Motor control method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a motor control method and device, computer equipment, a computer readable storage medium and a computer program product. The method is applied to a controller of a motor, the motor is used for driving a valve assembly in the nucleic acid amplification system to move, the valve assembly is used for fixing a material loading device when the nucleic acid amplification system carries out nucleic acid amplification treatment, and the method comprises the following steps: acquiring pulse data of the motor in response to a trigger signal for starting the motor; according to the pulse data, position information of movement of the valve assembly is determined; and in response to the fact that the position information does not conform to the initial position information, the motor is controlled to rotate until the position information of the valve assembly conforms to the initial position information. By adopting the method, the control accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a motor control method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] PCR usually refers to the polymerase chain reaction (PCR), which uses multiple cycles of thermal cycling to rapidly and accurately replicate DNA fragments in vitro, thereby producing a large amount of target DNA. PCR technology has a wide range of applications in scientific research, medical diagnosis, forensic medicine and other fields.

[0003] In nucleic acid detection instruments that perform nucleic acid detection based on PCR technology, the nucleic acid amplification system is the core part of completing PCR. By changing its internal temperature, the sample temperature can be indirectly changed to achieve the three stages of denaturation, annealing and extension specified by the amplification, and the amplification is completed in a continuous cycle. Among them, the microvalve involved in microfluidic manipulation is the key executive component of the system regulation. In related technologies, when the instrument freezes or suddenly loses power, the microvalve may press on the loading device, and the loading device may be stuck in the instrument and cannot be pulled out; and when restarting, the motor will idle, affecting the life of the motor. Summary of the invention

[0004] Based on this, it is necessary to provide a motor control method, device, computer equipment, computer-readable storage medium and computer program product that can improve control accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a motor control method, the method being applied to a controller of a motor, the motor being used to drive a valve assembly in a nucleic acid amplification system to move, the valve assembly being used to fix a loading device when the nucleic acid amplification system performs a nucleic acid amplification process, the method comprising:

[0006] In response to a trigger signal for starting the motor, acquiring pulse data of the motor;

[0007] Determining position information of movement of the valve assembly according to the pulse data;

[0008] In response to the position information not matching the initial position information, the motor is controlled to rotate until the position information of the valve assembly matches the initial position information.

[0009] In one embodiment, determining the position information of the movement of the valve component according to the pulse data includes:

[0010] Determining pulse data of the motor according to a driving pulse signal corresponding to the motor;

[0011] Based on a preset association relationship between the pulse data and the position information, the position information of the movement of the valve component corresponding to the pulse data is determined.

[0012] In one embodiment, the valve component moves back and forth from an initial position to a target position, and the pulse data corresponding to the motor is reset to zero when the valve component moves to the initial position or the target position, and the determining of the position information of the valve component includes:

[0013] Determine target pulse data corresponding to the valve component moving from the initial position to the target position;

[0014] The position information of the movement of the valve component is determined according to the pulse data and the target pulse data.

[0015] In one embodiment, controlling the rotation of the motor includes:

[0016] determining a target rotation angle corresponding to the pulse data;

[0017] The motor is controlled to rotate according to the target rotation angle.

[0018] In one embodiment, controlling the motor to rotate until the position information of the valve assembly matches the initial position information includes:

[0019] The motor is controlled to rotate until a phase current of the motor is greater than or equal to a preset current threshold.

[0020] In one embodiment, after controlling the motor to rotate until the position information of the valve assembly matches the initial position information, the method further includes:

[0021] The motor is controlled to drive the valve assembly to move according to a preset working mode, and pulse data corresponding to the motor is stored.

