Reciprocating pump control method, system, device, medium and program product

Abstract

The present disclosure provides a control method, system, device, medium and program product for a reciprocating pump. The method includes: obtaining scene information of the reciprocating pump; in response to the scene information being a cutting scene, obtaining the first maximum push speed corresponding to the plunger; calculating the target push distance at the end of the uniform speed period of the plunger based on the push motion model; obtaining the real-time push distance of a plunger in the uniform speed period; in response to the real-time push distance reaching the target push distance, controlling another plunger to push in the acceleration period; in response to the scene information being a raised tissue scene, obtaining the type of tissue to be raised; based on the type of tissue to be raised, determining the second maximum push speed corresponding to the plunger. According to the scene information of the reciprocating pump, in the cutting scene, a constant flow output of the reciprocating pump is achieved; in the raised tissue scene, while ensuring that the lesion is marked, the damage to the surrounding normal tissue is minimized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of reciprocating pumps, and in particular to a control method, system, device, medium and program product of a reciprocating pump. Background Art

[0002] A reciprocating pump, also known as a plunger pump, is a device that relies on the reciprocating motion of the plunger assembly inside the pump body to change the volume to achieve liquid suction and liquid pressure. It is widely used in high pressure, large flow and other fields, such as high-pressure cleaning machines.

[0003] Reciprocating pumps are widely used in medical water jets to output water jets. Medical water jets require extremely high precision and control capabilities, allowing doctors to perform more delicate surgical operations and ensure the safety and effectiveness of the surgery. However, the current reciprocating pumps cannot accurately adjust and maintain the pressure of the water jet, which may lead to poor surgical results and even damage to patients. Summary of the invention

[0004] The technical problem to be solved by the present disclosure is to overcome the defect in the prior art that the reciprocating pump cannot accurately adjust and maintain the pressure of the water beam, and to provide a control method, system, equipment, medium and program product for a reciprocating pump.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] In a first aspect, a control method for a reciprocating pump is provided, wherein the reciprocating pump comprises two plungers, the plungers are used to reciprocately extract and push a medium, each of the plungers in the process of pushing the medium includes an acceleration period, a uniform speed period and a deceleration period, only one of the plungers is in the uniform speed period, the plunger reaches a maximum pushing speed in the uniform speed period, and pushes a corresponding target pushing flow rate, the control method comprising:

[0007] Acquiring scene information of the reciprocating pump;

[0008] Wherein, the scene information includes a cutting scene or a bulging tissue scene;

[0009] In response to the scene information being a cutting scene, obtaining a first maximum pushing speed corresponding to the plunger;

[0010] Constructing a pushing motion model of the plunger in the cutting scene;

[0011] The target pushing distance at the end of the plunger uniform speed period is calculated based on the pushing motion model include:

[0012] ;

[0013] Among them, the first maximum push speed is , the acceleration of the plunger during the acceleration period is a;

[0014] Obtaining a real-time pushing distance of the plunger in a uniform speed period;

[0015] In response to the real-time pushing distance reaching the target pushing distance, controlling another plunger to push in an acceleration period;

[0016] The sum of the push flow rates of one plunger in the deceleration period and the other plunger in the acceleration period is the target push flow rate;

[0017] In response to the scene information being a raised tissue scene, obtaining the type of tissue to be raised;

[0018] Determining a second maximum pushing speed corresponding to the plunger based on the type of tissue to be raised;

[0019] Wherein, the first maximum pushing speed is greater than the second maximum pushing speed.

[0020] Preferably, the reciprocating pump is used for a medical water jet, and the step of obtaining the first maximum pushing speed of the plunger comprises:

[0021] Obtaining the effect level of the medical water jet;

[0022] Wherein, different effect levels correspond to different preset maximum push speeds;

[0023] The target pushing distance at the end of the plunger uniform speed period is calculated based on the pushing motion model Also includes:

[0024] Get the minimum effect level The corresponding benchmark preset maximum push speed , calculate the corresponding benchmark target push distance ;

[0025] Get other mentioned effect levels The corresponding preset maximum push speed Compared to the benchmark preset maximum push speed Multiples of ;

[0026] Get other levels of the effects mentioned above Corresponding target push distance for:

[0027] .

[0028] Preferably, the reciprocating pump drives one of the plungers by a first stepper motor and drives the other plunger by a second stepper motor, and the control method further comprises:

[0029] Acquire the target pushing distance corresponding to the plunger driven by the first stepper motor;

[0030] Determining a target rotation shaft position corresponding to the first stepper motor based on the target pushing distance;

[0031] Acquire the real-time rotation shaft position of the first stepper motor when the second stepper motor is started;

[0032] Obtaining a position deviation between the real-time rotating shaft position and the target rotating shaft position;

[0033] The operating current of the first stepper motor is adjusted based on the position deviation so that the position deviation is less than a preset deviation threshold.

