Motor injection control method and device, electronic equipment and storage medium

Abstract

The invention provides a motor injection control method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the final movement position of a motor when injection is completed based on the capacity of a to-be-injected needle cylinder, the length of the to-be-injected needle cylinder, the target injection capacity and the single pulse motion of the motor; wherein the motor and the needle cylinder to be injected have a direct connection injection relation; when injection starts, the current moving position of the motor is determined in real time based on the current moving step number of the motor and the single pulse motion of the motor; and based on the current moving position, the final moving position and the moving step length of the motor, whether injection of the target injection capacity is completed or not is determined. The injection precision is improved by utilizing the intermittent movement of the motor, and the method can effectively solve the problem of insufficient power possibly caused by reduction of the speed of the motor in the long-time injection process, so that the precision and the safety of the injection process are ensured.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor injection control method, device, electronic device and storage medium. Background Art

[0002] In the existing technology, injection accuracy and stability are key challenges, especially when long-term slow injection is required. When the motor speed is set below a certain threshold, the motor may not be able to move due to insufficient voltage. In addition, the direct positive pressure push injection method has limitations in injection accuracy and it is difficult to meet the requirements of high-precision injection. Faced with the diverse needs of different biological eyes for injection speed and accuracy, existing technical solutions often lack the necessary flexibility and are difficult to adapt to these subtle differences. In addition, existing injection systems are usually unable to monitor the working status of the motor in real time, and there is a certain delay, which results in the system being unable to respond quickly once a problem occurs during the injection process, thereby increasing the risk of operation. Therefore, how to improve the accuracy of injection has become a technical issue that cannot be underestimated. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a motor injection control method, device, electronic device and storage medium, which improves the injection accuracy by utilizing the intermittent motion of the motor. This method can not only effectively solve the problem of insufficient power that may occur during long-term injection due to reducing the motor speed, but also ensure the accuracy and safety of the injection process.

[0004] The present application provides a motor injection control method, the motor injection control method comprising:

[0005] Before the injection begins, based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor, the final moving position of the motor when the injection is completed is determined; wherein there is a direct push relationship between the motor and the syringe to be injected;

[0006] At the beginning of injection, based on the current moving steps of the motor and the single pulse movement of the motor, the current moving position of the motor is determined in real time;

[0007] Based on the current moving position, the final moving position, and the moving step length of the motor, it is determined whether the injection of the target injection volume is completed.

[0008] In a possible implementation, determining the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the target injection capacity of the length of the syringe to be injected, and the single pulse movement of the motor includes:

[0009] Based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, determining the total number of movement steps of the motor corresponding to completing the target injection capacity;

[0010] Based on the product of the total number of movement steps and the movement step length, the final movement position of the motor when the injection is completed is determined.

[0011] In a possible implementation manner, determining the total number of movement steps of the motor corresponding to completing the target injection capacity based on the capacity of the syringe to be injected, the length of the syringe to be injected, and the target injection capacity includes:

[0012] Determining a ratio based on the quotient of the capacity of the syringe to be injected and the length of the syringe to be injected;

[0013] determining a first value based on a quotient of the target injection volume and the ratio;

[0014] The total number of moving steps is determined based on the quotient of the first value and the single pulse movement of the motor.

[0015] In a possible implementation manner, determining whether the injection of the target injection volume is completed based on the current moving position, the final moving position, and the moving step length of the motor includes:

[0016] Detecting whether the difference between the final moving position and the current moving position is greater than the moving step length;

[0017] If yes, control the motor to move based on the moving step length, and control the motor to sleep for a preset time interval after the movement is completed, and continue to detect whether the difference between the final moving position and the current moving position is greater than the single moving step length after the sleep preset time interval is completed;

[0018] If not, the motor is controlled to move to the target moving position to complete the injection of the target injection volume.

[0019] In a possible implementation manner, the preset time interval is provided in the following manner:

[0020] The preset time interval is determined based on the motion characteristics of the motor and the injection duration requirement.

[0021] The present application also provides a motor injection control device, the motor injection control device comprising:

[0022] A first position determination module is used to determine the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor before the injection starts; wherein there is a direct push relationship between the motor and the syringe to be injected;

[0023] A second position determination module is used to determine the current moving position of the motor in real time based on the current moving steps of the motor and the single pulse movement of the motor when the injection starts;

[0024] The detection module is used to determine whether the injection of the target injection volume is completed based on the current moving position, the final moving position and the moving step length of the motor.