[0022] In a second aspect, the present application further provides a motor control device, which is applied to a controller of a motor, wherein the motor is used to drive a valve assembly in a nucleic acid amplification system to move, and the valve assembly is used to fix a loading device when the nucleic acid amplification system performs a nucleic acid amplification process, and the device comprises:

[0023] An acquisition module, configured to acquire pulse data of the motor in response to a trigger signal for starting the motor;

[0024] A determination module, used to determine the position information of the movement of the valve component according to the pulse data;

[0025] The control module is used for controlling the motor to rotate in response to the position information not matching the initial position information, until the position information of the valve assembly matches the initial position information.

[0026] In one embodiment, the determining module includes:

[0027] A first determining submodule, used to determine the pulse data of the motor according to the driving pulse signal corresponding to the motor;

[0028] The second determination submodule is used to determine the position information of the movement of the valve component corresponding to the pulse data based on a preset association relationship between the pulse data and the position information.

[0029] In one embodiment, the valve assembly moves back and forth from an initial position to a target position, and the pulse data corresponding to the motor is reset to zero when the valve assembly moves to the initial position or the target position. The determination module includes:

[0030] A third determination submodule is used to determine target pulse data corresponding to the valve component moving from the initial position to the target position;

[0031] The fourth determination submodule is used to determine the position information of the movement of the valve component according to the pulse data and the target pulse data.

[0032] In one embodiment, the control module includes:

[0033] a fifth determination submodule, configured to determine a target rotation angle corresponding to the pulse data;

[0034] The first control submodule is used to control the motor to rotate according to the target rotation angle.

[0035] In one embodiment, the control module includes:

[0036] The sixth control submodule is used to control the rotation of the motor until the phase current of the motor is greater than or equal to a preset current threshold.

[0037] In one embodiment, the device further comprises:

[0038] The seventh control submodule is used to control the motor to drive the valve assembly to move according to a preset working mode and store pulse data corresponding to the motor.

[0039] In a third aspect, an embodiment of the present disclosure further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any one of the methods in the embodiments of the present disclosure are implemented.

[0040] In a fourth aspect, the embodiments of the present disclosure further provide a computer-readable storage medium, wherein a computer program is stored thereon, and when the computer program is executed by a processor, the steps of any one of the methods in the embodiments of the present disclosure are implemented.

[0041] In a fifth aspect, the embodiments of the present disclosure further provide a computer program product, wherein the computer program product includes a computer program, and when the computer program is executed by a processor, the steps of any one of the methods in the embodiments of the present disclosure are implemented.

[0042] The above-mentioned motor control method, device, computer equipment, computer-readable storage medium and computer program product determine the position information of the valve assembly according to the pulse data corresponding to the motor, and control the motor to rotate when the position information does not meet the preset conditions until the position information of the valve assembly meets the initial position information, thereby realizing automatic zeroing of the valve assembly; in sudden situations such as motor freeze or system power failure, the valve assembly can be automatically reset to zero when the system is restarted, avoiding problems such as the inability to pull out the loading device due to position deviation of the valve assembly and the idling of the motor after the system is restarted, thereby realizing more precise control and state adjustment of the valve assembly, reducing the risk of shortened life due to motor idling, effectively extending the life of the motor, ensuring the stability and reliability of the nucleic acid amplification system, and being suitable for more application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a flow chart of a motor control method in one embodiment;

[0045] Figure 2 A schematic diagram of the working state of a valve assembly in one embodiment;

[0046] Figure 3 A schematic diagram of the working state of a valve assembly in another embodiment;

[0047] Figure 4 is a flow chart of a motor control method in one embodiment;

[0048] Figure 5 is a flow chart of a motor control method in one embodiment;

[0049] Figure 6 is a structural block diagram of a motor control device in one embodiment;

[0050] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] In one embodiment, Figure 1 As shown, a motor control method is provided. This embodiment uses the method applied to a terminal as an example. It can be understood that the method can also be applied to a server, and can also be applied to a system including a terminal and a server, and is implemented through the interaction between the terminal and the server. In this embodiment, the method is applied to a controller of a motor, the motor is used to drive a valve component in a nucleic acid amplification system to move, and the valve component is used to fix a loading device when the nucleic acid amplification system performs a nucleic acid amplification process. The method includes:

[0053] Step S110, in response to a trigger signal for starting the motor, acquiring pulse data of the motor;

[0054] The present disclosure provides a motor control method for a motor controller. Exemplarily, the motor is used to drive a valve assembly in a nucleic acid amplification system to move, and the valve assembly moves to a target position to fix a loading device when the nucleic acid amplification system performs nucleic acid amplification processing.