[0034] Preferably, the control method further includes:

[0035] Obtaining a first operating current of the first stepper motor and a second operating current of the second stepper motor;

[0036] Determining a first working state of the first stepper motor based on the first working current, and determining a second working state of the second stepper motor based on the second working current;

[0037] In response to the first working state and / or the second working state being characterized as abnormal, the first stepper motor and the second stepper motor are controlled to stop working.

[0038] Preferably, the reciprocating pump comprises a first high-side current sampling circuit for acquiring a first working current of the first stepper motor, and a second high-side current sampling circuit for acquiring a second working current of the second stepper motor;

[0039] Wherein, the circuit structure of the first high-side current sampling circuit is the same as that of the second high-side current sampling circuit.

[0040] Preferably, the circuit structure of the first high-side current sampling circuit and the second high-side current sampling circuit includes: an operational amplifier, a first resistor, a second resistor, a third resistor, a first capacitor, a second capacitor, a third capacitor and a fuse;

[0041] The first resistor is used as a sampling resistor, a first end of the first resistor is connected to the positive input end of the operational amplifier, and a second end of the first resistor is connected to the negative input end of the operational amplifier;

[0042] The operational amplifier is used to amplify the sampled voltage signal on the first resistor and output the sampled voltage signal at the output end of the operational amplifier, and the power supply end of the operational amplifier is connected to the input voltage;

[0043] The first end of the first capacitor is connected to the first end of the first resistor, the first end of the first capacitor is also connected to the input voltage, and the second end of the first capacitor is connected to the second end of the first resistor;

[0044] The first end of the fuse is connected to the second end of the first capacitor, and the second end of the fuse is connected to the first stepper motor or the second stepper motor;

[0045] The first end of the second resistor is connected to the first end of the fuse, and the second end of the second resistor is connected to the second end of the fuse;

[0046] The first resistor, the second resistor and the first capacitor constitute a filter circuit;

[0047] A first end of the third resistor is connected to the output end of the operational amplifier, and a second end of the third resistor is grounded;

[0048] The first end of the second capacitor is connected to the power supply terminal of the operational amplifier; the second end of the second capacitor is grounded;

[0049] A first end of the third capacitor is connected to the output end of the operational amplifier, and a second end of the third capacitor is grounded.

[0050] In a second aspect, a control system of a reciprocating pump is provided, wherein the reciprocating pump comprises two plungers, the plungers are used to reciprocately extract and push a medium, each of the plungers in the process of pushing the medium includes an acceleration period, a uniform speed period and a deceleration period, only one of the plungers is in the uniform speed period, the plunger reaches a first maximum pushing speed in the uniform speed period, and pushes a corresponding target pushing flow rate, the control system comprises a scene acquisition module, a speed acquisition module, a model building module, a target distance calculation module, a position acquisition module and a compensation start module;

[0051] The scene acquisition module is used to acquire scene information of the reciprocating pump; wherein the scene information includes a cutting scene or a bulging tissue scene;

[0052] The speed acquisition module is used to acquire a first maximum pushing speed of the plunger in response to the scene information being a cutting scene;

[0053] The model building module builds a pushing motion model of the plunger in the cutting scene;

[0054] A target distance calculation module is used to calculate the target pushing distance of the plunger at the end of the uniform speed period based on the pushing motion model. include:

[0055] ;

[0056] Among them, the first maximum push speed is , the acceleration of the plunger during the acceleration period is a;

[0057] The position acquisition module is used to acquire the real-time pushing distance of the plunger in the uniform speed period;

[0058] The compensation start module is used for controlling the other plunger to push in an acceleration period in response to the real-time pushing distance reaching the target pushing distance;

[0059] The sum of the push flow rates of one plunger in the deceleration period and the other plunger in the acceleration period is the target push flow rate;

[0060] The speed acquisition module is also used to obtain the type of tissue to be raised in response to the scene information being a raised tissue scene; based on the type of tissue to be raised, determine the second maximum pushing speed corresponding to the plunger; wherein the first maximum pushing speed is greater than the second maximum pushing speed.

[0061] In a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein when the processor executes the computer program, the control method of the reciprocating pump as described in the first aspect is implemented.

[0062] In a fourth aspect, a computer storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the control method of the reciprocating pump as described in the first aspect is implemented.

[0063] In a fifth aspect, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the control method of the reciprocating pump as described in the first aspect.

[0064] On the basis of being in accordance with the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present disclosure.

