted into frequency signal, frequency signal transmission to control main frame by the encoder；
S704：Control main frame storing frequencies signal, it is n, two adjacent groups number to set the adjacent twice frequency acquisition interval time It is m according to the sampling interval, j data of every group of collection gather k groups altogether, then i-th group of data are { Di1,Di2,Di3......DijIts Middle i=1,2......k, calculates the average value of i-th group of data：
Obtain a class mean data queue
S705：One interpolation scope A of restriction of setting1
IfThen remove i-th group of average value of data
IfThen retain i-th group of average value of data
S706：By x dataAs a queue, wherein i=1,2......k, every time One of storage is newTail of the queue is put into, and gives up head of the queue dataCalculate a Mean square value：
S707：One equal difference A of restriction of setting2
IfThen store equal difference
IfThen retain average data；
S708：Repeat step S704 to S707, if the equal value difference of continuous k groups is all increasing, data acquisition is normal, enters Row next step data processing；If otherwise removing all data in " data storage buffers pond ", removing average transfinites devise a stratagem number, again Performed at the beginning from step.
Wherein, the μ s of adjacent twice frequency acquisition interval time 15≤n≤25 μ s, two adjacent groups data sampling interval 0.5ms ≤ m≤1.5ms, as a kind of preferably adjacent twice frequency acquisition interval time n=20 μ s, two adjacent groups data sampling interval m =1ms, limits difference A1Span be 4000-5000Hz；Limit equal difference A2=170Hz.
The present invention locks hand tool handle and treatment head completely using positioner, and treatment head is not resulted in over the course for the treatment of Double swerve, can accurately aim at required area for treatment, improve the accuracy rate for the treatment of, and the anti-interference hand of proposition has recognition methods, Using multi-stage data filtering process algorithm, it is ensured that dry in effectively removing signal while quick identification hand tool signal Disturb, not by the time, temperature, the change of voltage and drift about.Additionally, system only realizes digital filtering by software algorithm, without increasing Plus hardware cost, significantly reduce the spending of system.
Although embodiment of the present invention is disclosed as above, it is not restricted to listed in specification and implementation method With, it can be applied to various suitable the field of the invention completely, for those skilled in the art, can be easily Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited In specific details and shown here as the legend with description.

Claims (10)