[0025] In a possible implementation manner, when the first position determination module is used to determine the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the target injection capacity of the length of the syringe to be injected, and the single pulse movement of the motor, the first position determination module is specifically used to:

[0026] Based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, determining the total number of movement steps of the motor corresponding to completing the target injection capacity;

[0027] Based on the product of the total number of movement steps and the movement step length, the final movement position of the motor when the injection is completed is determined.

[0028] In a possible implementation manner, when the first position determination module is used to determine the total number of movement steps corresponding to the motor when the target injection capacity is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected, and the target injection capacity, the first position determination module is specifically used to:

[0029] Determining a ratio based on the quotient of the capacity of the syringe to be injected and the length of the syringe to be injected;

[0030] determining a first value based on a quotient of the target injection volume and the ratio;

[0031] The total number of moving steps is determined based on the quotient of the first value and the single pulse movement of the motor.

[0032] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the motor injection control method as described above are performed.

[0033] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the motor injection control method as described above are executed.

[0034] The embodiment of the present application provides a motor injection control method, device, electronic device and storage medium, the motor injection control method includes: before the injection starts, based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor, the final moving position of the motor when the injection is completed is determined; wherein, there is a direct push relationship between the motor and the syringe to be injected; at the beginning of the injection, based on the current number of movement steps of the motor and the single pulse movement of the motor, the current moving position of the motor is determined in real time; based on the current moving position, the final moving position and the moving step length of the motor, it is determined whether the injection of the target injection capacity is completed. By using the intermittent motion of the motor to improve the accuracy of the injection, this method can not only effectively solve the problem of insufficient power that may occur due to reducing the motor speed during a long injection process, but also ensure the accuracy and safety of the injection process.

[0035] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A flow chart of a motor injection control method provided in an embodiment of the present application;

[0038] Figure 2 A schematic diagram of a motor injection control method provided in an embodiment of the present application;

[0039] Figure 3A schematic diagram of the structure of a motor injection control device provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with 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 of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0042] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0043] In order to enable those skilled in the art to use the contents of this application, the following implementation is given in combination with the specific application scenario of "injection using a motor". For those skilled in the art, the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application.

[0044] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario that requires the use of a motor for injection. The embodiments of the present application are not limited to specific application scenarios. Any scheme using a motor injection control method, device, electronic device and storage medium provided by the embodiments of the present application is within the scope of protection of the present application.

[0045] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied in the field of motor control technology.

[0046] Research has found that in the existing technology, injection accuracy and stability are key challenges, especially when long-term slow injection is required. When the motor speed is set below a certain threshold, the motor may not be able to move due to insufficient voltage. In addition, the direct positive pressure push injection method has limitations in injection accuracy and it is difficult to meet the requirements of high-precision injection. Faced with the diverse needs of different biological eyes for injection speed and accuracy, existing technical solutions often lack the necessary flexibility and are difficult to adapt to these subtle differences. In addition, existing injection systems are usually unable to monitor the working status of the motor in real time, and there is a certain delay, which results in the system being unable to respond quickly once a problem occurs during the injection process, thereby increasing the risk of operation. Therefore, how to improve the accuracy of injection has become a technical issue that cannot be underestimated.

[0047] Based on this, the embodiments of the present application provide a motor injection control method, device, electronic device and storage medium, which improves the injection accuracy by utilizing the intermittent motion of the motor. This method can not only effectively solve the problem of insufficient power that may occur during long-term injection due to reducing the motor speed, but also ensure the accuracy and safety of the injection process.

[0048] See also Figure 1 , Figure 1 This is a flow chart of a motor injection control method provided in an embodiment of the present application. Figure 1 As shown in , the motor injection control method provided by the embodiment of the present application includes:

[0049] S101: Before the injection starts, based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor, the final moving position of the motor when the injection is completed is determined; wherein there is a direct push relationship between the motor and the syringe to be injected.

[0050] In this step, before the injection begins, the final moving position of the motor when the injection is completed is determined based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor.