[0065] The positive and progressive effects of the present disclosure are as follows: according to the scene information of the reciprocating pump, in the cutting scene, a pushing motion model of the plunger is constructed by the first maximum pushing speed of the reciprocating pump, and when one plunger reaches the target pushing distance based on the pushing motion model, another plunger is started to enter the acceleration period, and the output of the reciprocating pump is stably maintained at the maximum pushing flow rate, thereby achieving a constant flow output of the reciprocating pump; in the raised tissue scene, the reciprocating pump is controlled to continuously output the flow rate at the second maximum pushing speed corresponding to the raised tissue type, so as to accurately identify the lesion boundary, thereby ensuring that the lesion is marked while minimizing damage to the surrounding normal tissue. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A first flow chart of a control method for a reciprocating pump provided by an exemplary embodiment of the present disclosure;

[0067] Figure 2 A flowchart of step S104 in a method for controlling a reciprocating pump provided by an exemplary embodiment of the present disclosure;

[0068] Figure 3 A second flow chart of a method for controlling a reciprocating pump provided by an exemplary embodiment of the present disclosure;

[0069] Figure 4 A third flow chart of a method for controlling a reciprocating pump provided as an exemplary embodiment of the present disclosure;

[0070] Figure 5 A schematic diagram of the structure of a high-side current sampling circuit in a control method for a reciprocating pump provided by an exemplary embodiment of the present disclosure;

[0071] Figure 6 A module schematic diagram of a control system of a reciprocating pump provided by an exemplary embodiment of the present disclosure;

[0072] Figure 7 A schematic diagram of the hardware structure of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0073] The present disclosure is further described below by way of examples, but the present disclosure is not limited to the scope of the examples.

[0074] Prefixes such as "first" and "second" are used in the embodiments of the present disclosure only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present disclosure does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

[0075] Example 1

[0076] This embodiment provides a control method for a reciprocating pump, wherein the reciprocating pump includes two plungers, the plungers are used to reciprocate and extract and push a medium, each plunger includes an acceleration period, a uniform speed period and a deceleration period during the process of pushing the medium, and only one plunger is in the uniform speed period. The plunger reaches a maximum pushing speed during the uniform speed period and pushes a corresponding target pushing flow rate, such as Figure 1 As shown, the control method includes:

[0077] S101, obtaining scene information of the reciprocating pump;

[0078] Wherein, the scene information includes a cutting scene or a bulging tissue scene;

[0079] S102, in response to the scene information being a cutting scene, obtaining a first maximum pushing speed corresponding to the plunger;

[0080] S103, constructing a pushing motion model of the plunger in the cutting scene;

[0081] S104: Calculate the target pushing distance of the plunger at the end of the uniform speed period based on the pushing motion model. include:

[0082] ;

[0083] Among them, the first maximum push speed is , the acceleration of the plunger during the acceleration period is a;

[0084] S105, obtaining a real-time pushing distance of the plunger in a uniform speed period;

[0085] S106, in response to the real-time pushing distance reaching the target pushing distance, controlling another plunger to push in an acceleration period;

[0086] The sum of the push flow rates of one plunger in the deceleration period and the other plunger in the acceleration period is the target push flow rate;

[0087] S107, in response to the scene information being a raised tissue scene, obtaining the type of tissue to be raised;

[0088] S108, determining a second maximum pushing speed corresponding to the plunger based on the type of the tissue to be raised;

[0089] Wherein, the first maximum pushing speed is greater than the second maximum pushing speed.

[0090] In step S101, the scene information includes a corresponding scene recognition result based on intraoperative image recognition, wherein the intraoperative image includes an object currently being processed by a medical device driven by a reciprocating pump, including but not limited to an organ, tissue or minimally invasive channel; corresponding scene information is obtained based on the scene recognition result, such as when the processing object is an organ, the scene information is a cutting scene; when the processing object is a tissue or a minimally invasive channel, the scene information is a raised tissue scene.

[0091] In step S102, according to the requirements of the cutting scene and based on the cutting objects in the scene, such as organs such as the liver, stomach or kidneys, the first maximum pushing speed required for the cutting intensity is obtained to determine the acceleration and distance of the reciprocating pump during the acceleration and deceleration periods, which is used to construct a pushing motion model corresponding to the plunger of the reciprocating pump in the cutting scene.

[0092] In step S103, the maximum pushing speed constructs a pushing motion model of the plunger, including:

[0093] The acceleration of the plunger during the acceleration period , initial velocity , starting push distance , the maximum push speed is , the deceleration rate during the deceleration period is - a;

[0094] The speed of the plunger during the acceleration period The relationship with time t is:

[0095] ,get ;

[0096] The relationship between the pushing distance S of the plunger during the acceleration period and the time t is:

[0097] ,get ;

[0098] Get the speed of the plunger during the acceleration period The relationship with the push distance S is:

[0099] ;

[0100] Based on speed The relationship between the pushing distance S and the pushing distance at the maximum pushing speed can be obtained.

[0101] In step S104, in order to ensure that the volume of drainage liquid during the reversal of the plunger is equal to that during the non-reversal, when the plunger on either side has not fully completed the drainage process and begins to enter the deceleration period, the plunger on the other side begins to enter the acceleration period in advance, and the flow generated in the acceleration period compensates for the flow lost during the deceleration period of the other side. That is, when the plunger on either side moves to the target pushing distance, the plunger on the other side starts to accelerate, so that the flow of the reciprocating pump is maintained at the target pushing flow corresponding to the maximum pushing speed.