[0055] In one example, the motor may be a stepper motor, and the motor may be driven to rotate by a driving pulse signal to drive the valve assembly to move. In one example, the nucleic acid amplification system may include one or more motors, one motor corresponding to one valve assembly. Exemplarily, a driving pulse signal may be sent to the motor by a central processor to control its rotation.

[0056] In one example, the nucleic acid amplification system further includes a storage unit, and the pulse data corresponding to the motor can be stored in the storage unit. In response to a trigger signal for starting the motor, the pulse data of the motor can be read from the storage unit.

[0057] Figure 2 and Figure 3 FIG. 1 is a schematic diagram showing a working state of a valve assembly according to an exemplary embodiment, referring to FIG. Figure 2As shown in FIG. 1 , the valve assembly is located at the initial position and is separated from the material loading device; when the nucleic acid amplification system needs to perform nucleic acid amplification processing, the motor drives the valve assembly to move until the valve assembly is in the initial position. Figure 3 As shown, the valve assembly reaches the target position to fix the loading device.

[0058] Step S120, determining the position information of the movement of the valve component according to the pulse data;

[0059] In the embodiment of the present disclosure, the position information of the movement of the valve assembly is determined based on the pulse data. Exemplarily, the pulse data may include but is not limited to the number of drive pulse signals, the movement direction of the valve assembly, etc., and may be specifically determined based on the actual application scenario. Since the valve assembly is driven to move by a motor, the position information of the movement of the valve assembly can be determined based on the pulse data of the motor. In one example, based on the relationship between the rotation of the motor and the movement of the valve assembly, the correlation relationship between the pulse data of the motor and the position information of the movement of the valve assembly can be determined in advance, and the position information of the movement of the valve assembly can be determined based on the pulse data and the correlation relationship.

[0060] Step S130 , in response to the position information not matching the initial position information, controlling the motor to rotate until the position information of the valve assembly matches the initial position information.

[0061] Exemplarily, the initial position information may be position information corresponding to the initial position of the valve assembly in the normal working state of the nucleic acid amplification system. When the position information of the valve assembly does not conform to the initial position information, it can be considered that the valve assembly is not in the initial position at this time, and the valve assembly needs to be reset to zero. At this time, the motor is controlled to rotate to perform the zeroing process of the valve assembly.

[0062] In one example, during the process of controlling the rotation of the motor, the motor will drive the valve assembly to move, and the position information of the valve assembly will change. When the position information of the valve assembly meets the initial position information, it can be considered that the valve assembly has reached the initial position, the zeroing process is completed, and the motor can be controlled to stop rotating. In some possible implementations, it can be determined whether the position information of the valve assembly meets the initial position information by the magnitude of the phase current of the motor; it can be determined whether the position information of the valve assembly meets the initial position information by the image captured by the image acquisition device; it can be determined whether the position information of the valve assembly meets the initial position information by the real-time pulse data of the motor. The specific determination can be made according to the actual application scenario, and the present disclosure does not limit this.

[0063] The disclosed embodiment determines the position information of the valve assembly according to the pulse data corresponding to the motor, and controls the motor to rotate when the position information does not meet the preset conditions until the position information of the valve assembly meets the initial position information, thereby realizing automatic zeroing of the valve assembly; in sudden situations such as motor freeze or system power failure, the valve assembly can be automatically reset to zero when the system is restarted, avoiding problems such as the inability to pull out the loading device due to position deviation of the valve assembly and the idling of the motor after the system is restarted, thereby realizing more precise control and state adjustment of the valve assembly, reducing the risk of shortened life due to motor idling, effectively extending the life of the motor, ensuring the stability and reliability of the nucleic acid amplification system, and being suitable for more application scenarios.

