CN103315734B - The waveform formation method of monitoring data and device - Google Patents
The waveform formation method of monitoring data and device Download PDFInfo
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Abstract
The invention provides a kind of waveform formation method and apparatus of monitoring data, described method comprises the steps: to obtain monitoring data; Judge that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount; If so, then obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data; Waveform is formed according to described interpolated data.The waveform formation method and apparatus of above-mentioned monitoring data, is evenly distributed to missing data position in whole waveform and goes, the wave distortion impact that dispersion missing data brings, thus reduces wave distortion, improves the accuracy of waveform.
Description
Technical field
The present invention relates to Digital image technology, particularly relate to a kind of waveform formation method and device of monitoring data.
Background technology
Custodial care facility obtains the physiological data of patient and video data waveform in real time, but, because the clock between host computer and slave computer is variant or signal disturbing, cause receiving the quantity that data do not reach agreement, when forming data waveform, receive data according to last to supplement missing data, to ensure the real-time display of data waveform.
But when missing data is more, can haul out straight line after waveform, and the data of disappearance are more, straight line phenomenon is more obvious, causes wave distortion thus.
Summary of the invention
Based on this, be necessary, for the problem because receiving the wave distortion that shortage of data causes, to provide a kind of waveform formation method that can improve the monitoring data of waveform accuracy.
In addition, there is a need to, for the problem because receiving the wave distortion that shortage of data causes, provide a kind of waveform formation device that can improve the monitoring data of waveform accuracy.
A waveform formation method for monitoring data, comprises the steps:
Obtain monitoring data;
Judge that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount;
If so, then obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data;
Waveform is formed according to described interpolated data.
Wherein in an embodiment, whether the quantity of described judgement described monitoring data within the preset buffer memory time comprises lower than the step of amount:
According to the type of described monitoring data or user, adjustment time delay is set;
Judge that whether the quantity of described monitoring data in described time delay is lower than amount.
Wherein in an embodiment, the disappearance quantity of quantity compared with amount of the described monitoring data of described acquisition, carries out uniform interpolation process according to described disappearance quantity to described monitoring data, and the step forming interpolated data comprises:
According to disappearance quantity even data inserting point in the receiving sequence of described monitoring data of described monitoring data;
The data value of described data inserting point is predicted according to the monitoring data before and after described data inserting point position.
Wherein in an embodiment, the described data value predicting data inserting point described in the mean prediction that the step of the data value of described data inserting point is specially the monitoring data before and after according to described data inserting point position according to the monitoring data near described data inserting point.
Wherein in an embodiment, describedly predict that the linear trend of the monitoring data that the step of the data value of described data inserting point is specially before and after according to described data inserting point position predicts the data value of described data inserting point according to the monitoring data near described data inserting point.
A waveform formation device for monitoring data, comprising:
Acquisition module, for obtaining monitoring data;
Judge module, for judging that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount;
Interpolating module, for determine described monitoring data within the preset buffer memory time at judge module quantity lower than amount time, obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data;
Output module, for forming waveform according to described interpolated data.
Wherein in an embodiment, described judge module comprises:
Setting unit, for arranging adjustment time delay according to the type of described monitoring data or user;
Judging unit, for judging that whether the quantity of described monitoring data in described time delay is lower than amount.
Wherein in an embodiment, described interpolating module comprises:
Interpolating unit, for according to the disappearance quantity of described monitoring data even data inserting point in the receiving sequence of described monitoring data;
Predicting unit, for predicting the data value of described data inserting point according to the monitoring data before and after described data inserting point position.
Wherein in an embodiment, described predicting unit is also for the data value of data inserting point according to the mean prediction of the monitoring data before and after described data inserting point position.
Wherein in an embodiment, described predicting unit is also for predicting the data value of described data inserting point according to the linear trend of the monitoring data before and after described data inserting point position.
