High-precision balance control method for liquid in mobile environment

Abstract

The invention discloses a high-precision balance control method for liquid in a mobile environment, which is realized on the basis of liquid self-balancing injection pumps and comprises the following steps: S1, selecting a corresponding number of liquid self-balancing injection pumps according to the type and number of injected liquid, different types of liquid are injected through different liquid self-balancing injection pumps, and the same amount of waste liquid is discharged; s2, after each liquid self-balancing injection pump is installed, each liquid self-balancing injection pump is started; s3, driving pistons in the liquid self-balancing injection pumps to move to realize real-time self-balancing of liquid injection and waste liquid discharge of the liquid self-balancing injection pumps. The liquid balance problem of the continuous blood purification equipment in a vibration impact environment of a moving occasion can be solved, and the control method is simple and high in reliability.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a method for high-precision liquid balance control in a mobile environment. Background Technology

[0002] The accuracy of fluid balance in emergency medical equipment such as continuous blood purification devices is crucial. The market primarily uses the metering method and the balance chamber method.

[0003] The metering method requires the external liquid pump to deliver the liquid, and uses high-precision liquid metering sensors (such as load cells and volumetric sensors) to form a feedback closed-loop control to precisely control the flow rate between the delivery pump and the waste pump. This approach heavily relies on the accuracy of the liquid metering sensors. When there are environmental factors such as vibration and shock, the accuracy of the liquid metering sensors cannot be guaranteed, so the equipment cannot be used in mobile applications.

[0004] The basic principle of the balanced cavity method is as follows: Figure 1 As shown, two linked pistons 2 are placed in the same cavity, with a fixed partition between them, forming four closed cavities: cavity Y1, cavity Y2, cavity Z1, and cavity Z2. Each cavity has the same cross-sectional area, so the volume change of the four cavities is the same when pistons 2 move. When liquid is pumped into cavity Y1 by an external pump, waste liquid is discharged from the body in cavity Z1, liquid is input into the body in cavity Y2, and liquid is discharged into the waste liquid bag in cavity Z2. When liquid is pumped into cavity Y2, waste liquid is discharged from the body in cavity Z2, liquid is input into the body in cavity Y1, and liquid is discharged into the waste liquid bag in cavity Z1. The direction of liquid flow is controlled by the external pump and an electromagnetic on / off valve. The main disadvantage of this method is the complex structure of the balancing cavity, the complex liquid circuit due to the need for an external pump and an electromagnetic on / off valve, and low reliability. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a high-precision liquid balance control method in a mobile environment, which can not only solve the liquid balance problem of continuous blood purification equipment in the vibration and shock environment of mobile occasions, but also has a simple control method and high reliability.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows.

[0007] A high-precision liquid balance control method for mobile environments, based on a self-balancing injection pump, includes the following steps:

[0008] S1. Select the appropriate number of self-balancing injection pumps according to the type and quantity of the injected liquid, so as to realize the injection of different types of liquids through different self-balancing injection pumps and the discharge of equal amounts of waste liquid.

[0009] S2. After installing each liquid self-balancing injection pump, start each liquid self-balancing injection pump;

[0010] S3. Real-time self-balancing of liquid injection and waste liquid discharge by driving the piston movement in each liquid self-balancing injection pump.

[0011] Preferably, the self-balancing liquid injection pump includes a first pump body and a second pump body with identical structures arranged vertically, a liquid inlet pipe, a liquid outlet pipe, a waste liquid inlet pipe, and a waste liquid outlet pipe; each of the first and second pump bodies has two rubber pistons spaced along its length, which are movably and sealingly assembled with the inner cavity and divide the inner cavity into two sealed chambers and a sterilization air chamber located between the two sealed chambers; the two pistons in the same pump body are fixedly connected by a linkage rod located in the corresponding sterilization air chamber for realizing the linkage of the two pistons; the linkage rod of the first pump body and the linkage rod of the second pump body are provided with a connecting rod that extends out of the first and second pump bodies for driving the four pistons to move in linkage.

[0012] The first pump body has two sealed cavities, a first sealed cavity and a second sealed cavity arranged left and right respectively. The left end of the first pump body has a first interface and a second interface that communicate with the first sealed cavity respectively, and the right end of the first pump body has a third interface and a fourth interface that communicate with the second sealed cavity respectively. The second pump body has two sealed cavities, a fourth sealed cavity and a third sealed cavity arranged left and right respectively. The right end of the second pump body has a fifth interface and a sixth interface that communicate with the third sealed cavity respectively, and the left end of the second pump body has a seventh interface and an eighth interface that communicate with the fourth sealed cavity respectively. The first interface and the fifth interface are both connected to the liquid inlet pipe, the second interface and the sixth interface are both connected to the liquid outlet pipe, the third interface and the seventh interface are both connected to the waste liquid inlet pipe, and the fourth interface and the eighth interface are both connected to the waste liquid outlet pipe.

