Liquid balance control method, system, blood purification device, electronic equipment and medium for blood purification

Abstract

The present invention discloses a liquid balance control method, system, electronic equipment and medium for blood purification. The control method comprises the following steps: continuously acquiring the weight of a liquid bag in a blood purification system and the encoder position of a motor; calculating the actual weight change during a cycle and the number of revolutions of the motor; calculating the actual pump speed of a peristaltic pump according to the actual weight change and the number of revolutions of the motor, and filtering the pump speed; comparing the accumulated theoretical weight change of the liquid bag with the actual weight change, and adjusting the theoretical change of the next cycle; comparing the accumulated theoretical weight change of the liquid bag with the actual weight change, and adjusting the motor speed of the next cycle; the present invention calculates the motor speed of the next cycle according to the theoretical weight change of the cycle and the pump speed, continuously balances the liquid flow by means of cycle difference compensation, and uses a filtering algorithm to make the adjustment smooth, thereby reducing the influence of various interference factors on the balance control process.

Description

Technical Field

[0001] The present invention relates to the technical field of blood purification equipment, and in particular to a liquid balance control method, system, blood purification device, electronic equipment and medium for blood purification. Background Art

[0002] In the field of blood purification therapy, ensuring accurate control of the amount of fluid entering and leaving the patient's body is the key to maintaining the patient's weight balance and effective treatment. The fluid balance control system in the blood purification device plays a vital role. It is designed to ensure that the amount of fluid entering and leaving the system is exactly equal, thereby avoiding the adverse effects of excess or insufficient fluid on the patient.

[0003] The liquid balance system mainly includes the capacity balance system, the flow meter balance system and the gravity metering liquid balance system. Among them, the gravity metering liquid balance system has gradually attracted the attention of the industry due to its high precision and low long-term cumulative error. The system uses multiple suspended weighing units to continuously weigh waste liquid, replacement fluid, dialysate and anticoagulant, and directly uses the liquid weight as an indicator for flow control. The CPU analyzes these weighing data in real time and compares them with the preset prescription flow rate. The servo feedback mechanism accurately controls and fine-tunes the operation of the liquid pump to achieve high-precision liquid balance control.

[0004] Although the gravity metering liquid balance system has many advantages in theory, it still faces a series of technical challenges in practical applications. First, the hanging weighing system is prone to fluctuations in weight data due to inherent factors such as liquid bag shaking and machine vibration, which in turn affects the accuracy of liquid balance control. This fluctuation is not only difficult to predict, but may also accumulate into significant errors during long-term treatment. Secondly, the peristaltic pump may produce a back-absorption phenomenon when squeezing the pipe, that is, part of the discharged liquid is re-absorbed into the system due to the squeezing action of the pump. This phenomenon not only causes the actual amount of liquid discharged to be less than expected, but may also interfere with the liquid balance control system and increase the difficulty of control. In addition, the pressure change inside the system is also one of the important factors affecting the accuracy of liquid balance control. As the treatment progresses, the pressure in the system may change due to various factors, resulting in fluctuations in the suction volume. This fluctuation is also difficult to compensate by a simple algorithm, which increases the complexity of liquid balance control.

[0005] In summary, although the existing gravity metering liquid balance system has the advantages of high precision and low cumulative error, it is still plagued by various technical problems in practical applications. In order to further improve the accuracy and reliability of liquid balance control in blood purification equipment, it is necessary to improve and innovate the existing technology. Summary of the invention

[0006] Technical purpose: In view of the deficiencies in the liquid balance control of the above-mentioned blood purification system, the present invention discloses a liquid balance control method, system, blood purification device electronic equipment and medium for blood purification.