1. a kind of hand of quick identification hand tool treatment head classification has device, it is characterised in that including：
Hand has handle, its positioning through hole for including being arranged on the hand tool handle base lower surface；
Treatment head, the hand tool handle lower surface is removably mounted to by being arranged on the positioning component inside the treatment head；
Encoder, it is arranged on the base lower surface；
Permanent magnet, it is arranged on the treatment head upper surface, after the hand tool handle and the treatment head are fixed, the permanent magnetism position In encoder lower section；
Wherein, the positioning component the deep enough positioning through hole and can be locked.
2. the hand of quick identification hand tool treatment head classification according to claim 1 has device, it is characterised in that the positioning Through hole is spirality slotted eye.
3. the hand of quick identification hand tool treatment head classification according to claim 2 has device, it is characterised in that the positioning Component, including：
Lock screw；
Split washer, it is fixed in the lock screw lower end；
Pad, it is arranged between the lock screw and the treatment head upper surface.
4. the hand of quick identification hand tool treatment head classification according to claim 1 has device, it is characterised in that the treatment Head has Multiple Type, permanent magnet installation site with different angles at the top of the treatment head of different model.
5. the hand of quick identification hand tool treatment head classification according to claim 4 has device, it is characterised in that the coding Device is magnetic coder.
6. the hand of quick identification hand tool treatment head classification according to claim 5 has device, it is characterised in that also include： Hall sensor, its quantity is four, circumferentially arranges insertion and is arranged in the encoder chip.
7. the hand of the quick identification hand tool treatment head classification according to any one of claim 1-3 and 6 has device, its feature It is also to include：
Stopper slot, it is arranged on the hand tool handle lower surface；
Limit convex is bittiness, and it is arranged on the treatment head upper surface, can in the deep enough stopper slot, for hand tool handle and The treatment head is pre-fixed.
8. the hand of the quick identification hand tool treatment head classification according to claim 5 or 6 has device, it is characterised in that also wrap Include：
Differentiating amplifier, it is respectively communicated with two Hall sensors being oppositely arranged；
Analog-digital converter, its described differentiating amplifier of connection, the analog signal for Hall sensor to be detected is converted to angle Signal；
Dead-center position means for correcting, its described analog-digital converter of connection；
Decoder, its connection dead-center position means for correcting.
9. a kind of quick identification hand has the anti-interference recognition methods for the treatment of head classification, it is characterised in that including：
Hand is had into handle and treatment head is fixed, the magnetic field angle change that Hall element paired on the encoder detects permanent magnet is set Change, angle signal is converted into frequency signal by the encoder；The angle position of permanent magnet in treatment head is determined, to determine that hand has Classification；
Wherein, frequency signal is filtered, to eliminate electromagnetic interference, is comprised the following steps：
Step one：It is n to set the adjacent twice frequency acquisition interval time, two adjacent groups data sampling at intervals of m, every group of collection j Individual data, gather k groups altogether, then i-th group of data are { Di1,Di2,Di3......DijWherein i=1,2......k, calculate The average value of the data of i groups：
D ‾ i = D i 1 + D i 2 + ... ... D i j j , i = 1 , 2 ... ... k
Obtain a class mean data queue
Step 2：One span A of restriction of setting1
IfThen remove i-th group of average value of data
IfThen retain i-th group of average value of data
Step 3：By x dataAs a queue, wherein i=1,2......k, storage every time One it is newTail of the queue is put into, and gives up head of the queue dataCalculate Mean square value：
N ‾ y = D ‾ i + D ‾ i + 1 + ... ... D ‾ i + j - 1 j , i = 1 , 2 ... ... k ; y = 1 , 2 ... ... x
Step 4：One mean difference A of restriction of setting2
IfThen store equal difference
IfThen retain average data；
Step 5：Equal value difference such as continuous k groups is all increasing, then data acquisition is normal；All data are otherwise removed, again from step Suddenly perform at the beginning.
10. quick identification hand according to claim 9 has the anti-interference recognition methods for the treatment of head classification, it is characterised in that In the step one：The μ s of adjacent twice frequency acquisition interval time 15≤n≤25 μ s, two adjacent groups data sampling interval 0.5ms ≤m≤1.5ms。
CN201611123261.8A 2016-12-08 2016-12-08 Hand tool device for quickly identifying hand tool treatment head category and anti-interference identification method Active CN106730401B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112566705A (en) * 2018-08-17 2021-03-26 索尼互动娱乐股份有限公司 Toy system, housing, independent toy evaluation method, and program

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CN204469040U (en) * 2015-02-06 2015-07-15 罗俭富 A kind of concentration ultrasonic beautifying device
CN105688336A (en) * 2016-01-14 2016-06-22 北京爱看到美科技有限公司 Beauty apparatus, work head, handle and hand tool thereof
CN205484748U (en) * 2015-07-15 2016-08-17 北京宏强富瑞技术有限公司 Hand utensil intelligent recognition device
CN105944237A (en) * 2016-06-14 2016-09-21 山东杰美医疗科技有限公司 Type detection device for optical filter of photon therapeutic instrument and identification method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6038523A (en) * 1996-05-24 2000-03-14 Seiko Epson Corporation Position detector, encoder board, position detecting method, timer and electronic device
CN204469040U (en) * 2015-02-06 2015-07-15 罗俭富 A kind of concentration ultrasonic beautifying device
CN205484748U (en) * 2015-07-15 2016-08-17 北京宏强富瑞技术有限公司 Hand utensil intelligent recognition device
CN105688336A (en) * 2016-01-14 2016-06-22 北京爱看到美科技有限公司 Beauty apparatus, work head, handle and hand tool thereof
CN105944237A (en) * 2016-06-14 2016-09-21 山东杰美医疗科技有限公司 Type detection device for optical filter of photon therapeutic instrument and identification method thereof

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112566705A (en) * 2018-08-17 2021-03-26 索尼互动娱乐股份有限公司 Toy system, housing, independent toy evaluation method, and program

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