[0051] Among them, the capacity and length of the syringe to be injected, the target injection capacity, and the single pulse movement of the motor are all preset.

[0052] In a possible implementation, determining the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the target injection capacity of the length of the syringe to be injected, and the single pulse movement of the motor includes:

[0053] A: Based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, the total number of movement steps of the motor corresponding to completing the target injection capacity is determined.

[0054] Here, the total number of movement steps of the motor corresponding to the target injection capacity is determined according to the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity.

[0055] In a possible implementation manner, determining the total number of movement steps of the motor corresponding to completing the target injection capacity based on the capacity of the syringe to be injected, the length of the syringe to be injected, and the target injection capacity includes:

[0056] A ratio is determined based on the quotient of the capacity of the syringe to be injected and the length of the syringe to be injected; a first value is determined based on the quotient of the target injection capacity and the ratio; and the total number of moving steps is determined based on the quotient of the first value and a single pulse motion of the motor.

[0057] Here, in this scheme, the motor and syringe are directly connected for pushing, so the distance the syringe pushes is equal to the actual distance the motor moves. Therefore, the ratio can be calculated based on the capacity V (μL) and length L (μm) of the syringe to deduce the total number of motor movement steps Y required to inject XμL. Assuming that the motor moves rμm per pulse, Y = X / (V / L) / r.

[0058] B: Based on the product of the total number of movement steps and the movement step length, the final movement position of the motor when the injection is completed is determined.

[0059] Here, the final moving position of the motor when the injection is completed is determined according to the product of the total moving steps and the moving step length.

[0060] Among them, the moving distance (S) of the motor is related to the encoding value (i.e. the number of steps Y), which can be calculated by the following formula: S=Y*r.

[0061] The moving step length is the distance the motor moves each time, and the final moving position is the position information corresponding to the motor when all the target injection volume in the syringe to be injected is injected out.

[0062] S102: When the injection starts, based on the current moving steps of the motor and the single pulse movement of the motor, the current moving position of the motor is determined in real time.

[0063] In this step, when the injection starts, the current moving position of the motor is determined in real time according to the current moving steps of the motor and the single pulse movement of the motor.

[0064] Here, each time the motor moves a step, the injection volume in the syringe to be injected is controlled to inject a portion.

[0065] S103: Determine whether the injection of the target injection volume is completed based on the current moving position, the final moving position and the moving step length of the motor.

[0066] In this step, whether the injection of the target injection volume is completed is determined based on the current moving position, the final moving position and the moving step length of the motor.

[0067] In a possible implementation manner, determining whether the injection of the target injection volume is completed based on the current moving position, the final moving position, and the moving step length of the motor includes:

[0068] (1): Detect whether the difference between the final moving position and the current moving position is greater than the moving step length.

[0069] Here, it is detected whether the difference between the final moving position and the current moving position is greater than the moving step length.

[0070] (2): If so, control the motor to move based on the moving step, and control the motor to sleep for a preset time interval after the movement is completed, and continue to detect whether the difference between the final moving position and the current moving position is greater than the single moving step after the preset time interval of sleep.

[0071] Here, if yes, the motor is controlled to move according to the moving step, and after the movement is completed, the motor is controlled to sleep for a preset time interval, and after the preset time interval of sleep is completed, it is continued to detect whether the difference between the final moving position and the current moving position is greater than the single moving step.

[0072] Here, the preset time interval is determined based on the motion characteristics of the motor and the injection duration requirement.

[0073] The required injection time is achieved by setting the sleep time interval instead of setting the click speed to achieve the injection time.

[0074] The preset time interval of sleep is set based on the experience of eyeball injection test of specific organisms, and is obtained by combining the motor movement characteristics (motor movement has different speeds) and the operation time requirements. For example, the number of steps of a single cycle and the sleep time delay corresponding to the following four injection speeds are: 1.0x: step = 10, delay = 0.16s; 0.5x: step = 10, delay = 0.32s; 0.2x: step = 5, delay = 0.32s; 0.1x: step = 5, delay = 0.55s.

[0075] (3): If not, the motor is controlled to move to the target moving position to complete the injection of the target injection volume.

[0076] Here, if not, the motor is controlled to move to the target moving position to complete the injection of the target injection volume.