[0007] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0008] A method for controlling liquid balance for blood purification comprises the following steps:

[0009] S01, continuously obtaining the weight of the liquid bag in the blood purification system and the encoder position of the motor;

[0010] S02, calculating the actual weight change of the liquid bag during the cycle and the number of revolutions of the motor;

[0011] S03, calculating the pump head flow rate of the peristaltic pump according to the actual weight change of the liquid bag and the number of revolutions of the motor, and filtering the pump head flow rate;

[0012] S04, comparing the accumulated theoretical change of the liquid bag weight with the accumulated actual weight change, and adjusting the theoretical change of the next cycle;

[0013] S05, comparing the accumulated theoretical change in the weight of the liquid bag with the accumulated actual weight change, and adjusting the motor speed for the next cycle;

[0014] When adjusting the speed of the motor, the single adjustment amplitude of the theoretical change amount of the next control adjustment cycle is confirmed according to the theoretical change amount of the next control adjustment cycle, and the speed of the motor is confirmed according to the single adjustment amplitude and the pump head flow rate of the pump;

[0015] When confirming the motor speed according to the pump head flow rate, consider the effect of the blood purification system operation time on the pump head flow rate. At different operation times, select the corresponding pump head flow rate value and adjust the motor speed.

[0016] Preferably, the process of selecting the corresponding pump head flow rate value at different running times in the present invention includes: when the running time is 0-t, the actually calculated pump head flow rate is used as the pump head flow rate value for adjusting the speed; at t-t1, the historically obtained pump head flow rate is statically filtered to obtain the filtered pump head flow rate, and the filtered pump head flow rate is used as the pump head flow rate value for adjusting the speed; when the running time exceeds t1, the filtered pump head flow rate obtained by static filtering is mean filtered, and the average value of the filtered pump head flow rate is used as the pump head flow rate value for adjusting the speed; wherein t is the time from the start of the operation of the blood purification system to the discharge of air in the pipeline; t1 is the time when the blood purification system starts to run stably.

[0017] Preferably, when adjusting the speed of the pump, the present invention divides the speed of the pump into several adjustment intervals, each adjustment interval corresponds to a maximum adjustment amplitude of the speed, and the speed amplitude of a single adjustment is set according to the interval in which the current speed of the pump is located.

[0018] Preferably, in step S04 of the present invention, the process of confirming a single adjustment amplitude according to the theoretical change of the next control adjustment cycle includes: setting a theoretical change interval, each theoretical change interval corresponds to the maximum adjustment amplitude of the corresponding interval, and then finding the corresponding adjustment interval according to the calculated theoretical change, and selecting the corresponding adjustment amplitude within the maximum adjustment amplitude range corresponding to the interval, thereby determining the final single adjustment amplitude.

[0019] Preferably, in step S01, when obtaining the weighing data of the liquid bag, the weighing data is first filtered to obtain a stable weighing result, and then the peak and valley values ​​in the data sequence are analyzed based on the cached weighing data sequence close to the end point of the current control and adjustment cycle, and the balance value of the data sequence is calculated through the peak and valley values. The shaking amplitude of the liquid bag is determined according to the angle between the peak and valley values ​​and the balance value. When the shaking amplitude of the liquid bag exceeds the permitted range, an alarm is issued and the current liquid balance control process is terminated.

[0020] Preferably, the present invention first performs filtering processing when determining the single adjustment amplitude and the adjustment speed of the pump.

[0021] The present invention discloses a liquid balance control system for blood purification, which is used to implement the above-mentioned liquid balance control method, and includes a liquid bag weighing unit, a data receiving and processing unit, and a control unit for controlling a drive motor corresponding to a pump; the weighing unit is used to obtain the weight of the liquid bag, the data receiving and processing unit receives the liquid bag weight data, and determines the motor adjustment strategy according to the liquid bag weight data, and controls the drive motor to control the running speed of the pump through the control unit.

[0022] The present invention also provides a blood purification device, which uses the above-mentioned liquid balance control system for blood purification, and weighs the liquid bag of the blood purification device through the liquid bag weighing unit of the liquid balance control system. The control unit is connected to the motor electrical signal of the blood purification device to control the operation of the motor to change the rotation speed of the pump connected to the motor.