[0064] In one embodiment, Figure 4 As shown, the step of determining the position information of the movement of the valve component according to the pulse data includes:

[0065] Step S121, determining pulse data of the motor according to a driving pulse signal corresponding to the motor;

[0066] Step S122, based on a preset association relationship between the pulse data and the position information, determining the position information of the movement of the valve component corresponding to the pulse data.

[0067] Exemplarily, the rotation of the motor can be controlled by a driving pulse signal, and the number of driving pulse signals determines the rotation angle of the motor. In a possible implementation, the central processing unit sends a driving pulse signal to the motor, and the motor rotates. In one example, the pulse data corresponding to the motor includes the number of driving pulse signals received by the motor. For example, the central processing unit can count the driving pulse signals sent to the motor through a counter to obtain the pulse data corresponding to the motor.

[0068] In one example, the counting period of the pulse data can be set in combination with the working mode of the valve component. For example, if the valve component moves back and forth between the initial position and the target position, the initial position to the target position / the target position to the initial position is determined as a period, and when the valve component reaches the initial position or the target position, the pulse data starts counting again. In one example, the pulse data also includes the moving direction of the valve component, that is, moving from the initial position to the target position and from the target position to the initial position, and the corresponding pulse data is different. For example, they can be distinguished by the moving direction identifier, etc., which can be determined according to the actual application scenario.

[0069] Based on the preset association relationship between the pulse data and the position information, the position information of the valve assembly movement corresponding to the pulse data is determined. Exemplarily, the preset association relationship between the pulse data and the position information can be set based on the association relationship between the valve assembly and the motor. In one example, the motor is driven by a driving pulse signal, and the motor drives the valve assembly to move. Therefore, the pulse data of the motor corresponds to the position information of the valve assembly movement, and different pulse data correspond to different position information of the valve assembly movement.

[0070] The disclosed embodiment determines the pulse data corresponding to the motor based on the driving pulse signal of the motor, and determines the position information of the valve assembly corresponding to the pulse data based on the preset correlation between the pulse data and the position information. Thus, the position information of the valve assembly can be accurately located by counting the driving pulse signal of the motor. Furthermore, the valve assembly can be automatically reset to zero based on the position information of the valve assembly, thereby avoiding problems such as the inability to pull out the loading device and the idling of the motor. The valve assembly is suitable for more application scenarios.

[0071] In one embodiment, the valve assembly moves back and forth from an initial position to a target position, and the pulse data corresponding to the motor is reset to zero when the valve assembly moves to the initial position or the target position. The determining of the position information of the valve assembly includes:

[0072] Determine target pulse data corresponding to the valve component moving from the initial position to the target position;

[0073] The position information of the movement of the valve component is determined according to the pulse data and the target pulse data.

[0074] Exemplarily, the valve assembly moves back and forth from the initial position to the target position. When the nucleic acid amplification system is running, the solution to be tested reacts in the material-carrying device. During the reaction, the motor drives the valve assembly to move from the initial position to the target position to fix the material-carrying device. After the reaction in the material-carrying device is completed, the motor drives the valve assembly to move from the target position to the initial position, and the material-carrying device can be pulled out.

[0075] Optionally, target pulse data corresponding to the movement of the valve component from the initial position to the target position is determined, and the target pulse data may include the number of driving pulse signals corresponding to the movement of the valve component from the initial position to the target position. The position information of the movement of the valve component is determined based on the pulse data and the target pulse data. In one example, the ratio of the distance moved by the valve component to the total distance from the initial position to the target position may be determined based on the ratio between the pulse data and the target pulse data, thereby determining the position information of the movement of the valve component.