The waveform formation method and apparatus of above-mentioned monitoring data, by obtaining monitoring data, judge that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount, if, then obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data, waveform is formed according to described interpolated data, missing data position is evenly distributed in whole waveform and goes, the wave distortion impact that dispersion missing data brings, thus minimizing wave distortion, improve the accuracy of waveform.
Accompanying drawing explanation
Fig. 1 is the waveform formation method flow schematic diagram of a kind of monitoring data in an embodiment;
Fig. 2 is the waveform formation method flow schematic diagram of a kind of monitoring data in another embodiment;
Fig. 3 is the waveform formation method flow schematic diagram of a kind of monitoring data in another embodiment;
Fig. 4 is the waveform formation apparatus structure schematic diagram of a kind of monitoring data in an embodiment;
Fig. 5 is the waveform formation apparatus structure schematic diagram of a kind of monitoring data in another embodiment;
Fig. 6 is the waveform formation apparatus structure schematic diagram of a kind of monitoring data in another embodiment.
Detailed description of the invention
Below in conjunction with specific embodiment and accompanying drawing, the waveform formation method of monitoring data and the technical scheme of device are described in detail, to make it clearly.
As shown in Figure 1, in one embodiment, a kind of waveform formation method of monitoring data, comprises the steps:
Step S110, obtains monitoring data.
In the present embodiment, the original physiologic data such as electrocardio, breathing, non-invasive blood pressure, blood oxygen saturation, pulse or body temperature are gathered from human body by sensor, digitized physiological data is obtained by sampling, filtering, coding etc., monitoring data is obtained by carrying out analyzing and processing to digitized physiological data, the monitoring data obtained is the form such as packet or message, the monitoring data of acquisition is saved in relief area, as in disk or in buffer memory, preserved by the form of array or data base, be convenient to reading and call.
Step S130, judges that whether quantity in preset buffer memory time internal electronic monitoring data is lower than amount.
In the present embodiment, the cache-time preset is the time within the scope of monitoring real-time permission, as 1 second, after this time delay, draws waveform again, does not affect the promptness of monitoring data waveform.After buffer memory being carried out to the multiple monitoring data received according to the preset buffer memory time, judge that whether the quantity of the monitoring data of the buffer memory in the preset buffer memory time is lower than amount, namely according to the data volume of the communication protocol agreement between the transmitting terminal of monitoring data and receiving terminal, or according to the data volume that the transmission speed of transmitting terminal can receive within the preset buffer memory time, arrange to be 500/second as got electrocardiogram (ECG) data from patient, but reality only receives 493, then the quantity of monitoring data is lower than amount.If the quantity determined in preset buffer memory time internal electronic monitoring data lower than amount, then forwards step S150 to, otherwise, then forward step S190 to.Can avoid being left in the basket because of requirement of real-time calling by carrying out buffer memory to the monitoring data received, improve stability and the accuracy of monitoring data, can the disappearance of Timeliness coverage data by periodically judging whether the quantity of monitoring data received is less than amount, be convenient to carry out Interpolation compensation to missing data in time.
Step S150, obtains the disappearance quantity of quantity compared with amount of monitoring data, carries out uniform interpolation process, form interpolated data according to disappearance quantity to monitoring data.
In the present embodiment, by amount and monitoring data quantity being subtracted each other the quantity of the missing data obtaining monitoring data, the monitoring data received is pressed time of reception sequence, form monitoring data queue, then missing data is evenly spread in monitoring data queue, by data accepted quantity m divided by missing data quantity n, obtain data and insert interval m/n, a missing data is inserted every m/n monitoring data, and the time of reception corresponding to the monitoring data after data inserting is delayed a time of reception unit, if m/n is not integer, then to the process of m/n round, the numerical value of missing data can be empty, be 0 or other numerical value.In monitoring data after sequence, namely insertion and deletion data obtain interpolated data.Due to the location of interpolation of interpolated data and the shortage of data position in monitoring data closer to or the identical probability in position higher, so carry out to monitoring data the accuracy that uniform interpolation can improve waveform.
Step S170, forms waveform according to interpolated data.