[0102] In step S105, the real-time pushing distance can be the real-time pushing distance of the plunger from the deceleration period to the current uniform speed period. The real-time pushing distance can be obtained according to the rotation angle or number of circles of the driving mechanism corresponding to the plunger. The rotation angle of the driving mechanism can be obtained through a high-precision encoder to ensure the accuracy of the real-time pushing distance.

[0103] In step S106, two plungers with the same acceleration enter a deceleration period when the real-time pushing distance of one plunger reaches the target pushing distance; the other plunger pushes in an acceleration period to maintain a stable output flow of the reciprocating pump.

[0104] In step S107, according to the raised tissue scene, the raised tissue type in the scene, such as stomach wall tissue, liver tissue or endothelial tissue in the minimally invasive channel, when treating raised tissue, such as a tumor or cyst, the tissue around the tumor is raised, and the raised tissue is used to accurately identify the lesion boundary, ensuring that the lesion is marked while minimizing damage to the surrounding normal tissue. Different tissue types have different water pressure requirements for raising.

[0105] In step S108, a corresponding second maximum pushing speed is determined according to the type of raised tissue to avoid damage to normal tissue.

[0106] In one embodiment, in response to a bulging tissue scenario, one plunger of a reciprocating pump moves into a deceleration period, and the other plunger enters an acceleration period at the latest, so as to keep the pushing flow of the reciprocating pump continuous, thereby ensuring the bulging efficiency and preventing the pushing pressure from being maintained at the maximum pushing flow for a long time to cause damage to normal tissue.

[0107] In this scheme, according to the scene information of the reciprocating pump, in the cutting scene, the pushing motion model of the plunger is constructed through the first maximum pushing speed of the reciprocating pump. When one plunger reaches the target pushing distance based on the pushing motion model, the other plunger is started to enter the acceleration period, and the output of the reciprocating pump is stably maintained at the maximum pushing flow rate to achieve a constant flow output of the reciprocating pump; in the raised tissue scene, the reciprocating pump is controlled to continuously output the flow rate based on the second maximum pushing speed corresponding to the raised tissue type, so as to accurately identify the lesion boundary and ensure that the lesion is marked while minimizing damage to the surrounding normal tissue.

[0108] As an achievable manner, the reciprocating pump is used for a medical water jet, and in step S102, the step of obtaining the first maximum pushing speed of the plunger includes:

[0109] Obtaining the effect level of the medical water jet;

[0110] Wherein, different effect levels correspond to different preset maximum push speeds;

[0111] like Figure 2 As shown, step S104 includes:

[0112] S1041, obtain the minimum effect level The corresponding benchmark preset maximum push speed , calculate the corresponding benchmark target push distance ;

[0113] S1042. Obtaining other effect levels The corresponding preset maximum push speed Compared to the benchmark preset maximum push speed Multiples of ;

[0114] S1043. Obtain other effect levels Corresponding target push distance for:

[0115] .

[0116] In this solution, the reciprocating pump is used to drive the medical water jet to discharge water, and the corresponding maximum push speed is matched based on the effect level of the medical water jet, that is, the effect level is determined according to the treatment object of the medical water jet. According to the push motion model of the plunger, when the acceleration a remains unchanged, the maximum push speed is When changing, will also change accordingly, according to , assuming the baseline preset maximum push speed of the baseline effect level , effect level The reference maximum speed λ times, calculated as follows:

[0117] ;

[0118] ;

[0119] The reciprocating pump can calculate the target pushing distance of the alternating plungers according to the benchmark preset maximum pushing speed corresponding to the benchmark effect level of the medical water jet and the speed ratio of the target maximum pushing speed corresponding to other adjusted effect levels to the benchmark preset maximum pushing speed.

[0120] By setting the benchmark preset maximum push speed corresponding to the benchmark effect level, accurate water flow speed and pressure control can be provided for different effect levels, thereby achieving effective cutting and processing of different tissue types. The benchmark preset maximum push speed provides a stable reference point, which helps maintain the consistency of the entire water jet performance, reduces the uncertainty caused by the maximum push speed fluctuation, and improves the safety of the medical water jet.

[0121] As a feasible approach, Figure 3 As shown, the reciprocating pump is driven by a first stepper motor to drive one of the plungers, and by a second stepper motor to drive the other plunger, and the control method further includes:

[0122] S109, obtaining the target pushing distance corresponding to the plunger driven by the first stepper motor;

[0123] S1010, determining a target rotation shaft position corresponding to the first stepper motor based on the target pushing distance;

[0124] S1011, obtaining a real-time rotation shaft position of the first stepper motor when the second stepper motor is started;

[0125] S1012, obtaining a position deviation between the real-time rotating shaft position and the target rotating shaft position;

[0126] S1013. Adjust the operating current of the first stepper motor based on the position deviation so that the position deviation is less than a preset deviation threshold.

[0127] In this scheme, by monitoring and correcting the plunger pushing distance and the corresponding motor shaft position, a closed-loop control system for the reciprocating pump is formed to reduce the overshoot and oscillation of the reciprocating pump's drive motor, so that the reciprocating pump can reach the target pushing distance more stably, thereby maintaining the stability of the reciprocating pump's constant flow output.

