A control method of an anti-thrombus pump and related device

Abstract

The application discloses a control method of an anti-thrombus pump and a related device. The control method of the anti-thrombus pump comprises the following steps: obtaining a target air pressure value of an air container and collecting a real-time air pressure value of the air container; if it is confirmed that there is a difference between the real-time air pressure value and the target air pressure value, generating an air pressure adjusting signal based on the difference, and adjusting and controlling the pressurizing speed of the air pump based on the air pressure adjusting signal; and if it is confirmed that the stable pressure value of the air container reaches the target air pressure value within a preset time length, ending the adjusting control of the air pump. Through the above method, the application can realize stable, accurate and efficient control of the anti-thrombus pump through the adjusting control of the air pump, has strong anti-interference ability, low parameter adjusting requirement, and is favorable for improving the flexibility and reliability of the anti-thrombus pump control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment control, in particular to a control method of an anti-thrombus pump and related device. BACKGROUND

[0002] In clinical practice, the anti-thrombus pump, as an inflatable anti-thrombus device, is widely used in the prevention of postoperative deep vein thrombosis and the treatment of peripheral circulatory disorder diseases by applying appropriate air pressure to the patient's part to promote blood circulation and prevent or reduce thrombosis. Among them, the air pump used by the anti-thrombus pump as a pressurizing component needs to control its output air pressure to the air container to stably and accurately control the air pressure value of the air container during treatment, so as to achieve better treatment experience and treatment effect.

[0003] The traditional control method of the anti-thrombus pump generally adopts a linear PID control algorithm (Proportional-Integral-Derivative Controller), which combines the proportional, integral and differential of the deviation between the given value and the actual output value by linear combination to form a control amount to control the controlled object. However, the conditions of PID control are easily disturbed by external factors, and when used in medical treatment based on inflatable anti-thrombus devices, the treatment object's fatness, different treatment sites, and the size and type of airbags used will also be affected, so it is difficult to stably and accurately output air pressure. When modifying the parameters, it is usually necessary to increase the parameters of new influencing factors or adjust the parameters of multiple influencing factors, which has low control efficiency and poor flexibility and adaptability, and it is also difficult to compensate for the air pressure in time when the air pressure is insufficient. SUMMARY

[0004] The present application mainly provides a control method of an anti-thrombus pump and related device, aiming to solve the technical problem of low control efficiency and poor flexibility of the anti-thrombus pump.

[0005] To solve the above technical problems, the technical solution adopted by the present application is to provide a control method of an anti-thrombus pump. The control method of the anti-thrombus pump comprises: acquiring a target air pressure value of the air container and collecting a real-time air pressure value of the air container; if it is confirmed that there is a difference between the real-time air pressure value and the target air pressure value, generating an air pressure adjustment signal based on the difference, and adjusting and controlling the pressurizing speed of the air pump based on the air pressure adjustment signal; if it is confirmed that the stable pressure value of the air container reaches the target air pressure value within a preset time length, the adjustment control of the air pump is ended.

[0006] In some embodiments, the generating the air pressure adjustment signal based on the difference value and regulating the pressurization speed of the air pump based on the air pressure adjustment signal comprises: linearly amplifying the difference value by k times to obtain a first air pressure adjustment signal; and regulating the pressurization speed of the air pump based on the first air pressure adjustment signal.

[0007] In some embodiments, after the regulating the pressurization speed of the air pump based on the first air pressure adjustment signal, the method further comprises: in response to the stabilized pressure value of the air container not reaching the target air pressure value within a preset time length, adjusting the size of the amplification factor k and generating a new first air pressure adjustment signal.

[0008] In some embodiments, the generating the air pressure adjustment signal based on the difference value and regulating the pressurization speed of the air pump based on the air pressure adjustment signal further comprises: in response to the amplification factor k being adjusted for a preset number of times and the stabilized pressure value of the air container not reaching the target air pressure value within a preset time length each time, adding a compensation value to the difference value; linearly amplifying the sum of the difference value and the compensation value by k times to obtain a second air pressure adjustment signal; and regulating the pressurization speed of the air pump based on the second air pressure adjustment signal.

[0009] In some embodiments, the compensation value is obtained based on the target air pressure value and a preset compensation curve.