In the present embodiment, obtain the monitoring data through uniform interpolation process, i.e. interpolated data, according to monitoring data and amended time of reception drawing waveforms on a timeline thereof, supplement waveform according to missing data and location of interpolation thereof, and be presented in time in display screen.By successively drawing the waveform corresponding to monitoring data and missing data, memory space can be saved and raise the efficiency.
Step S190, forms waveform according to monitoring data.
In the present embodiment, when the quantity of preset buffer memory time internal electronic monitoring data is not less than amount, according to monitoring data drawing waveforms.Because the time span of drawing each waveform is fixing, so when the quantity of monitoring data is greater than or equal to amount, monitoring data is evenly distributed in this set time.If carry out drawing waveforms figure according to Data Position, then can when the quantity of monitoring data be greater than amount, drawing waveforms again after the monitoring data of Delete superfluous, deletion mode is delete from ending or randomly draw unnecessary monitoring data.
The waveform formation method of above-mentioned monitoring data, by obtaining monitoring data, judge that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount, if, then obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data, waveform is formed according to described interpolated data, missing data position is evenly distributed in whole waveform and goes, the wave distortion impact disperseing described missing data to bring, thus minimizing wave distortion, improve the accuracy of waveform.
As shown in Figure 2, in one embodiment, above-mentioned steps S130 comprises the steps:
Step S131, arranges adjustment time delay according to the type of monitoring data or user.
In the present embodiment, automatically the time postponing drawing waveforms is adjusted according to the requirement of real-time of different monitoring data type, as not being very high physiological data for breathing or the requirement of real-time such as body temperature, time delay can be arranged slightly long, as 2 seconds, can arrange slightly short for physiological datas such as electrocardio, blood pressure or blood oxygen, as 1 second, make the waveform of monitoring data while requirement of real time, improve accuracy; Can also adjust according to the manual setting of user for time delay, if the time value or speed step etc. arranged according to user is to adjusting time delay, make user can adjust time delay flexibly according to the waveform accurate picture in display screen, and then the accuracy of adjustment waveform, improve the adaptability to environment and use motility.
Step S133, judges that whether the quantity of internal electronic monitoring data time delay is lower than amount.
In the present embodiment, obtain the time delay of adjusting in step S131, periodically obtain the monitoring data received in this period according to this time delay, judge that whether the quantity of this monitoring data is lower than amount, if so, then forwards step S150 to, if not, then step S190 is forwarded to.
As described in Figure 3, in one embodiment, above-mentioned steps S150 comprises the steps:
Step S151, according to disappearance quantity even data inserting point in the receiving sequence of monitoring data of monitoring data.
In the present embodiment, obtain the data bulk that monitoring data lacks compared with amount, in the receiving sequence of the monitoring data obtained, insert the data point identical with disappearance quantity, and be uniformly distributed, this receiving sequence is carry out the set of the monitoring data point sorted according to time of reception order.
Step S153, according to the data value of the monitoring data prediction data inserting point before and after data inserting point position.
In the present embodiment, according to the monitoring data near the point of data inserting in receiving sequence position, assignment is carried out to data point, improve flatness and the accuracy of waveform.
Concrete, can be by according to before and after data inserting point position the data value of mean prediction insertion point of monitoring data, monitoring data before and after data inserting point can refer to multiple monitoring data before data inserting point, insertion point multiple monitoring data below or above with multiple monitoring data below, as according to front 1 monitoring data in insertion point and rear 1 monitoring data calculating mean value, using the numerical value of this meansigma methods as insertion point.According to the numerical value of meansigma methods prediction data inserting point, because calculate simple, predictive efficiency can be improved.
In another embodiment, can also be according to data inserting point position before and after the data value of linear trend prediction data inserting point of monitoring data.Namely the linear function of the data point before and after data inserting point position is calculated, according to the data value of this linear function prediction data inserting point, the data point before and after this data inserting point position can be the multiple monitoring data before data inserting point, the multiple monitoring data after insertion point or insertion point before with multiple monitoring data afterwards.According to the numerical value of linear trend prediction data inserting point, the stability of waveform can be improved.This linear trend can be rectilinear trend, parabola trend or the linear trend etc. determined according to the data point before and after position, insertion point.