[0128] As a feasible approach, Figure 4 As shown, the control method also includes:

[0129] S1014, obtaining a first operating current of the first stepper motor and a second operating current of the second stepper motor;

[0130] S1015, determining a first working state of the first stepper motor based on the first working current, and determining a second working state of the second stepper motor based on the second working current;

[0131] S1016: In response to the first working state and / or the second working state being characterized as abnormal, control the first stepper motor and the second stepper motor to stop working.

[0132] In this solution, by real-time monitoring of the working current changes of the stepper motor, motor failure or abnormal working state can be discovered in time, thereby improving the working reliability of the reciprocating pump.

[0133] As an implementable manner, the reciprocating pump includes a first high-side current sampling circuit for acquiring a first operating current of the first stepper motor, and a second high-side current sampling circuit for acquiring a second operating current of the second stepper motor;

[0134] Wherein, the circuit structure of the first high-side current sampling circuit is the same as that of the second high-side current sampling circuit.

[0135] In this solution, the working currents corresponding to the first stepper motor and the second stepper motor are respectively collected through the high-side current sampling circuit. After the first working current and the second working current are processed by the MCU (Microcontroller Unit), the feedback information of the MCU is sent to the first stepper motor and the second stepper motor by CANOPEN (Controller Area Network Open) to accurately detect the working current of the motor, so as to ensure the working stability of the reciprocating pump and the safety of the devices driven by the reciprocating pump.

[0136] As a feasible approach, Figure 5 As shown, the circuit structure of the first high-side current sampling circuit and the second high-side current sampling circuit includes: an operational amplifier 10, a first resistor 2, a second resistor 3, a third resistor 4, a first capacitor 5, a second capacitor 6, a third capacitor 7 and a fuse 8;

[0137] The first resistor 2 is used as a sampling resistor, a first end of the first resistor 2 is connected to the RS+ end (positive input end) 11 of the operational amplifier 10, and a second end of the first resistor 2 is connected to the RS- end (negative input end) 12 of the operational amplifier 10;

[0138] The operational amplifier 10 is used to amplify the sampled voltage signal on the first resistor 2 and output the sampled voltage signal at the output terminal 13 of the operational amplifier 10. The power supply terminal (VCC, Voltage Common Collector, power supply voltage) 14 of the operational amplifier 10 is connected to the 24V input voltage;

[0139] The first end of the first capacitor 5 is connected to the first end of the first resistor 2, the first end of the first capacitor 5 is also connected to the input voltage, and the second end of the first capacitor 5 is connected to the second end of the first resistor 2;

[0140] The first end of the fuse 8 is connected to the second end of the first capacitor 5, and the second end of the fuse 8 is connected to the first stepper motor or the second stepper motor;

[0141] The first end of the second resistor 3 is connected to the first end of the fuse 8, and the second end of the second resistor 3 is connected to the second end of the fuse 8;

[0142] The first resistor 2, the second resistor 3 and the first capacitor 5 constitute a filter circuit;

[0143] The first end of the third resistor 4 is connected to the output end 13 of the operational amplifier 10, and the second end of the third resistor 4 is grounded;

[0144] The first end of the second capacitor 6 is connected to the power supply end of the operational amplifier 10; the second end of the second capacitor 6 is grounded;

[0145] A first end of the third capacitor 7 is connected to the output end 13 of the operational amplifier 10 , and a second end of the third capacitor 7 is grounded.

[0146] In this solution, the connector of the high-side current sampling circuit is connected to the corresponding stepper motor 1. The precise current sensor 9 and operational amplifier 10 of the high-side circuit can provide high-precision sampling of the first working current of the first stepper motor or the second working current of the second stepper motor. The interference is eliminated by the filtering circuit, and the fuse 8 disconnects the circuit when the current rises abnormally (such as a short circuit), thereby realizing protection and precise control of the reciprocating pump.

[0147] The control method of the reciprocating pump provided in the present embodiment is based on the scene information of the reciprocating pump. In the cutting scene, a pushing motion model of the plunger is constructed through the first maximum pushing speed of the reciprocating pump. When one plunger reaches the target pushing distance based on the pushing motion model, the other plunger is started to enter the acceleration period, and the output of the reciprocating pump is stably maintained at the maximum pushing flow rate to achieve a constant flow output of the reciprocating pump. In the raised tissue scene, the reciprocating pump is controlled to continuously output the flow rate at the second maximum pushing speed corresponding to the raised tissue type, so as to accurately identify the lesion boundary, thereby ensuring that the lesion is marked while minimizing damage to the surrounding normal tissue.