[0077] For further information, see Figure 2 , Figure 2 A schematic diagram of a motor injection control method provided in an embodiment of the present application. Figure 2 As shown, the syringe flux and length are set to determine the ratio; the target injection capacity is set, and the final moving position of the motor when the injection is completed is determined based on the syringe capacity, length, target injection capacity and moving step length; it is detected whether the difference between the final moving position and the current moving position is greater than the single step length. If so, the motor is controlled to move the single step length, and the following steps are continued after the sleep setting time. If not, the motor is controlled to move to the final moving position, and the injection is ended.

[0078] In the present application, when the difference between the current moving position and the final moving position of the motor is greater than the moving step of a single cycle, the motor moves a single step and sleeps for a certain period of time. When the difference between the current moving position and the final moving position of the motor is less than the moving step of a single training, the motor moves to the target position, thereby realizing intermittent movement to improve injection accuracy, and can avoid the problem of the motor being unable to push the injection due to low-speed movement, so that the operator can make necessary adjustments in time according to the actual progress of the injection, thereby ensuring the accuracy and safety of the injection process.

[0079] The embodiment of the present application provides a motor injection control method, the motor injection control method comprising: before the injection starts, based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor, the final moving position of the motor when the injection is completed is determined; wherein, there is a direct push injection relationship between the motor and the syringe to be injected; at the start of the injection, based on the current number of movement steps of the motor and the single pulse movement of the motor, the current moving position of the motor is determined in real time; based on the current moving position, the final moving position and the moving step length of the motor, it is determined whether the injection of the target injection capacity is completed. By utilizing the intermittent movement of the motor to improve the accuracy of the injection, this method can not only effectively solve the problem of insufficient power that may occur due to reducing the motor speed during a long injection process, but also ensure the accuracy and safety of the injection process.

[0080] See also Figure 3 , Figure 3This is a schematic diagram of the structure of a motor injection control device provided in an embodiment of the present application. Figure 3 As shown in , the motor injection control device 300 includes:

[0081] The first position determination module 310 is used to determine the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor before the injection starts; wherein there is a direct push relationship between the motor and the syringe to be injected;

[0082] A second position determination module 320 is used to determine the current moving position of the motor in real time based on the current moving steps of the motor and the single pulse movement of the motor when the injection starts;

[0083] The detection module 330 is used to determine whether the injection of the target injection volume is completed based on the current moving position, the final moving position and the moving step length of the motor.

[0084] Further, when the first position determination module 310 is used to determine the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the target injection capacity of the length of the syringe to be injected, and the single pulse movement of the motor, the first position determination module 310 is specifically used to:

[0085] Based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, determining the total number of movement steps of the motor corresponding to completing the target injection capacity;

[0086] Based on the product of the total number of movement steps and the movement step length, the final movement position of the motor when the injection is completed is determined.

[0087] Further, when the first position determination module 310 is used to determine the total number of movement steps corresponding to the motor when the target injection capacity is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, the first position determination module 310 is specifically used to:

[0088] Determining a ratio based on the quotient of the capacity of the syringe to be injected and the length of the syringe to be injected;

[0089] determining a first value based on a quotient of the target injection volume and the ratio;

[0090] The total number of moving steps is determined based on the quotient of the first value and the single pulse movement of the motor.

[0091] Further, when the detection module 330 is used to determine whether the injection of the target injection volume is completed based on the current moving position, the final moving position and the moving step length of the motor, the detection module 330 is specifically used to:

[0092] Detecting whether the difference between the final moving position and the current moving position is greater than the moving step length;

[0093] If yes, control the motor to move based on the moving step length, and control the motor to sleep for a preset time interval after the movement is completed, and continue to detect whether the difference between the final moving position and the current moving position is greater than the single moving step length after the sleep preset time interval is completed;

[0094] If not, the motor is controlled to move to the target moving position to complete the injection of the target injection volume.

[0095] Further, the detection module 330 presets the time interval in the following manner:

[0096] The preset time interval is determined based on the motion characteristics of the motor and the injection duration requirement.