[0023] The present invention discloses an electronic device, comprising a storage device, a processor and a computer program stored in the storage device and executable on the processor. When the processor executes the computer program, the liquid balance control method for blood purification is realized.

[0024] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the liquid balance control method for blood purification is implemented.

[0025] Beneficial effects: The liquid balance control method, system, blood purification device, electronic device and medium for blood purification provided by the present invention have the following beneficial effects:

[0026] 1. The present invention calculates the motor speed of the next cycle according to the theoretical weight change of the cycle and the pump speed, continuously balances the liquid flow by means of periodic difference compensation, and uses a filtering algorithm to make the adjustment smooth, thereby reducing the impact of various interference factors on the balance control process.

[0027] 2. The present invention uses the time for the air in the blood purification system to be completely emptied and the time for the system to operate stably as control nodes, and can set the dividing points according to the specific working conditions of different systems, so that the liquid balance control process is more in line with the actual working conditions of the system, thereby ensuring the accuracy of the liquid balance control.

[0028] 3. When obtaining the speed to which the pump needs to be adjusted, the present invention sets the corresponding speed adjustment range according to the current speed of the pump, thereby avoiding large fluctuations in flow rate caused by excessive single adjustment amount, causing discomfort to the patient or causing more serious health problems.

[0029] 4. When obtaining the weighing data of the liquid bag, the present invention calculates the peak and valley values ​​and the balance value of the data according to the cached weighing data sequence, and uses this to judge the shaking of the liquid bag, reducing the impact of the shaking of the liquid bag on the weighing result. At the same time, when the shaking amplitude of the liquid bag exceeds the limit, an alarm is promptly issued and the balance control program is terminated.

[0030] 5. The weighing data and the adjustment changes of the liquid balance control of the present invention are processed by Kalman filtering to reduce data fluctuations. The filtered data not only makes the system operation more reliable, but also helps to more accurately monitor and manage the liquid balance process, ensuring that the system can maintain a stable and efficient operating state under various conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0032] Figure 1 A flow chart for obtaining weighing data for the present invention;

[0033] Figure 2 This is a flow chart of the present invention for judging the shaking condition of the liquid bag according to the weighing data;

[0034] Figure 3 This is a flow chart of the speed regulation of the present invention;

[0035] Figure 4A flow chart for confirming a single adjustment amplitude for the present invention;

[0036] Figure 5 Confirm the pump head flow rate flow chart for the present invention;

[0037] Figure 6 This is a data comparison diagram of the weighing data of the present invention in the standby scenario under filtered and unfiltered conditions;

[0038] Figure 7 This is a data comparison diagram of the weighing data of the present invention in the water discharge scenario under filtered and unfiltered conditions;

[0039] Figure 8 This is a data comparison diagram of the pump head flow rate under filtered and unfiltered conditions of the present invention; DETAILED DESCRIPTION

[0040] Reference will now be made in detail to embodiments of the present disclosure, one or more examples of which are set forth herein below. Each embodiment and example is provided by explaining the apparatus, composition and materials of the present disclosure, rather than limiting. On the contrary, the following description provides a convenient illustration of an exemplary embodiment for implementing the present disclosure. In fact, it will be clear to those skilled in the art that various modifications and variations can be made in the teachings of the present disclosure without departing from the scope or spirit of the present disclosure. For example, a feature shown or described as a part of an embodiment can be used in conjunction with another embodiment to produce yet another embodiment. It is expected that the present disclosure covers such modifications and variations within the scope of the appended claims and their equivalents. Other objects, features and aspects of the present disclosure are disclosed in or clear from the following detailed description. It will be understood by those of ordinary skill in the art that this discussion is only a description of exemplary embodiments and is not intended to limit the wider aspects of the present disclosure.