[0148] Example 2

[0149] This embodiment provides a control system 100 of a reciprocating pump, wherein the reciprocating pump includes two plungers, the plungers are used to reciprocately extract and push a medium, each of the plungers in the process of pushing the medium includes an acceleration period, a uniform speed period and a deceleration period, only one of the plungers is in the uniform speed period, the plunger reaches a first maximum pushing speed in the uniform speed period, and pushes a corresponding target pushing flow rate, such as Figure 6 As shown, the control system 100 includes a scene acquisition module 101, a speed acquisition module 102, a model building module 103, a target distance calculation module 104, a position acquisition module 105 and a compensation start module 106;

[0150] The scene acquisition module 101 is used to acquire scene information of the reciprocating pump; wherein the scene information includes a cutting scene or a bulging tissue scene;

[0151] The speed acquisition module 102 is used for acquiring a first maximum pushing speed of the plunger in response to the scene information being a cutting scene;

[0152] The model building module 103 builds a pushing motion model of the plunger in the cutting scene;

[0153] The target distance calculation module 104 is used to calculate the target pushing distance at the end of the plunger uniform speed period based on the pushing motion model. include:

[0154] ;

[0155] Among them, the first maximum push speed is , the acceleration of the plunger during the acceleration period is a;

[0156] The position acquisition module 105 is used to acquire a real-time pushing distance of the plunger in a uniform speed period;

[0157] The compensation start module 106 is used to control the other plunger to push in an acceleration period in response to the real-time pushing distance reaching the target pushing distance;

[0158] The sum of the push flow rates of one plunger in the deceleration period and the other plunger in the acceleration period is the target push flow rate;

[0159] The speed acquisition module 102 is also used to obtain the type of tissue to be raised in response to the scene information being a raised tissue scene; based on the type of tissue to be raised, determine the second maximum pushing speed corresponding to the plunger; wherein the first maximum pushing speed is greater than the second maximum pushing speed.

[0160] As an achievable manner, the reciprocating pump is used for a medical water jet, and the speed acquisition module 102 is further used to acquire the effect level of the medical water jet; wherein different effect levels correspond to different preset maximum pushing speeds;

[0161] The target distance calculation module 104 includes a reference push distance calculation unit, a multiple acquisition unit and a target push distance calculation unit;

[0162] Benchmark push distance calculation unit, used to obtain the minimum effect level The corresponding benchmark preset maximum push speed , calculate the corresponding benchmark target push distance ;

[0163] A multiple acquisition unit, used to acquire other effect levels The corresponding preset maximum push speed Compared to the benchmark preset maximum push speed Multiples of ;

[0164] Target push distance calculation unit, used to obtain other effect levels Corresponding target push distance for:

[0165] .

[0166] As an achievable manner, the reciprocating pump drives one of the plungers by a first stepper motor and drives the other plunger by a second stepper motor, and the control system further includes a motor shaft position acquisition module, a deviation acquisition module and an adjustment module;

[0167] The target distance calculation module 104 is also used to obtain the target pushing distance corresponding to the plunger driven by the first stepper motor;

[0168] A motor shaft position acquisition module, used to determine a target shaft position corresponding to the first stepper motor based on the target pushing distance;

[0169] The motor shaft position acquisition module is also used to acquire the real-time shaft position of the first stepper motor when the second stepper motor is started;

[0170] A deviation acquisition module, used for acquiring a position deviation between the real-time rotating shaft position and the target rotating shaft position;

[0171] The adjustment module is used to adjust the working current of the first stepper motor based on the position deviation so that the position deviation is less than a preset deviation threshold.

[0172] As an achievable method, the control system further includes a working current acquisition module, a working state judgment module and a shutdown module:

[0173] A working current acquisition module, used for acquiring a first working current of the first stepper motor and a second working current of the second stepper motor;

[0174] a working state judgment module, configured to judge a first working state of the first stepper motor based on the first working current, and to judge a second working state of the second stepper motor based on the second working current;

[0175] The shutdown module is used to control the first stepper motor and the second stepper motor to stop working in response to the first working state and / or the second working state being characterized as abnormal.

[0176] As an implementable manner, the reciprocating pump includes a first high-side current sampling circuit for acquiring a first operating current of the first stepper motor, and a second high-side current sampling circuit for acquiring a second operating current of the second stepper motor;

[0177] Wherein, the circuit structure of the first high-side current sampling circuit is the same as that of the second high-side current sampling circuit.

[0178] As an implementable manner, the circuit structure of the first high-side current sampling circuit and the second high-side current sampling circuit includes: an operational amplifier, a first resistor, a second resistor, a third resistor, a first capacitor, a second capacitor, a third capacitor and a fuse;

[0179] The first resistor is used as a sampling resistor, a first end of the first resistor is connected to the positive input end of the operational amplifier, and a second end of the first resistor is connected to the negative input end of the operational amplifier;

[0180] The operational amplifier is used to amplify the sampled voltage signal on the first resistor and output the sampled voltage signal at the output end of the operational amplifier, and the power supply end of the operational amplifier is connected to the input voltage;

[0181] The first end of the first capacitor is connected to the first end of the first resistor, the first end of the first capacitor is also connected to the input voltage, and the second end of the first capacitor is connected to the second end of the first resistor;

[0182] The first end of the fuse is connected to the second end of the first capacitor, and the second end of the fuse is connected to the first stepper motor or the second stepper motor;

[0183] The first end of the second resistor is connected to the first end of the fuse, and the second end of the second resistor is connected to the second end of the fuse;

[0184] The first resistor, the second resistor and the first capacitor constitute a filter circuit;

[0185] A first end of the third resistor is connected to the output end of the operational amplifier, and a second end of the third resistor is grounded;

[0186] The first end of the second capacitor is connected to the power supply terminal of the operational amplifier; the second end of the second capacitor is grounded;

[0187] A first end of the third capacitor is connected to the output end of the operational amplifier, and a second end of the third capacitor is grounded.