[0010] In some embodiments, the generating the air pressure adjustment signal based on the difference value and regulating the pressurization speed of the air pump based on the air pressure adjustment signal further comprises: in response to the stabilized pressure value of the air container not reaching the target air pressure value within a preset time length, adding a dynamic compensation amount to the sum of the difference value and the compensation value; linearly amplifying the sum of the difference value, the compensation value, and the dynamic compensation amount by k times to obtain a third air pressure adjustment signal; and regulating the pressurization speed of the air pump based on the third air pressure adjustment signal.

[0011] In some embodiments, the formula of the dynamic compensation amount is: S = (C(x) / U) x T; wherein S is the dynamic compensation amount, C(x) is the sum of the difference value and the compensation value, U is a compensation coefficient, and T is a compensation time length.

[0012] To solve the above technical problems, another technical solution adopted by the present application is to provide a storage medium having program data stored thereon, wherein the program data, when executed by a processor, implements the steps of the control method of the anti-thrombus pump as described above.

[0013] To solve the above technical problems, another technical solution adopted by the present application is to provide a gas pump control device, which comprises a processor and a memory connected to each other, the memory stores a computer program, and the processor implements the steps of the control method of the anti-thrombus pump when executing the computer program.

[0014] To solve the above technical problems, another technical solution adopted by the present application is to provide an anti-thrombus pump, which comprises a gas pump, a gas container and a gas pump control device as described above, the gas pump control device is connected in communication with the gas pump and the gas container, and controls the gas pump to charge the gas container.

[0015] The beneficial effects of the present application are that, different from the prior art, the present application discloses a control method of an anti-thrombus pump and related devices. The present application regulates the pressurizing speed of the gas pump based on the difference between the real-time gas pressure value and the target gas pressure value, so as to control the anti-thrombus pump, which can effectively compensate for the difference in gas pressure, reduce or eliminate the difference, make the gas pressure value in the gas container closer to the target gas pressure value, and make the gas pressure value in the gas container more stable, so as to realize stable, accurate and efficient control of the anti-thrombus pump, which is conducive to improving the use efficiency and reliability of the anti-thrombus gas pump. At the same time, the implementation of the method only needs to focus on the relationship between the actual gas pressure value and the feedback real-time gas pressure value, and the intermediate factors can be reflected by the difference, and the corresponding regulation process only needs to focus on the conversion relationship between the difference and the gas pressure regulation signal, so the method can be applied to various anti-thrombus gas pumps, and has lower requirements for parameter adjustment, better flexibility, rapidity and compatibility. On this basis, compensation based on a preset compensation curve and dynamic compensation based on a preset compensation coefficient and compensation duration can be performed to achieve better control effect, which can effectively solve the technical problems of low control efficiency and poor stability of the anti-thrombus pump. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any inventive labor.

[0017] Figure 1 is a flowchart of an embodiment of the control method of the anti-thrombus pump provided by the present application;

[0018] Figure 2 is Figure 1 is a flowchart of an embodiment of step 20 in the embodiment;

[0019] Figure 3 is Figure 1 Flowchart of another embodiment of step 20 in the embodiment;

[0020] Figure 4 is Figure 1 Flowchart of still another embodiment of step 20 in the embodiment;

[0021] Figure 5 is a structural diagram of an embodiment of the storage medium provided in the present application;

[0022] Figure 6 is a structural diagram of an embodiment of the air pump control device provided in the present application;

[0023] Figure 7 is a structural diagram of an embodiment of the anti-thrombus pump provided in the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described in the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0025] The terms "first", "second", "third" in the embodiments of the present application are only used for description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second", "third" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, the process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0026] In this document, the term "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] The application provides a control method of an anti-thrombus pump, which comprises a gas pump and a gas container pressurized by the gas pump, and refers to Figure 1 , Figure 1 is a flowchart of an embodiment of the control method of the anti-thrombus pump provided by the application. The control method of the anti-thrombus pump comprises the following steps:

[0028] Step 10: obtaining a target gas pressure value of the gas container and collecting a real-time gas pressure value of the gas container.

[0029] In the anti-thrombus pump, a gas pump and a gas container pressurized by the gas pump are usually included. The gas pump serves as a pressurizing component of the anti-thrombus pump and usually realizes the control of the gas pressure in the gas container through gas compression, gas injection or gas release and the like. The gas container serves as a gas storage part of the anti-thrombus pump and is used to store the gas injected or compressed by the gas pump and release the gas therein when needed. The gas container realizes the compression and massage of the user's limbs through the periodic inflation and deflation, so as to increase the circulation of venous blood and lymph and prevent diseases such as deep vein thrombosis.