As shown in Figure 4, in one embodiment, a kind of waveform formation device of monitoring data, comprises acquisition module 110, judge module 130, interpolating module 150 and output module 170.
Acquisition module 110, for obtaining monitoring data.
In the present embodiment, acquisition module 110 gathers the original physiologic data such as electrocardio, breathing, non-invasive blood pressure, blood oxygen saturation, pulse or body temperature by sensor from human body, digitized physiological data is obtained by sampling, filtering, coding etc., monitoring data is obtained by carrying out analyzing and processing to digitized physiological data, the monitoring data obtained is the form such as packet or message, the monitoring data of acquisition is saved in relief area, as in disk or in buffer memory, preserved by the form of array or data base, be convenient to reading and call.
Judge module 130, for judging that whether quantity in preset buffer memory time internal electronic monitoring data is lower than amount.
In the present embodiment, the cache-time preset is the time within the scope of monitoring real-time permission, as 1 second, after this time delay, draws waveform again, does not affect the promptness of monitoring data waveform.After buffer memory being carried out to the multiple monitoring data received according to the preset buffer memory time, judge module 130 judges that whether the quantity of the monitoring data of the buffer memory in the preset buffer memory time is lower than amount, namely according to the data volume of the communication protocol agreement between the transmitting terminal of monitoring data and receiving terminal, or according to the data volume that the transmission speed of transmitting terminal can receive within the preset buffer memory time, arrange to be 500/second as got electrocardiogram (ECG) data from patient, but reality only receives 493, then the quantity of monitoring data is lower than amount.If the quantity determined in preset buffer memory time internal electronic monitoring data is lower than amount, then notify interpolating module 150, otherwise judge to terminate.Can avoid being left in the basket because of requirement of real-time calling by carrying out buffer memory to the monitoring data received, improve stability and the accuracy of monitoring data, can the disappearance of Timeliness coverage data by periodically judging whether the quantity of monitoring data received is less than amount, be convenient to carry out Interpolation compensation to missing data in time.
Interpolating module 150, for obtaining the disappearance quantity of quantity compared with amount of monitoring data, carrying out uniform interpolation process according to disappearance quantity to monitoring data, forming interpolated data.
In the present embodiment, interpolating module 150 is by subtracting each other the quantity of the missing data obtaining monitoring data by amount and monitoring data quantity, the monitoring data received is pressed time of reception sequence, form monitoring data queue, then missing data is evenly spread in monitoring data queue, by data accepted quantity m divided by missing data quantity n, obtain data and insert interval m/n, a missing data is inserted every m/n monitoring data, and the time of reception corresponding to the monitoring data after data inserting is delayed a time of reception unit, if m/n is not integer, then to the process of m/n round, the numerical value of missing data can be empty, be 0 or other numerical value.In monitoring data after sequence, namely insertion and deletion data obtain interpolated data.Due to the location of interpolation of interpolated data and the shortage of data position in monitoring data closer to or the identical probability in position higher, so carry out to monitoring data the accuracy that uniform interpolation can improve waveform.
Output module 170, for forming waveform according to interpolated data.
In the present embodiment, output module 170 obtains the monitoring data through uniform interpolation process, i.e. interpolated data, according to monitoring data and amended time of reception drawing waveforms on a timeline thereof, supplement waveform according to missing data and location of interpolation thereof, and be presented in time in display screen.By successively drawing the waveform corresponding to monitoring data and missing data, memory space can be saved and raise the efficiency.
In another embodiment, when the quantity of preset buffer memory time internal electronic monitoring data is not less than amount, output module 170 is according to monitoring data drawing waveforms.Because the time span of drawing each waveform is fixing, so when the quantity of monitoring data is greater than or equal to amount, monitoring data is evenly distributed in this set time.If carry out drawing waveforms figure according to Data Position, then can when the quantity of monitoring data be greater than amount, drawing waveforms again after the monitoring data of Delete superfluous, deletion mode is delete from ending or randomly draw unnecessary monitoring data.