[0076] In one example, the pulse data may include the moving direction of the valve assembly. The moving distance of the valve assembly may be determined based on the pulse data and the target pulse data, and the position information of the movement of the valve assembly may be determined in combination with the moving direction of the valve assembly.

[0077] In the disclosed embodiment, the valve assembly moves back and forth from an initial position to a target position, and the pulse data corresponding to the motor is reset to zero when the valve assembly moves to the initial position and the target position. Based on this, when determining the position information of the valve assembly, the position information of the valve assembly can be determined based on the target pulse data corresponding to the movement of the valve assembly from the initial position to the target position and the pulse data corresponding to the motor. The valve assembly can be positioned quickly and accurately based on the movement of the valve assembly and the relationship between the pulse data and the position, thereby ensuring the accuracy of the subsequent automatic zeroing processing of the valve assembly.

[0078] In one embodiment, controlling the motor to rotate comprises:

[0079] determining a target rotation angle corresponding to the pulse data;

[0080] The motor is controlled to rotate according to the target rotation angle.

[0081] Exemplarily, the motor is controlled to rotate according to the pulse data. According to the pulse data, the target rotation angle corresponding to the pulse data is determined. In one example, the pulse data corresponds to the moving direction of the valve component and the number of driving pulse signals. According to the moving direction of the valve component and the number of driving pulse signals, the target rotation angle of the motor corresponding to the valve component when the valve component moves from the current position to the initial position can be determined.

[0082] In one example, when the pulse data of the motor is the pulse data when the valve assembly moves from the initial position to the target position, the valve assembly can be moved to the initial position by rotating the motor in the opposite direction according to the rotation angle corresponding to the pulse data. In another example, when the pulse data of the motor is the pulse data when the valve assembly moves from the target position to the initial position, the rotation angle of the motor required to move the valve assembly to the initial position can be determined based on the target pulse data corresponding to the movement of the motor from the target position to the initial position and the pulse data, that is, the target rotation angle, which can be determined based on the actual application scenario.

[0083] The disclosed embodiment controls the rotation of the motor according to the target rotation angle corresponding to the pulse data, thereby being able to more accurately control the motor based on the current position information of the valve assembly when controlling the valve assembly to automatically return to zero, thereby further improving the accuracy and reliability of the zeroing, avoiding the risk of shortening the motor life due to motor idling, and being suitable for more application scenarios.

[0084] In one embodiment, controlling the motor to rotate until the position information of the valve assembly matches the initial position information includes:

[0085] The motor is controlled to rotate until a phase current of the motor is greater than or equal to a preset current threshold.

[0086] Exemplarily, it is possible to determine whether the position of the valve assembly conforms to the initial position information based on the phase current of the motor. In one example, when the motor drives the valve assembly to move, the motor has corresponding current information. When the valve assembly is about to move to the initial position, the motor drives the valve assembly to continue to move, and the phase current of the motor will undergo a sudden change, with a phase current greater than or equal to a preset current threshold. At this time, it can be considered that the valve assembly has moved to the initial position, and the position information of the valve assembly conforms to the initial position information. The motor can be controlled to stop rotating, and the automatic zeroing process of the valve assembly is completed.

[0087] In other possible implementations, when controlling the rotation of the motor, real-time pulse data corresponding to the motor rotation can be recorded. Based on the real-time pulse data corresponding to the motor rotation and the acquired pulse data, it is determined whether the valve assembly has moved to the initial position, thereby determining whether the position information of the valve assembly is consistent with the initial position information.

[0088] The disclosed embodiment determines the cutoff condition for motor rotation according to the phase current of the motor. Based on the correlation between the changing characteristics of the motor phase current and the position of the valve assembly, it can quickly and accurately determine whether the valve assembly has returned to zero, thereby achieving precise zeroing of the valve assembly, further improving the accuracy of determining the state of the valve assembly, and being suitable for more application scenarios.