[0030] The target gas pressure value of the gas container is usually preset, for example, the gas pressure value to be pressurized at a certain time, the gas pressure value to be depressurized at a certain time or the gas pressure value at different times according to the linear and nonlinear relationship between the gas pressure and time. The target gas pressure value can be set according to the treatment experience, authoritative research and specification requirements and the like, which is not limited in the application. The target gas pressure value can be pre-input into the control device related to the anti-thrombus pump through a program script, an operation interface or other ways and stored in a storage, a register, a buffer or other storage medium. The target gas pressure value can be quickly obtained and processed when needed.

[0031] The real-time gas pressure value of the gas container is usually measured or collected in real time and can be measured or collected by a gas pressure measuring device such as a gas pressure sensor, a pressure gauge or a pressure sensor. These gas pressure measuring devices are usually installed or integrated at a suitable position of the gas container and can sense or measure the gas pressure value in the gas container in real time and convert the gas pressure value into an electrical signal or other processable signal for subsequent processing or control. The signal can be received and processed by the control device of the anti-thrombus pump or other devices based on the gas pressure condition.

[0032] Through this step, the target gas pressure value in the gas container can be effectively obtained as the real-time gas pressure value, which lays a foundation for the subsequent steps of gas pressure adjustment, compensation and dynamic compensation based thereon. This is conducive to realizing the stable, accurate and efficient control of the anti-thrombus pump.

[0033] Step 20: If it is confirmed that there is a difference between the real-time air pressure value and the target air pressure value, a pressure adjustment signal is generated based on the difference, and the pressurization speed of the air pump is regulated based on the pressure adjustment signal.

[0034] For the real-time air pressure value to reach the target air pressure value, it usually requires an inflation or deflation process. During this process, there will be a difference between the real-time air pressure value collected and the target air pressure value. This difference can be calculated by numerical processing of the real-time air pressure value and the target air pressure value, which is the air pressure difference obtained by subtracting the real-time air pressure value from the target air pressure value, so that a corresponding air pressure adjustment signal can be generated based on the difference. The air pressure adjustment signal can be generated based on factors such as the size of the difference, the positive or negative value of the difference, and taking into account the subsequent control method of the air pump, there will also be a process of converting the difference data accordingly, such as through linear calculation or nonlinear calculation methods to control the pressurization speed of the air pump by adjusting the corresponding parameters such as the speed of the air pump, changing the diameter of the air pump, and adjusting the air intake. The air pressure adjustment signal is a signal used to adjust the corresponding control signal, such as increasing the corresponding value or decreasing the corresponding value.

[0035] Optionally, the air pressure regulation signal is a PWM regulation signal.

[0036] PWM (Pulse Width Modulation) is a method for digitally encoding analog signal levels. It achieves digital control of analog signals by adjusting the duty cycle of a pulse signal of a certain frequency. In the control method of the anti-thrombotic pump, the air pressure regulation signal is generated by the PWM signal. The duty cycle of the PWM signal can be dynamically adjusted according to the size and direction of the difference, such as increasing the duty cycle of the air pressure regulation signal corresponding to the value, decreasing the duty cycle of the air pressure regulation signal corresponding to the value, or setting the regulation signal to 0, without changing the steady-state control of the PWM signal, thereby achieving precise control of the pressurization speed of the air pump. This control method has the advantages of fast response speed and high control accuracy, and can effectively achieve precise regulation of the air pressure inside the air container.

[0037] It should be noted that PWM signals are usually described by frequency, period or duty cycle, and the aforementioned difference and the difference for generating various types of air pressure regulation signals described later are usually air pressure unit values. Therefore, it is usually necessary to convert the unit of the difference or adapt the numerical value. Since the difference and the value to be adjusted by PWM are positively correlated, the conversion process can be set according to a preset algorithm or according to the parameter logic of the conversion value verified by experiment, or based on its positive correlation, a certain parameter value in the middle of the conversion of the difference to the PWM signal is adjusted to determine the corresponding PWM signal, thereby generating the air pressure regulation value.