The waveform formation device of above-mentioned monitoring data, by obtaining monitoring data, judge that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount, if, then obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data, waveform is formed according to described interpolated data, missing data position is evenly distributed in whole waveform and goes, the wave distortion impact disperseing described missing data to bring, thus minimizing wave distortion, improve the accuracy of waveform.
As shown in Figure 5, in one embodiment, above-mentioned judge module 130 comprises setting unit 131 and judging unit 133.
Setting unit 131, for arranging adjustment time delay according to the type of monitoring data or user.
In the present embodiment, setting unit 131 adjusts the time postponing drawing waveforms automatically according to the requirement of real-time of different monitoring data type, as not being very high physiological data for breathing or the requirement of real-time such as body temperature, time delay can be arranged slightly long, as 2 seconds, can arrange slightly short for physiological datas such as electrocardio, blood pressure or blood oxygen, as 1 second, make the waveform of monitoring data while requirement of real time, improve accuracy; For time delay, setting unit 131 can also adjust according to the manual setting of user, if the time value or speed step etc. arranged according to user is to adjusting time delay, make user can adjust time delay flexibly according to the waveform accurate picture in display screen, and then the accuracy of adjustment waveform, improve the adaptability to environment and use motility.
Judging unit 133, judges that whether the quantity of internal electronic monitoring data time delay is lower than amount.
In the present embodiment, judging unit 133 obtains and arranged for 131 time delays of adjusting, and periodically obtains the monitoring data received in this period according to this time delay, judge that whether the quantity of this monitoring data is lower than amount, if so, then notify interpolating module 150, otherwise, judge to terminate.
As described in Figure 6, in one embodiment, above-mentioned interpolating module 150 comprises interpolating unit 151 and predicting unit 153.
Interpolating unit 151, for according to the disappearance quantity of monitoring data even data inserting point in the receiving sequence of monitoring data.
In the present embodiment, interpolating unit 151 obtains the data bulk that monitoring data compared with amount lacks, the data point identical with disappearance quantity is inserted in the receiving sequence of the monitoring data obtained, and be uniformly distributed, this receiving sequence is carry out the set of the monitoring data point sorted according to time of reception order.
Predicting unit 153, for the data value according to the monitoring data prediction data inserting point before and after data inserting point position.
In the present embodiment, predicting unit 153 carries out assignment according to the monitoring data near the point of data inserting in receiving sequence position to data point, improves flatness and the accuracy of waveform.
In one embodiment, predicting unit 153 is also for passing through the data value according to the mean prediction insertion point of the monitoring data before and after data inserting point position.Monitoring data before and after this position can refer to multiple monitoring data before data inserting point, insertion point multiple monitoring data below or above with multiple monitoring data below, as according to front 1 monitoring data in insertion point and rear 1 monitoring data calculating mean value, using the numerical value of this meansigma methods as insertion point.According to the numerical value of meansigma methods prediction data inserting point, because calculate simple, predictive efficiency can be improved.
In another embodiment, predicting unit 153 is also for the data value of the linear trend prediction data inserting point according to the monitoring data before and after data inserting point position.Namely the linear function of the data point before and after data inserting point position is calculated, according to the data value of this linear function prediction data inserting point, the data point before and after this data inserting point position can be the multiple monitoring data before data inserting point, the multiple monitoring data after insertion point or insertion point before with multiple monitoring data afterwards.According to the numerical value of linear trend prediction data inserting point, the stability of waveform can be improved.This linear trend can be rectilinear trend, parabola trend or the linear trend etc. determined according to the data point before and after position, insertion point.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (6)
1. a waveform formation method for monitoring data, comprises the steps:
Obtain monitoring data;
Judge that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount;
If so, then obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data;
Waveform is formed according to described interpolated data;
Whether the quantity of described judgement described monitoring data within the preset buffer memory time specifically comprises lower than amount step:
According to the type of described monitoring data or user, adjustment time delay is set;
Judge that whether the quantity of described monitoring data in described time delay is lower than amount;
The disappearance quantity of quantity compared with amount of the described monitoring data of described acquisition, carries out uniform interpolation process according to described disappearance quantity to described monitoring data, and the step forming interpolated data comprises:
According to disappearance quantity even data inserting point in the receiving sequence of described monitoring data of described monitoring data;
The data value of described data inserting point is predicted according to the monitoring data before and after described data inserting point position.