[0041] like Figure 1-Figure 5 As shown, the present invention provides a liquid balance control method for blood purification, comprising the steps of:

[0042] S01, continuously obtaining the weight of the liquid bag in the blood purification system and the encoder position of the motor;

[0043] When obtaining the weighing data of the liquid bag, the liquid bag is hung on the hook of the weighing structure. When the moving machine or the person moves and touches the liquid bag, it will cause the mass fluctuation. Therefore, the balancing algorithm does not use the raw data of the weighing sensor to calculate directly, but first filters and removes noise. The present invention uses Kalman filtering to filter the weighing data, such as Figure 6 and Figure 7 As shown in the figure, the original data and filtered data in the standby scenario (when the peristaltic pump is stationary) and the water discharge scenario are compared. The data after filtering is relatively more stable and the fluctuation is significantly reduced.

[0044] Then, based on the cached weighing data sequence close to the end point of the current control adjustment cycle, the peak and valley values ​​in the data sequence are analyzed, and the balance value of the data sequence is calculated through the peak and valley values. The shaking amplitude of the liquid bag is determined according to the angle between the peak and valley values ​​and the balance value. When the shaking amplitude of the liquid bag exceeds the permitted range, an alarm is issued and the current liquid balance control process is terminated.

[0045] The weighing data sequence of the present invention uses the 10 weighing data cached most recently to find the peak and valley values ​​of the weighing data sequence according to the first sufficient condition for the extreme value of the function: if the function f(x) is differentiable at point x0, and in a certain neighborhood of x0, the sign of f'(x) is opposite on both sides of x0, that is, f'(x0-) and f'(x0+) have different signs, then x0 is the extreme point of the function f(x). If f'(x0-)<0 and f'(x0+)>0, then x0 is the minimum point of the function f(x). If f'(x0-)>0 and f'(x0+)<0, then x0 is the maximum point of the function f(x). If f'(x) does not change its sign in the centered neighborhood of point x0, then f(x) has no extreme value at x.

[0046] The calculation of f'(x) is simplified by the first-order backward difference, which is represented by ±1 to obtain the first-order difference sequence; the first-order difference is then forward-differentiated again to obtain the second-order difference sequence, where a value of 0 indicates that f'(x) does not change its sign and f(x) has no extreme value at x; a value of 2 indicates that f'(x0-)<0 and f'(x0+)>0, and x0 is the minimum point of the function f(x); a value of -2 indicates that f'(x0-)>0 and f'(x0+)<0, and x0 is the maximum point of the function f(x), thereby finding the peak and valley values ​​in the most recent 10 data sequences.

[0047] After the liquid bag is shaken, affected by the acceleration of the swing, the raw data of the sensor conforms to the Gaussian distribution, and the balance value can be calculated according to the peak-to-valley value, and the angle between the peak-to-valley value and the balance value can be calculated by the arc cosine function to correspond to the shaking amplitude of the liquid bag. In the embodiment of the present invention, when the calculated angle value is greater than 10, it means that the shaking amplitude of the liquid bag is large, causing the scale to be unstable, triggering the system alarm and terminating the liquid balance program. When the calculated angle value is less than 10, it means that the shaking amplitude of the liquid bag is within the allowable range, and the liquid balance control can be performed according to the weighing data.

[0048] S02, calculating the actual weight change of the liquid bag during the cycle and the number of revolutions of the motor;

[0049] The motor encoder uses a grating and an infrared light source to convert the optical signal into a TTL (HTL) electrical signal through a receiver, which intuitively reflects the rotation angle and rotation position of the motor. The encoder difference between two cycles can be used to determine the number of revolutions of the motor and thus the number of revolutions of the peristaltic pump.

[0050] S03, calculating the actual pump speed of the peristaltic pump according to the actual weight change of the liquid bag and the number of revolutions of the motor, and filtering the pump speed;

[0051] The pump speed is the weight of liquid that the peristaltic pump can extract in one revolution. The pump speed calculation formula is: weight change ÷ number of revolutions. After excluding the air in the pipeline, the pump speed is theoretically considered to be a constant. After accumulating a large amount of real and valid data and performing static filtering on it, it is considered to be the real and stable pump speed matched with the pipeline and pump head.