[0038] By the above steps, the air pressure adjustment signal is generated based on the difference between the real-time air pressure value and the target air pressure value, and the pressurization speed of the air pump is regulated by using the signal to realize accurate control of the air pressure in the air container, ensuring that the real-time air pressure value can quickly and accurately approach or reach the target air pressure value. The air pressure adjustment signal can also be generated by the PWM signal, further improving the control accuracy and response speed. The control method based on the difference to generate the air pressure adjustment value is beneficial to improve the efficiency, adaptability and stability of the thrombosis-resistant pump.

[0039] Optionally, referring to Figure 2 , the air pressure adjustment signal is generated based on the difference, and the pressurization speed of the air pump is regulated based on the air pressure adjustment signal, which can be executed as follows:

[0040] Step 211: Linearly amplify the difference value by k times to obtain a first air pressure adjustment signal.

[0041] Step 212: Regulate the pressurization speed of the air pump based on the first air pressure adjustment signal.

[0042] After obtaining the difference value, since the difference value is usually small and cannot be directly controlled by the air pump, the difference value needs to be amplified accordingly to obtain a corresponding air pressure adjustment signal to ensure the accuracy and sensitivity of the regulation, so as to regulate the pressurization speed of the air pump. The k value of linear amplification is a value greater than 1, and is adapted to the air pressure unit corresponding to the difference value and the unit of the parameter used to regulate the air pump. For example, the first air pressure adjustment signal needs to be a value of duty cycle per second in ms, and the real-time air pressure value needs to reach the target air pressure value, which requires the air pump to increase the duty cycle by 100 ms in 1 s. The difference value is set to kPa, and its value is 5. Then the k value can be set to 20, or set to 20 ms / kPa with unit. Assuming that the difference value is represented as ΔP, and the first air pressure adjustment signal is identified as Out1, the steps 211 to 212 can be represented as the formula Out1=kΔP, and the value of Out1 can be used to regulate the pressurization speed of the air pump.

[0043] Optionally, after regulating the pressurization speed of the air pump based on the first air pressure adjustment signal, it further comprises:

[0044] Step 213: In response to the stable pressure value of the air container not reaching the target air pressure value within a preset time length, adjusting the size of the amplification multiple k, and generating a new first air pressure adjustment signal.

[0045] Under the above steps, since the parameters corresponding to the speed regulation mode of the air pump and the difference are not in a linear relationship, the value of k cannot be determined based on the numerical relationship between the difference and the first air pressure adjustment signal, and the value of k may need to be adjusted multiple times to make the air pressure value in the air container reach a steady state and make the steady state value reach or approach the target air pressure value. The occurrence of the steady state is based on a situation that will occur under the control method of the antithrombotic pump. Since the difference is constantly decreasing, the adjustment amplitude of the air pressure adjustment signal to the air pump pressure speed will also decrease. When the difference is small enough, the increased and decreased air pressure in the air container will reach a balance, thereby achieving a relatively stable situation. The steady state value is the real-time air pressure value after reaching the relatively stable state.

[0046] Therefore, the pressure effect of the air pump can be evaluated by setting a preset time period. Generally, after the preset time period, if the real-time air pressure value in the corresponding air container cannot reach a steady state and reach the target air pressure value, it indicates that the selected k value is not good and cannot quickly and accurately achieve the corresponding adjustment effect. The k value needs to be adjusted to achieve more stable, efficient, and accurate control effect. The adjustment of the k value can be adjusted by virtual controls at the software level or by physical controls at the hardware level. A corresponding adjustment program or automatic control mechanism can also be set to automatically adjust the k value. The logic of the k value adjustment can be adjusted according to the corresponding rules of the difference size and positive and negative situations of the k value, or according to the corresponding relationship of the adjustment summarized from experiments to achieve more stable, efficient, and accurate approach or reach the target air pressure value.

[0047] Through the above steps, the generation of the air pressure adjustment signal can be realized. During the adjustment process, only the k value needs to be regulated, which requires fewer parameters to be regulated than traditional PID control and fuzzy control methods. The corresponding technical requirements are also lower. In the process, only the relationship between the target air pressure value and the feedback real-time air pressure value needs to be concerned. The intermediate factors are reflected by the unified difference. Therefore, the control method can be applied to various antithrombotic air pumps, has better flexibility, rapidity, and compatibility, and is conducive to realizing stable, accurate, and efficient control of the antithrombotic pump and improving the use efficiency and reliability of the antithrombotic air pump.