2. the waveform formation method of monitoring data according to claim 1, it is characterized in that, the described data value predicting data inserting point described in the mean prediction that the step of the data value of described data inserting point is specially the monitoring data before and after according to described data inserting point position according to the monitoring data before and after described data inserting point position.
3. the waveform formation method of monitoring data according to claim 1, it is characterized in that, describedly predict that the linear trend of the monitoring data that the step of the data value of described data inserting point is specially before and after according to described data inserting point position predicts the data value of described data inserting point according to the monitoring data before and after described data inserting point position.
4. a waveform formation device for monitoring data, comprising:
Acquisition module, for obtaining monitoring data;
Judge module, for judging that whether the quantity of described monitoring data within the preset buffer memory time is lower than amount;
Interpolating module, for determine described monitoring data within the preset buffer memory time at judge module quantity lower than amount time, obtain the disappearance quantity of quantity compared with amount of described monitoring data, according to described disappearance quantity, uniform interpolation process is carried out to described monitoring data, form interpolated data;
Output module, for forming waveform according to described interpolated data;
Described judge module comprises:
Setting unit, for arranging adjustment time delay according to the type of described monitoring data or user;
Judging unit, for judging that whether the quantity of described monitoring data in described time delay is lower than amount;
Described interpolating module comprises:
Interpolating unit, for according to the disappearance quantity of described monitoring data even data inserting point in the receiving sequence of described monitoring data;
Predicting unit, for predicting the data value of described data inserting point according to the monitoring data before and after described data inserting point position.
5. the waveform formation device of monitoring data according to claim 4, is characterized in that, described predicting unit is also for the data value of data inserting point according to the mean prediction of the monitoring data before and after described data inserting point position.
6. the waveform formation device of monitoring data according to claim 4, is characterized in that, described predicting unit is also for predicting the data value of described data inserting point according to the linear trend of the monitoring data before and after described data inserting point position.
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CN103678912B (en) * | 2013-12-13 | 2017-05-03 | 深圳市理邦精密仪器股份有限公司 | Monitor data importing method and device |
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CN105997039B (en) * | 2016-06-20 | 2018-11-27 | 广州贝护佳医疗科技有限公司 | Fetal heart monitoring map display methods and system |
CN105997038B (en) * | 2016-06-20 | 2018-11-27 | 广州贝护佳医疗科技有限公司 | The screening technique and system of fetal heart monitoring data |
WO2018010117A1 (en) * | 2016-07-13 | 2018-01-18 | 悦享趋势科技(北京)有限责任公司 | Method and device for detecting physiological state |
CN106291205B (en) * | 2016-10-14 | 2019-04-16 | 广州视源电子科技股份有限公司 | A kind of blood oxygen probe method for diagnosing faults and device |
CN112289429A (en) * | 2019-07-25 | 2021-01-29 | 深圳市理邦精密仪器股份有限公司 | Central monitoring station, monitoring system, data reviewing method and device |
CN113223670B (en) * | 2020-01-20 | 2024-01-09 | 深圳市理邦精密仪器股份有限公司 | Waveform drawing method and device and medical equipment |
CN111404650B (en) * | 2020-03-17 | 2023-05-19 | 许昌泛网信通科技有限公司 | Vehicle control message processing method |
CN113028966B (en) * | 2021-03-10 | 2021-11-12 | 哈尔滨市科佳通用机电股份有限公司 | Online dynamic detection method for scratch and out-of-roundness of tread surface of wheel |
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