[0097] The embodiment of the present application provides a motor injection control device, which includes: a first position determination module, which is used to determine the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor before the injection starts; wherein there is a direct push relationship between the motor and the syringe to be injected; a second position determination module, which is used to determine the current moving position of the motor in real time based on the current moving steps of the motor and the single pulse movement of the motor at the beginning of the injection; a detection module, which is used to determine whether the injection of the target injection capacity is completed based on the current moving position, the final moving position and the moving step length of the motor. By using the intermittent motion of the motor to improve the accuracy of the injection, this method can not only effectively solve the problem of insufficient power that may occur due to reducing the motor speed during a long injection process, but also ensure the accuracy and safety of the injection process.

[0098] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0099] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 as well as Figure 2 The specific implementation of the steps of the motor injection control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0100] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 as well as Figure 2 The specific implementation of the steps of the motor injection control method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0101] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0102] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0104] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0105] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0106] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A motor injection control method, characterized in that: The motor injection control method comprises: Before the injection begins, based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor, the final moving position of the motor when the injection is completed is determined; wherein there is a direct push relationship between the motor and the syringe to be injected; At the beginning of injection, based on the current moving steps of the motor and the single pulse movement of the motor, the current moving position of the motor is determined in real time; Based on the current moving position, the final moving position, and the moving step length of the motor, it is determined whether the injection of the target injection volume is completed.

2. The motor injection control method according to claim 1, characterized in that: The method of determining the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the target injection capacity of the length of the syringe to be injected, and the single pulse movement of the motor comprises: Based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, determining the total number of movement steps of the motor corresponding to completing the target injection capacity; Based on the product of the total number of movement steps and the movement step length, the final movement position of the motor when the injection is completed is determined.

3. The motor injection control method according to claim 2, characterized in that: The method of determining the total number of movement steps of the motor when the target injection capacity is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected, and the target injection capacity includes: Determining a ratio based on the quotient of the capacity of the syringe to be injected and the length of the syringe to be injected; determining a first value based on a quotient of the target injection volume and the ratio; The total number of moving steps is determined based on the quotient of the first value and the single pulse movement of the motor.

4. The motor injection control method according to claim 1, characterized in that: The determining whether the injection of the target injection volume is completed based on the current moving position, the final moving position and the moving step length of the motor includes: Detecting whether the difference between the final moving position and the current moving position is greater than the moving step length; If yes, control the motor to move based on the moving step length, and control the motor to sleep for a preset time interval after the movement is completed, and continue to detect whether the difference between the final moving position and the current moving position is greater than the single moving step length after the sleep preset time interval is completed; If not, the motor is controlled to move to the target moving position to complete the injection of the target injection volume.

5. The motor injection control method according to claim 4, characterized in that: Preset the time interval by: The preset time interval is determined based on the motion characteristics of the motor and the injection duration requirement.

6. A motor injection control device, characterized in that: The motor injection control device comprises: A first position determination module is used to determine the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected, the target injection capacity and the single pulse movement of the motor before the injection starts; wherein there is a direct push relationship between the motor and the syringe to be injected; A second position determination module is used to determine the current moving position of the motor in real time based on the current moving steps of the motor and the single pulse movement of the motor when the injection starts; The detection module is used to determine whether the injection of the target injection volume is completed based on the current moving position, the final moving position and the moving step length of the motor.

7. The motor injection control device according to claim 6, characterized in that: When the first position determination module is used to determine the final moving position of the motor when the injection is completed based on the capacity of the syringe to be injected, the target injection capacity of the length of the syringe to be injected, and the single pulse movement of the motor, the first position determination module is specifically used to: Based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, determining the total number of movement steps of the motor corresponding to completing the target injection capacity; Based on the product of the total number of movement steps and the movement step length, the final movement position of the motor when the injection is completed is determined.

8. The motor injection control device according to claim 6, characterized in that: When the first position determination module is used to determine the total number of movement steps corresponding to the motor when the target injection capacity is completed based on the capacity of the syringe to be injected, the length of the syringe to be injected and the target injection capacity, the first position determination module is specifically used to: Determining a ratio based on the quotient of the capacity of the syringe to be injected and the length of the syringe to be injected; determining a first value based on a quotient of the target injection volume and the ratio; The total number of moving steps is determined based on the quotient of the first value and the single pulse movement of the motor.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the motor injection control method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the motor injection control method according to any one of claims 1 to 5 are executed.

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