[0048] Optionally, referring to Figure 3 , the air pressure adjustment signal is generated based on the difference, and the pressure speed of the air pump is regulated based on the air pressure adjustment signal. The following steps can also be performed:

[0049] Step 221: In response to the preset number of times of re-adjusting the amplification factor k, and the steady pressure value of the air container not reaching the target air pressure value within the preset time period each time, a compensation value is added to the difference.

[0050] Step 222: linearly amplifying the sum of the difference value and the compensation value by k times to obtain a second air pressure adjustment signal, and regulating the pressurization speed of the air pump based on the second air pressure adjustment signal.

[0051] After the aforementioned step of readjusting the k value, the steady state error may still occur, i.e., the steady pressure value of the air capacity within the preset time does not reach the target air pressure value. There are many reasons for the occurrence of the steady state error, such as the disturbance of internal or external factors during the control process, the deviation of the control strategy, the blockage of the air pump pressurization, the insufficient range and resolution of the real-time air pressure value, and the like. The scheme only needs to consider whether it is within an error range under certain accuracy requirements to determine whether the steady state value reaches the target air pressure value. The error range can be set according to the requirements of the product or the performance requirements. If the error is small, it is determined that the steady state value reaches the target air pressure value. If the error is large, it is determined that the steady state value does not reach the target air pressure value.

[0052] Therefore, on this basis, the preset number of readjustments can be further set to determine whether the steady state value can effectively reach the target air pressure value by readjusting the k value. The preset number can be comprehensively considered according to the efficiency of readjustment and the efficiency of compensation to obtain a higher control effect. If the steady state value still cannot reach the target air pressure value after the preset number, the difference value can be compensated by adding a compensation value, so that the steady state value can be higher or lower. When the compensation value can balance the error caused by the steady state error, the new steady state value obtained finally can reach or be closer to the target air pressure value.

[0053] The compensation value can be a fixed value, a function value corresponding to the target air pressure value or the real-time air pressure value, or a variable value set according to the size and positive or negative situation of the difference value. The setting can be obtained by experimental or theoretical analysis. For example, the steady state error value under different target air pressures can be obtained by controlling the air pressure adjustment signal with different k values, and the steady state error value is used as the compensation value M after the steady state. In this case, assuming that the difference value is ΔP and the second air pressure adjustment signal is Out2, the step 221 and the step 222 can be represented by the formula Out2=kΔP+M. The establishment condition of the formula needs to satisfy the steady state of the regulated air pressure, but whether the steady state is reached also needs a certain measurement method, and the fixed value compensation also needs to be adaptively changed under different k values, so the flexibility is relatively poor.

[0054] Preferably, the compensation value is obtained based on the target air pressure value and a preset compensation curve. In the experiment, different target air pressures can be used to analyze the accuracy and stability of the target air pressure by substituting different preset compensation values, and the optimal compensation value under different target air pressures can be used for corresponding experimental measurement analysis and difference fitting, etc. to obtain the corresponding compensation curve N(x), where x is the target air pressure value, and N(x) is the corresponding compensation value when the target air pressure value is x. The compensation value of the target air pressure can be obtained through the compensation curve. The corresponding formula of this method can be expressed as Out2=k*(AP+N(x)), which does not need to judge whether the steady state is reached, and can output the corresponding second air pressure adjustment value in real time and accurately, and more effectively, accurately and stably control the pressure of the air pump.

[0055] Through the above steps, the present application takes into account the factors of steady state error, further adds a compensation value on the basis of the difference, optimizes the generation of the second air pressure adjustment signal, and better regulates and controls the pressure increasing speed of the air pump, so as to realize more efficient, stable and accurate air pump control, and further improve the use efficiency and reliability of the air pump. The compensation value can be obtained through a preset compensation curve, so that the compensation value can be adaptively adjusted according to different target air pressure values, so that it can better meet various use requirements, and has better flexibility, rapidity and compatibility.

[0056] Optionally, referring to Figure 4 , the air pressure adjustment signal is generated based on the difference, and the pressure increasing speed of the air pump is regulated and controlled based on the air pressure adjustment signal, which can also be executed according to the following steps:

[0057] Step 231: In response to the fact that the stable pressure value of the air capacity does not reach the target air pressure value within a preset time length, a dynamic compensation amount is added to the sum of the difference and the compensation value.