[0188] As for the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only illustrative, wherein the units described as separate components may or may not be physically separated, and the components as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the disclosed solution.

[0189] The control system of the reciprocating pump provided in this embodiment builds a pushing motion model of the plunger through the first maximum pushing speed of the reciprocating pump in the cutting scene according to the scene information of the reciprocating pump. When one plunger reaches the target pushing distance based on the pushing motion model, the other plunger is started to enter the acceleration period, and the output of the reciprocating pump is stably maintained at the maximum pushing flow rate to achieve a constant flow output of the reciprocating pump. In the raised tissue scene, the reciprocating pump is controlled to continuously output the flow rate at the second maximum pushing speed corresponding to the raised tissue type, so as to accurately identify the lesion boundary, thereby ensuring that the lesion is marked while minimizing damage to the surrounding normal tissue.

[0190] Example 3

[0191] Figure 7 This is a schematic diagram of the structure of an electronic device showing an example embodiment of the present disclosure, the electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor, and when the processor executes the computer program, the control method of the reciprocating pump described in any of the above embodiments is implemented. Figure 7 The electronic device 90 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0192] like Figure 7 As shown, the electronic device 90 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 90 may include, but are not limited to: at least one processor 91, at least one memory 92, and a bus 93 connecting different system components (including the memory 92 and the processor 91).

[0193] The bus 93 includes a data bus, an address bus, and a control bus.

[0194] The memory 92 may include a volatile memory, such as a random access memory (RAM) 921 and / or a cache memory 922 , and may further include a read only memory (ROM) 923 .

[0195] The memory 92 may also include a program tool 925 (or utility) having a set (at least one) of program modules 924, such program modules 924 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0196] The processor 91 executes various functional applications and data processing by running the computer program stored in the memory 92, such as the control method of the reciprocating pump provided in any of the above embodiments.

[0197] The electronic device 90 may also communicate with one or more external devices 94 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 95. Furthermore, the electronic device 90 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 96. As shown, the network adapter 96 communicates with other modules of the electronic device 90 via a bus 93. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 90, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0198] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0199] Example 4

[0200] The embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the control method for the reciprocating pump provided in any of the above embodiments is implemented.

[0201] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0202] Example 5

[0203] The embodiment of the present disclosure further provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the control method of the reciprocating pump described in any one of the above items is implemented.

[0204] Among them, the program code for executing the computer program product of the present disclosure can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0205] Although the specific embodiments of the present disclosure are described above, those skilled in the art should understand that this is only an example, and the protection scope of the present disclosure is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present disclosure, but these changes and modifications all fall within the protection scope of the present disclosure.

Claims

1. A control method for a reciprocating pump, characterized in that: The reciprocating pump includes two plungers, which are used to reciprocate and extract and push the medium. Each plunger includes an acceleration period, a uniform speed period and a deceleration period during the process of pushing the medium. Only one plunger is in the uniform speed period. The plunger reaches the maximum pushing speed during the uniform speed period and pushes the corresponding target pushing flow rate. The control method includes: Acquiring scene information of the reciprocating pump; Wherein, the scene information includes a cutting scene or a bulging tissue scene; In response to the scene information being a cutting scene, obtaining a first maximum pushing speed corresponding to the plunger; Constructing a pushing motion model of the plunger in the cutting scene; The target pushing distance at the end of the plunger uniform speed period is calculated based on the pushing motion model include: ； Among them, the first maximum push speed is , the acceleration of the plunger during the acceleration period is ; Obtaining a real-time pushing distance of the plunger in a uniform speed period; In response to the real-time pushing distance reaching the target pushing distance, controlling another plunger to push in an acceleration period; The sum of the push flow rates of one plunger in the deceleration period and the other plunger in the acceleration period is the target push flow rate; In response to the scene information being a raised tissue scene, obtaining the type of tissue to be raised; Based on the type of tissue to be raised, determining a second maximum pushing speed corresponding to the plunger; Wherein, the first maximum pushing speed is greater than the second maximum pushing speed.