[0052] S04, comparing the accumulated theoretical change of the liquid bag weight with the accumulated actual weight change, and adjusting the theoretical change of the next cycle;

[0053] The calculation principle of the theoretical change is: assuming that the flow rate is set to v0mL / h and the sampling period is 1 second, then the theoretical change in one cycle should be v0 / 3600mL, and the liquid density is approximately 1g / cm 3 , and the theoretical change is v0 / 3600g.

[0054] Based on the above principle, the theoretical change of the liquid in the liquid bag in each control cycle can be calculated.

[0055] S05. Compare the accumulated theoretical change with the accumulated actual change of the liquid bag weight obtained by weighing. According to the difference between the accumulated theoretical change and the accumulated actual change, confirm the theoretical change of the next control adjustment cycle to adjust the speed of the motor. The peristaltic pump head is driven by the motor and the reducer to rotate. The pump head speed and the motor speed are fixed multiples. Therefore, the pump speed can be increased or decreased to compensate for the liquid discharge of the liquid bag.

[0056] like Figure 3 As shown, when the accumulated actual change is greater than the accumulated theoretical change, it means that the current speed of the peristaltic pump is too fast, and the speed should be reduced by reverse adjustment. When the accumulated actual change is less than the accumulated theoretical change, it means that the current speed of the peristaltic pump is too slow, and the speed should be increased by positive adjustment.

[0057] When adjusting the speed of the peristaltic pump, the single adjustment amplitude of the next control adjustment cycle is confirmed according to the theoretical change amount of the next control adjustment cycle, and the speed of the pump is confirmed according to the single adjustment amplitude and the pump head flow rate of the pump.

[0058] However, the different sizes of theoretical changes result in inconsistent rotational speed amplitudes that need to be adjusted. In order to avoid the impact of excessive flow fluctuations on patients and the treatment process, the adjustment amplitude needs to be controlled. To this end, the present invention provides an implementation method that can control the adjustment amplitude and improve the adjustment efficiency.

[0059] Specifically: set the theoretical change interval, each theoretical change interval corresponds to the maximum adjustment amplitude of the corresponding interval, then find the corresponding adjustment interval according to the calculated theoretical change, and select the corresponding adjustment amplitude within the maximum adjustment amplitude range corresponding to the interval, and then determine the final single adjustment amplitude.

[0060] For example, in an embodiment of the present invention: when the theoretical change is in the range of [20-30]g, the adjustment amplitude can be up to 15% of the theoretical change of the period; when the theoretical change is in the range of [50-60]g, the adjustment amplitude can be up to 8% of the theoretical change of the period; this can be used to calculate the single adjustment amplitude, and the pump speed can be confirmed based on the single adjustment amplitude and the pump head flow rate.

[0061] When confirming the motor speed according to the pump head flow rate, consider the impact of the blood purification system running time on the pump head flow rate. At different running times, select the corresponding pump head flow rate value and adjust the pump speed to improve the accuracy of the calculation and ensure the accuracy of liquid balance control.

[0062] The present invention divides time points according to the operating conditions of the blood purification system to ensure the fit with the equipment. At different operating times, the process of selecting corresponding pump head flow rate values ​​includes: when the operating time is 0-t, the actually calculated pump head flow rate is used as the pump head flow rate value for adjusting the rotation speed; at t-t1, the historically obtained pump head flow rate is statically filtered to obtain the filtered pump head flow rate, and the filtered pump head flow rate is used as the pump head flow rate value for adjusting the rotation speed; when the operating time exceeds t1, the filtered pump head flow rate obtained by static filtering is mean filtered, and the average value of the filtered pump head flow rate is used as the pump head flow rate value for adjusting the rotation speed; wherein t is the time from the start of the operation of the blood purification system to the discharge of air in the pipeline; and t1 is the time when the blood purification system starts to run stably.