[0089] In one embodiment, after controlling the motor to rotate until the position information of the valve assembly matches the initial position information, the method further includes:

[0090] The motor is controlled to drive the valve assembly to move according to a preset working mode, and pulse data corresponding to the motor is stored.

[0091] In the disclosed embodiment, after the position information of the valve assembly meets the initial position information, it can be considered that the valve assembly has moved to the initial position and the automatic zeroing process of the valve assembly has been completed. At this time, the valve assembly can be driven to move according to the working mode corresponding to the nucleic acid amplification system to start the nucleic acid amplification process. Exemplarily, the control motor determines the movement of the valve assembly according to the preset working mode, wherein the preset working mode is set in advance according to the situation when the nucleic acid amplification system works according to the normal working mode, that is, the preset working mode corresponds to the normal working mode of the nucleic acid amplification system.

[0092] Optionally, when the motor is controlled to drive the valve assembly to move according to a preset working mode, pulse data corresponding to the motor is stored at the same time. In one example, the motor is driven by a driving pulse signal, and the pulse data corresponding to the motor can be determined and stored according to the driving pulse signal received by the motor when the motor works according to the preset working mode.

[0093] In one example, the nucleic acid amplification system further includes a storage unit, and the pulse data corresponding to the motor can be stored in the storage unit.

[0094] In the disclosed embodiment, when the nucleic acid amplification system is running, the control motor determines the movement of the valve assembly according to the preset working mode and stores the pulse data corresponding to the motor. Thus, when the motor freezes or the system loses power, the position information of the valve assembly can be determined, and the subsequent automatic zeroing processing can be performed to avoid problems such as motor idling and inability to pull out the loading device due to emergencies, thereby ensuring the stability and reliability of the nucleic acid amplification system and making it suitable for more application scenarios.

[0095] Figure 5 is a flow chart of a motor control method according to an exemplary embodiment, referring to Figure 5 As shown, in response to the trigger instruction of the motor start, the position information of the valve assembly is obtained, wherein the position information of the valve assembly can be determined based on the pulse data of the motor. It is determined whether the position information of the valve assembly conforms to the initial position information, thereby determining whether the valve assembly is at zero position. When the position information of the valve assembly does not conform to the initial position information, the motor is controlled to rotate for zeroing processing; when the position information of the valve assembly conforms to the initial position information, the motor can be directly controlled to rotate according to the preset working mode to drive the valve assembly to move. When the motor is controlled to rotate for zeroing processing, the phase current of the motor is detected. If the phase current of the motor suddenly increases, that is, the phase current of the motor is greater than or equal to the preset current threshold, it can be considered that the position information of the valve assembly conforms to the initial position information at this time, and the motor is controlled to stop rotating, and zeroing is completed. After zeroing is completed, the motor is controlled to rotate according to the preset working mode to drive the valve assembly to move. In one example, when the valve assembly is driven to move, the pulse data of the motor or the position information of the valve assembly is stored until the execution is completed according to the preset working mode.

[0096] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0097] Based on the same inventive concept, the embodiment of the present application also provides a motor control device for implementing the motor control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more motor control device embodiments provided below can refer to the limitations of the motor control method above, and will not be repeated here.

[0098] In an exemplary embodiment, Figure 6 As shown, a motor control device 600 is provided, the device is applied to the controller of the motor, the motor is used to drive the valve component in the nucleic acid amplification system to move, the valve component is used to fix the material loading device when the nucleic acid amplification system performs nucleic acid amplification processing, and the device includes:

[0099] An acquisition module 610 is used to acquire pulse data of the motor in response to a trigger signal for starting the motor;

[0100] A determination module 620, configured to determine position information of movement of the valve assembly according to the pulse data;

[0101] The control module 630 is configured to control the motor to rotate in response to the position information not matching the initial position information, until the position information of the valve assembly matches the initial position information.