[0058] Step 232: Linearly amplifying the sum of the difference, the compensation value and the dynamic compensation amount by k times to obtain a third air pressure adjustment signal.

[0059] Step 233: Regulating and controlling the pressure increasing speed of the air pump based on the third air pressure adjustment signal.

[0060] After the foregoing steps, since the compensation value is preset according to experiments or experience, the compensation value is still relatively fixed, and factors affecting the control effect of the air pump still exist in actual application, so that the compensation value cannot well compensate the difference after the steady state, and deviation still exists. In order to more flexibly and timely cope with these existing deviations, dynamic compensation is needed to compensate in real time according to the actual situation of the real-time air pressure value. There are many ways of dynamic compensation, for example, model-based predictive control (MPC), lead correction and lag correction, or digital frequency conversion dynamic compensation based on metering pump, etc. to predict or adaptively adjust according to the real-time air pressure value to achieve the purpose of dynamic compensation.

[0061] Optionally, the present scheme proposes a dynamic compensation amount acquisition method, and the formula of the dynamic compensation amount is: S=(C(x) / U)XT; wherein S is the dynamic compensation amount, C(x) is the sum of the difference and the compensation value, U is the compensation coefficient, and T is the compensation time length.

[0062] In the formula, the compensation coefficient U and the compensation time length T can be pre-measured or selected according to experiments or experience. Among them, the compensation coefficient U is a coefficient for dividing a small deviation value between the difference and the compensation value, that is, the actual air pressure value after compensation by the compensation value and the target air pressure value. By using the compensation coefficient U, the deviation value can be further subdivided, so that the difference between the compensation value and the compensation value can be further compensated in the smallest unit of compensation, so as to avoid the inadaptability of the treatment site of the antithrombotic pump caused by the over-fast pressurization or depressurization and the damage caused by the sudden change of internal parameters of the device. If the smallest compensation unit of compensation is represented by L, S=LT can be obtained accordingly, so L=C(x) / U.

[0063] The value of the compensation coefficient U can be set according to the fine degree that the air pump control can achieve, the limitation requirement on the corresponding compensation time length, or an empirical value. The U value is set to a value less than 1, so that the minimum compensation unit L is a unit of quantity greater than the deviation value C(x), so that after the compensation time length T, the dynamic compensation quantity can effectively compensate for the part of the difference between the actual air pressure value reflected by the sum of the difference value and the compensation value and the target air pressure value, so that the corresponding actual air pressure value is equal to or closer to the target air pressure value. The compensation time length can be set according to the requirement for compensation time to prevent the actual air pressure value and the target air pressure value from deviating more due to excessive pressure increase or pressure decrease. It should be understood that in the process of dynamic compensation, since the actual air pressure value at different times in the compensation time length needs to be obtained, after the actual air pressure value reaches the target air pressure value, the corresponding dynamic compensation can be ended to compensate for the deviation value remaining after the foregoing compensation, so that dynamic compensation is performed when dynamic compensation is triggered, and no compensation is performed when dynamic compensation is not triggered, which is beneficial to saving the algorithm cost, energy consumption and resource occupation of dynamic compensation, and realizing more flexible and stable compensation.

[0064] On the basis of the above steps, if the third air pressure adjustment signal is represented as Out3, and the compensation value is represented as N(x), then the corresponding steps 231 to 233 can be represented by the formula Out3=k*(ΔP+N(x)+(C(x) / U)*T). For example, in the control process of an antithrombotic pump, the real-time air pressure value in the steady state is 11 kPa, and the target air pressure value is 15 kPa, so the difference is 4 kPa. The compensation value corresponding to 15 kPa obtained by the compensation curve is 3 kPa. After compensation by the compensation value and entering the steady state, the real-time air pressure value and the target air pressure value still have a pressure difference of 1 kPa. On this basis, dynamic compensation is performed again. The preset compensation time length is 1 s, and the compensation coefficient is 0.01 kPa / s. According to the formula Out3=k*(ΔP+N(x)+(C(x) / U)*T), ΔP is 4 kPa, N(x) in the steady state is 3 kPa, C(x) in the steady state is 1 kPa, U is 0.1 kPa*s, and T is 0.1 s. If the value of k, which is converted from the air pressure value to the PWM control signal, is set to 10 ms / kPa, then after compensation by the compensation value and the dynamic compensation value, the value of Out3 is 80 ms, which is used to control the duty cycle of the PWM signal to increase by 80 ms. It should be understood that the above process can actually ignore the numerical units, such as the actual amplifier amplification number, which is only a number. The above units are only for analyzing the mathematical operation process. In this example, if the duty cycle of the actual air pressure in the steady state is initially 120 ms, then after the above compensation and dynamic compensation, the duty cycle will be compensated to 200 ms to further adjust the air pressure value of the antithrombotic pump to be closer to the target air pressure value of 15 kPa.