[0063] In an embodiment of the present invention, Figure 5 and Figure 8As shown, t is set to 1min and t1 is set to 2min. When the blood purification system program is just started, there may be air in the pipeline, and the calculated pump head flow rate is not an accurate value and does not participate in the filtering calculation. Therefore, the actual value is directly used in the previous minute for the calculation. In the 1min-2min time period, the air in the pipeline has been discharged, so the calculated pump head flow rate can be filtered. The filtering adopts Kalman filtering to obtain a relatively stable filtered pump head flow rate value for the calculation of pump speed regulation. After 2min, the system has accumulated the filtered data of the previous minute, but the filtered data will still have small fluctuations. Because the pump head flow rate is directly involved in the calculation of the speed, it is still hoped that it will be more stable. Therefore, the filtered data can be filtered again. At this time, mean filtering is adopted, and the mean is the average of the maximum and minimum values ​​after filtering recorded in the previous step. At this time, the pump head flow rate is almost constant.

[0064] After confirming the single theoretical change and the pump head flow rate, the amplitude of the speed adjustment that needs to be obtained can be obtained. Accordingly, in order to reduce the influence of the speed adjustment amplitude on the operation of the blood purification system, similar to the process of confirming the single theoretical change, the present invention divides the speed of the pump into several adjustment intervals when adjusting the speed of the pump. Each adjustment interval corresponds to the maximum adjustment amplitude of the speed. The speed amplitude of the single adjustment is set according to the interval in which the current speed of the pump is located; for example: when the speed is in the [300-350] rpm interval, the adjustment amplitude can be up to 3% of the current speed, when the speed is in the [400-450] rpm interval, the adjustment amplitude can be up to 1.5% of the current speed, and when the speed is in the interval above 450 rpm, the adjustment amplitude can be up to 0.5% of the current speed. The specific amplitude size and interval division can be divided according to the stability requirements of the system. The data such as the maximum value of the adjustment amplitude can be obtained through testing and experimentation of the system, so as to adjust the speed within the maximum amplitude range that the system can withstand.

[0065] The present invention discloses a liquid balance control system for blood purification, which is used to implement the above-mentioned liquid balance control method, and includes a liquid bag weighing unit, a data receiving and processing unit, and a control unit for controlling a driving motor corresponding to a pump; the weighing unit is used to obtain the weight of the liquid bag, the data receiving and processing unit receives the liquid bag weight data, and determines the adjustment strategy of the motor according to the liquid bag weight data, and controls the driving motor to control the running speed of the pump through the control unit, so that the operation of the blood purification system is more reliable, and it is helpful to more accurately monitor and manage the liquid balance process, ensuring that the system can maintain a stable and efficient operating state under various conditions.

[0066] The present invention also provides a blood purification device, using the above-mentioned liquid balance control system for blood purification, weighing the liquid bag of the blood purification device through the liquid bag weighing unit of the liquid balance control system, and connecting the control unit to the electric signal of the motor of the blood purification device to control the operation of the motor to change the speed of the pump connected to the motor. The liquid balance control system of the present invention can be applied to the existing blood purification device, and the corresponding control parameters can be adjusted according to specific needs to ensure accurate control of the liquid balance in the blood purification device, thereby ensuring the treatment effect.