2. The control method of a reciprocating pump according to claim 1, characterized in that: The reciprocating pump is used for a medical water jet, and the step of obtaining the first maximum pushing speed of the plunger comprises: Obtaining the effect level of the medical water jet; Wherein, different effect levels correspond to different preset maximum push speeds; The target pushing distance at the end of the plunger uniform speed period is calculated based on the pushing motion model Also includes: Get the minimum effect level The corresponding benchmark preset maximum push speed , calculate the corresponding benchmark target push distance ; Get other mentioned effect levels The corresponding preset maximum push speed Compared to the benchmark preset maximum push speed Multiples of ; Get other levels of the effects mentioned above Corresponding target push distance for: 。 3. The control method of a reciprocating pump according to claim 2, characterized in that: The reciprocating pump is driven by a first stepper motor to drive one of the plungers, and by a second stepper motor to drive the other plunger, and the control method further includes: Acquire the target pushing distance corresponding to the plunger driven by the first stepper motor; Determining a target rotation shaft position corresponding to the first stepper motor based on the target pushing distance; Acquire the real-time rotation shaft position of the first stepper motor when the second stepper motor is started; Obtaining a position deviation between the real-time rotating shaft position and the target rotating shaft position; The operating current of the first stepper motor is adjusted based on the position deviation so that the position deviation is less than a preset deviation threshold.

4. The control method of a reciprocating pump according to claim 3, characterized in that: The control method further comprises: Obtaining a first operating current of the first stepper motor and a second operating current of the second stepper motor; Determining a first working state of the first stepper motor based on the first working current, and determining a second working state of the second stepper motor based on the second working current; In response to the first working state and / or the second working state being characterized as abnormal, the first stepper motor and the second stepper motor are controlled to stop working.

5. The control method of a reciprocating pump according to claim 4, characterized in that: The reciprocating pump comprises a first high-side current sampling circuit for acquiring a first working current of the first stepper motor, and a second high-side current sampling circuit for acquiring a second working current of the second stepper motor; Wherein, the circuit structure of the first high-side current sampling circuit is the same as that of the second high-side current sampling circuit.

6. The control method of a reciprocating pump according to claim 5, characterized in that: The circuit structure of the first high-side current sampling circuit and the second high-side current sampling circuit includes: an operational amplifier, a first resistor, a second resistor, a third resistor, a first capacitor, a second capacitor, a third capacitor and a fuse; The first resistor is used as a sampling resistor, a first end of the first resistor is connected to the positive input end of the operational amplifier, and a second end of the first resistor is connected to the negative input end of the operational amplifier; The operational amplifier is used to amplify the sampled voltage signal on the first resistor and output the sampled voltage signal at the output end of the operational amplifier, and the power supply end of the operational amplifier is connected to the input voltage; The first end of the first capacitor is connected to the first end of the first resistor, the first end of the first capacitor is also connected to the input voltage, and the second end of the first capacitor is connected to the second end of the first resistor; The first end of the fuse is connected to the second end of the first capacitor, and the second end of the fuse is connected to the first stepper motor or the second stepper motor; The first end of the second resistor is connected to the first end of the fuse, and the second end of the second resistor is connected to the second end of the fuse; The first resistor, the second resistor and the first capacitor constitute a filter circuit; A first end of the third resistor is connected to the output end of the operational amplifier, and a second end of the third resistor is grounded; The first end of the second capacitor is connected to the power supply terminal of the operational amplifier; the second end of the second capacitor is grounded; A first end of the third capacitor is connected to the output end of the operational amplifier, and a second end of the third capacitor is grounded.

7. A control system for a reciprocating pump, characterized in that: The reciprocating pump includes two plungers, which are used to reciprocate and extract and push the medium. Each plunger includes an acceleration period, a uniform speed period and a deceleration period in the process of pushing the medium. Only one plunger is in the uniform speed period. The plunger reaches a first maximum pushing speed in the uniform speed period and pushes the corresponding target pushing flow. The control system includes a scene acquisition module, a speed acquisition module, a model building module, a target distance calculation module, a position acquisition module and a compensation start module; The scene acquisition module is used to acquire scene information of the reciprocating pump; wherein the scene information includes a cutting scene or a bulging tissue scene; The speed acquisition module is used to acquire a first maximum pushing speed of the plunger in response to the scene information being a cutting scene; The model building module builds a pushing motion model of the plunger in the cutting scene; A target distance calculation module is used to calculate the target pushing distance at the end of the plunger uniform speed period based on the pushing motion model. include: ； Among them, the first maximum push speed is , the acceleration of the plunger during the acceleration period is ; The position acquisition module is used to acquire the real-time pushing distance of the plunger in the uniform speed period; The compensation start module is used for controlling the other plunger to push in an acceleration period in response to the real-time pushing distance reaching the target pushing distance; The sum of the push flow rates of one plunger in the deceleration period and the other plunger in the acceleration period is the target push flow rate; The speed acquisition module is also used to obtain the type of tissue to be raised in response to the scene information being a raised tissue scene; based on the type of tissue to be raised, determine the second maximum pushing speed corresponding to the plunger; wherein the first maximum pushing speed is greater than the second maximum pushing speed.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the control method of the reciprocating pump according to any one of claims 1 to 6 is implemented.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the reciprocating pump according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the control method of the reciprocating pump according to any one of claims 1 to 6 is implemented.

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