[0065] By combining the compensation value and the dynamic compensation value, the pressurization speed of the air pump can be adjusted in real time, so that the actual air pressure value can more accurately approach the target air pressure value, reducing the deviation between the actual air pressure value and the target air pressure value in the steady state, and improving the accuracy and stability of the air pump control. And since the dynamic compensation value is calculated according to the actual situation of the real-time air pressure value, it can also adapt to various use scenarios and changes, enhancing the adaptability and flexibility of the air pump control. The dynamic compensation mechanism can also trigger or not trigger according to the actual air pressure value, which is beneficial to reduce unnecessary energy consumption and resource occupation, and is beneficial to realize efficient, stable and accurate antithrombotic pump control.

[0066] Step 30: If it is confirmed that the stable pressure value of the air container reaches the target air pressure value within the preset time length, the adjustment control of the air pump is ended.

[0067] After the foregoing steps, the real-time air pressure value can be efficiently, stably and accurately pressurized or depressurized to the corresponding required target air pressure value, and the adjustment control of the air pump can be ended after the target air pressure value is reached. Through the control based on the feedback, difference and gain of the target air pressure value and the real-time air pressure value, the air pressure value can be well stabilized at the target air pressure value. The adjustment control method only needs to pay attention to the difference between the feedback actual air pressure value and the target air pressure value, and thus is not affected by changes in factors such as the fatness of the treatment object, the treatment site, and the size of the air container, and has high anti-interference ability. When adjusting the parameters, only the k value needs to be adjusted, and only the compensation curve needs to be referred to when compensation is needed. When dynamic compensation value is needed, only the compensation coefficient U and the compensation time T need to be adjusted. The number of parameters to be adjusted is less than that of traditional PID adjustment and fuzzy control adjustment.

[0068] Referring to Figure 5 , Figure 5 is a structural schematic diagram of an embodiment of the storage medium provided by the present application.

[0069] The storage medium 40 stores program data 41, and the program data 41, when executed by a processor, implements the antithrombotic pump control method as Figures 1 to 4 described.

[0070] The program data 41 is stored in a storage medium 40, and includes a plurality of instructions for causing a network device (such as a router, a personal computer, a server, etc.) or a processor to execute all or part of the steps of the method described in various embodiments of the present application.

[0071] Optionally, the storage medium 40 can be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like, which can store the program data 41.

[0072] Referring to Figure 6 , Figure 6 is a structural schematic diagram of an embodiment of the air pump control device provided by the present application.

[0073] The air pump control device 50 comprises a processor 52 and a memory 51 connected to each other, the memory 51 stores a computer program, and the processor 52 executes the computer program to realize the control method of the anti-thrombus pump as described in Figures 1 to 4 . Wherein, the memory 51 can comprise the storage medium 40, or can be other separately developed memory.

[0074] Referring to Figure 7 , Figure 7 is a structural schematic diagram of an embodiment of the anti-thrombus pump provided by the present application.

[0075] The anti-thrombus pump 60 comprises an air pump 61, an air capacitor 62 and the air pump control device 50 as described in Figure 6 . The anti-thrombus pump 60 can be designed separately for different parts, different treatment parts and different treatment types, or can be a general anti-thrombus pump suitable for multiple parts and multiple treatment types, and the present application does not make specific limitations thereon. In addition, the anti-thrombus pump 60 can be equipped with the air pump control device 50 with the storage medium 40, or can be equipped with the air pump control device 50 without the storage medium 40, or the anti-thrombus pump 60 is a kind of anti-thrombus pump which can directly read the storage medium 40.