[0102] In one embodiment, the determining module includes:

[0103] A first determining submodule, used to determine the pulse data of the motor according to the driving pulse signal corresponding to the motor;

[0104] The second determination submodule is used to determine the position information of the movement of the valve component corresponding to the pulse data based on a preset association relationship between the pulse data and the position information.

[0105] In one embodiment, the valve assembly moves back and forth from an initial position to a target position, and the pulse data corresponding to the motor is reset to zero when the valve assembly moves to the initial position or the target position. The determination module includes:

[0106] A third determination submodule is used to determine target pulse data corresponding to the valve component moving from the initial position to the target position;

[0107] The fourth determination submodule is used to determine the position information of the movement of the valve component according to the pulse data and the target pulse data.

[0108] In one embodiment, the control module includes:

[0109] a fifth determination submodule, configured to determine a target rotation angle corresponding to the pulse data;

[0110] The first control submodule is used to control the motor to rotate according to the target rotation angle.

[0111] In one embodiment, the control module includes:

[0112] The sixth control submodule is used to control the rotation of the motor until the phase current of the motor is greater than or equal to a preset current threshold.

[0113] In one embodiment, the device further comprises:

[0114] The seventh control submodule is used to control the motor to drive the valve assembly to move according to a preset working mode and store pulse data corresponding to the motor.

[0115] Each module in the above motor control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0116] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 7As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store pulse data and other data involved in the method described in this embodiment. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a motor control method is implemented.

[0117] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0118] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0119] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0120] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0121] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0122] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0123] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0124] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A motor control method, characterized in that: The method is applied to a controller of a motor, the motor is used to drive a valve component in a nucleic acid amplification system to move, the valve component is used to fix a loading device when the nucleic acid amplification system performs a nucleic acid amplification process, and the method includes: In response to a trigger signal for starting the motor, acquiring pulse data of the motor; Determining position information of movement of the valve assembly according to the pulse data; In response to the position information not matching the initial position information, the motor is controlled to rotate until the position information of the valve assembly matches the initial position information.

2. The method according to claim 1, characterized in that Determining the position information of the movement of the valve component according to the pulse data includes: Determining pulse data of the motor according to a driving pulse signal corresponding to the motor; Based on a preset association relationship between the pulse data and the position information, the position information of the movement of the valve component corresponding to the pulse data is determined.

3. The method according to claim 1, characterized in that The valve component moves back and forth from an initial position to a target position, and the pulse data corresponding to the motor is reset to zero when the valve component moves to the initial position or the target position. The determining of the position information of the valve component includes: Determine target pulse data corresponding to the valve component moving from the initial position to the target position; The position information of the movement of the valve component is determined according to the pulse data and the target pulse data.

4. The method according to claim 1, characterized in that: The controlling the motor to rotate comprises: determining a target rotation angle corresponding to the pulse data; The motor is controlled to rotate according to the target rotation angle.

5. The method according to claim 1, characterized in that The controlling the motor to rotate until the position information of the valve assembly matches the initial position information includes: The motor is controlled to rotate until a phase current of the motor is greater than or equal to a preset current threshold.

6. The method according to claim 1, characterized in that After controlling the motor to rotate until the position information of the valve assembly matches the initial position information, the method further includes: The motor is controlled to drive the valve assembly to move according to a preset working mode, and pulse data corresponding to the motor is stored.

7. A motor control device, characterized in that: The device is applied to a controller of a motor, the motor is used to drive a valve assembly in a nucleic acid amplification system to move, the valve assembly is used to fix a material carrier when the nucleic acid amplification system performs nucleic acid amplification processing, and the device comprises: An acquisition module, configured to acquire pulse data of the motor in response to a trigger signal for starting the motor; A determination module, used to determine the position information of the movement of the valve component according to the pulse data; The control module is used for controlling the motor to rotate in response to the position information not matching the initial position information, until the position information of the valve assembly matches the initial position information.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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

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

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