[0067] It should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. Among them, the storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

Claims

1. A method for controlling liquid balance for blood purification, characterized in that: Includes steps: S01, continuously obtaining the weight of the liquid bag in the blood purification system and the encoder position of the motor; S02, calculating the actual weight change of the liquid bag during the cycle and the number of revolutions of the motor; S03, calculating the pump head flow rate of the peristaltic pump according to the actual weight change of the liquid bag and the number of revolutions of the motor, and filtering the pump head flow rate; S04, comparing the accumulated theoretical change of the liquid bag weight with the accumulated actual weight change, and adjusting the theoretical change of the next cycle; S05, comparing the accumulated theoretical change in the weight of the liquid bag with the accumulated actual weight change, and adjusting the motor speed for the next cycle; When adjusting the speed of the motor, the single adjustment amplitude of the theoretical change amount of the next cycle is confirmed according to the theoretical change amount of the next cycle, and the speed of the motor is confirmed according to the single adjustment amplitude and the flow rate of the pump head of the peristaltic pump; When confirming the motor speed according to the pump head flow rate, consider the effect of the blood purification system operation time on the pump head flow rate. At different operation times, select the corresponding pump head flow rate value and adjust the motor speed.

2. A blood purification liquid balance control method according to claim 1, characterized in that: The process of selecting the corresponding pump head flow rate value at different running times includes: When the running time is 0-t, the actually calculated pump head flow rate is used as the pump head flow rate value for adjusting the speed; At t-t1, static filtering is performed on the historically obtained pump head flow rate to obtain the filtered pump head flow rate, and the filtered pump head flow rate is used as the pump head flow rate value for adjusting the speed; When the running time exceeds t1, the filtered pump head flow rate obtained by static filtering is average filtered, and the average value of the filtered pump head flow rate is used as the pump head flow rate value for adjusting the speed; Among them, t is the time from the start of operation of the blood purification system to the discharge of air in the pipeline; t1 is the time when the blood purification system starts to operate stably.

3. A blood purification liquid balance control method according to claim 2, characterized in that: When adjusting the speed of the pump, the speed of the pump is divided into several adjustment intervals, each adjustment interval corresponds to the maximum adjustment range of the speed, and the speed range of a single adjustment is set according to the interval in which the current speed of the pump is located.

4. A blood purification liquid balance control method according to claim 1, characterized in that: In step S04, the process of confirming the single adjustment amplitude according to the theoretical change of the next control adjustment cycle includes: setting the theoretical change interval, each theoretical change interval corresponds to the maximum adjustment amplitude of the corresponding interval, and then finding the corresponding adjustment interval according to the calculated theoretical change, and selecting the corresponding adjustment amplitude within the maximum adjustment amplitude range corresponding to the interval, and then determining the final single adjustment amplitude.

5. A blood purification liquid balance control method according to claim 1, characterized in that: In step S01, when obtaining the weighing data of the liquid bag, the weighing data is first filtered to obtain stable weighing data, and the peak and valley values ​​in the data sequence are analyzed according to the cached weighing data sequence close to the end point of the current control and adjustment cycle. The balance value of the data sequence is calculated through the peak and valley values, and the shaking amplitude of the liquid bag is determined according to the angle between the peak and valley values ​​and the balance value. When the shaking amplitude of the liquid bag exceeds the permitted range, an alarm is issued and the current liquid balance control process is terminated.

6. A liquid balance control system for blood purification, used to implement the liquid balance control method according to any one of claims 1 to 5, characterized in that: It includes a liquid bag weighing unit, a data receiving and processing unit, and a control unit for controlling a driving motor corresponding to the pump; the weighing unit is used to obtain the weight of the liquid bag, the data receiving and processing unit receives the weight data of the liquid bag, and determines the adjustment strategy of the motor according to the weight data of the liquid bag, and controls the driving motor to control the operating speed of the pump through the control unit.

7. A blood purification device, characterized in that: Using the liquid balance control system for blood purification as described in claim 6, the liquid bag of the blood purification device is weighed by the liquid bag weighing unit of the liquid balance control system, and the control unit is connected to the motor electrical signal of the blood purification device to control the operation of the motor to change the speed of the pump connected to the motor.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the liquid balance control method for blood purification according to any one of claims 1 to 5 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for controlling liquid balance for blood purification according to any one of claims 1 to 5 is implemented.

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