[0076] Different from the prior art, the application discloses a control method of an anti-thrombus pump and a related device. The control method is based on a difference between a real-time air pressure value and a target air pressure value to regulate a pressurizing speed of an air pump, so as to realize the control of the anti-thrombus pump, effectively compensate the difference of the air pressure, reduce or eliminate the difference, make the air pressure value in the air container closer to the target air pressure value, and make the air pressure value in the air container more stable, realize stable, accurate and efficient control of the anti-thrombus pump, and be beneficial to improving the use efficiency and reliability of the anti-thrombus air pump. Meanwhile, the implementation of the method only needs to pay attention to the relationship between the actual air pressure value and the feedback real-time air pressure value, the intermediate factors can be reflected by the difference, and the corresponding regulation process only needs to pay attention to the conversion relationship between the difference and the air pressure regulation signal, so the method can be applied to various anti-thrombus air pumps, and has lower requirements for parameter adjustment, better flexibility, rapidity and compatibility. On this basis, compensation based on a preset compensation curve and dynamic compensation based on a preset compensation coefficient and compensation duration can be performed, so as to realize better control effect, and effectively solve the technical problems of low control efficiency and poor stability of the anti-thrombus pump.

[0077] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each of the embodiments mainly describes the difference from other embodiments. Especially, the storage medium embodiment, the air pump control device embodiment and the anti-thrombus pump embodiment are basically similar to the method embodiment, so the description is relatively simple, and the related parts can be referred to the part of the method embodiment.

[0078] The application can be used in many general or special computer system environments or configurations. For example, personal computers, server computers, handheld devices or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like.

[0079] In the several embodiments provided in the application, it should be understood that the disclosed anti-thrombus pump control method, storage medium, air pump control device and anti-thrombus pump can be implemented by other ways. For example, the above-described device embodiments are only schematic, and the division of the modules or units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0080] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment scheme.

[0081] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0082] The above is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method of an antithrombotic pump including a gas pump and a gas reservoir pressurized by the gas pump, characterized by, The method comprises the following steps: acquiring a target air pressure value of the air container and collecting a real-time air pressure value of the air container; if a difference between the real-time air pressure value and the target air pressure value is confirmed, generating an air pressure adjustment signal based on the difference and adjusting a pressurization speed of the air pump based on the air pressure adjustment signal; if it is confirmed that the stable pressure value of the air container reaches the target air pressure value within a preset time length, ending the adjustment control of the air pump; wherein the step of generating the air pressure adjustment signal based on the difference and adjusting the pressurization speed of the air pump based on the air pressure adjustment signal comprises the following steps: linearly amplifying the difference by k times to obtain a first air pressure adjustment signal; adjusting the pressurization speed of the air pump based on the first air pressure adjustment signal; in response to the stable pressure value of the air container not reaching the target air pressure value within a preset time length, adjusting the size of the amplification multiple k and generating a new first air pressure adjustment signal; in response to the amplification multiple k being readjusted for a preset number of times and the stable pressure value of the air container not reaching the target air pressure value within a preset time length each time, adding a compensation value to the difference; linearly amplifying the sum of the difference and the compensation value by k times to obtain a second air pressure adjustment signal and adjusting the pressurization speed of the air pump based on the second air pressure adjustment signal; in response to the stable pressure value of the air container not reaching the target air pressure value within a preset time length, adding a dynamic compensation amount to the sum of the difference and the compensation value; linearly amplifying the sum of the difference, the compensation value and the dynamic compensation amount by k times to obtain a third air pressure adjustment signal; adjusting the pressurization speed of the air pump based on the third air pressure adjustment signal; the formula of the dynamic compensation amount is: ； wherein S is a dynamic compensation amount, is the sum of the difference and the compensation value, U is a compensation coefficient, is a compensation duration.

2. The control method of an anti-thrombus pump according to claim 1, characterized by, the compensation value is obtained based on the target air pressure value and a preset compensation curve.

3. A storage medium having stored thereon program data, characterized in that The program data, when executed by a processor, implements the steps of the control method of the anti-thrombus pump according to claim 1 or 2.

4. An air pump control device characterized by comprising: The device comprises a processor and a memory connected to each other, and the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method of the anti-thrombus pump according to claim 1 or 2.

5. An anti-thrombotic pump, characterized in that, The anti-thrombus pump comprises an air pump, an air container and the air pump control device according to claim 4, the air pump control device is communicatively connected to the air pump and the air container and controls the air pump to pressurize the air container.

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