[0013] The first interface is equipped with a first check valve that controls external liquid to be drawn into the first sealed cavity through a liquid inlet pipe when the piston moves towards the second and third sealed cavities. The seventh interface is equipped with a seventh check valve that controls external waste liquid to be drawn into the fourth sealed cavity through a waste liquid inlet pipe when the piston moves towards the second and third sealed cavities. The fourth interface is equipped with a fourth check valve that controls waste liquid in the second sealed cavity to be discharged into a waste liquid outlet pipe when the piston moves towards the second and third sealed cavities. The sixth interface is equipped with a sixth check valve that controls liquid in the third sealed cavity to be discharged into a liquid outlet pipe when the piston moves towards the second and third sealed cavities. The third interface is equipped with a third check valve that controls external waste liquid to be drawn into the second sealed cavity through the waste liquid inlet pipe when the piston moves towards the first sealed cavity and the fourth sealed cavity. The fifth interface is equipped with a fifth check valve that controls external liquid to be drawn into the third sealed cavity through the liquid inlet pipe when the piston moves towards the first sealed cavity and the fourth sealed cavity. The second interface is equipped with a second check valve that controls the liquid in the first sealed cavity to be discharged into the liquid outlet pipe when the piston moves towards the first sealed cavity and the fourth sealed cavity. The eighth interface is equipped with an eighth check valve that controls the waste liquid in the fourth sealed cavity to be discharged into the waste liquid outlet pipe when the piston moves towards the first sealed cavity and the fourth sealed cavity.

[0014] Preferably, the sterilization air chambers of the first pump body and the second pump body are respectively provided with mounting seats fixedly sleeved in the middle of the corresponding linkage rod and perpendicular to the linkage rod; the linkage rod is Y-shaped, and the two inner ends of the linkage rod are respectively connected to the two mounting seats one-to-one through the slot structure, and the outer end of the linkage rod away from the two inner ends passes through the first pump body and the second pump body.

[0015] Preferably, the outer end of the connecting rod is connected to an electric cylinder for driving the connecting rod to move in order to drive the piston in conjunction with the connecting rod.

[0016] Preferably, the first pump body and the second pump body are respectively provided with openings for avoiding the connecting rod when the connecting rod moves; the first pump body and the second pump body are respectively provided with flexible tubes symmetrically arranged on both sides of the corresponding mounting base and connected to the corresponding mounting base and the inner cavity to block the corresponding openings to ensure the sealing of the corresponding sterilization air chamber and to divide the corresponding sterilization air chamber into the first sterilization air chamber and the second sterilization air chamber.

[0017] Preferably, the linkage rod is provided with an air passage for connecting the first sterilization air chamber and the second sterilization air chamber corresponding to it to ensure the air pressure balance between the first sterilization air chamber and the second sterilization air chamber.

[0018] The technological advancements achieved by this invention are as follows, thanks to the adoption of the above technical solutions.

[0019] This invention utilizes a self-balancing liquid injection pump, achieving real-time self-balancing of injected liquid and discharged waste liquid simply by controlling piston movement. This not only eliminates the need for high-precision sensors such as flow meters for liquid balance control, but also demonstrates excellent tolerance to vibration and shock environments, ensuring high-precision liquid balance control even under such conditions. This makes it suitable for mobile applications, enabling continuous blood purification equipment to be used in ambulances and other mobile emergency settings, significantly improving the treatment outcomes for some critically ill patients. Furthermore, the control method is simple and highly reliable; simultaneously, it can also inject various liquids. Attached Figure Description

[0020] Figure 1 This is a basic schematic diagram of the existing balanced cavity method;

[0021] Figure 2 This is a schematic diagram of the liquid self-balancing injection pump of the present invention;

[0022] Figure 3 This is a schematic diagram of an integrated structure of a self-balancing liquid injection pump according to the present invention;

[0023] Figure 4 For the present invention Figure 3 The main view;

[0024] Figure 5 For the present invention Figure 4 BB view;

[0025] Figure 6 For the present invention Figure 3 Side view;

[0026] Figure 7 For the present invention Figure 6 AA view;

[0027] Figure 8 For the present invention Figure 6 CC view;

[0028] Figure 9 For the present invention Figure 6 DD view;

[0029] Figure 10 For the present invention Figure 6 EE view.

[0030] Wherein: 1a. First pump body, 1b. Second pump body, 2. Piston, 3. Linkage rod, 4. Air passage, 5. Mounting base, 6. Connecting rod, 7. Flexible tube, 8. Sterilization air chamber, 81. First sterilization air chamber, 82. Second sterilization air chamber, 9. Liquid inlet pipe, 10. Liquid outlet pipe, A1. First sealed chamber, B1. Second sealed chamber, A2. Third sealed chamber, B2. Fourth sealed chamber, A1-F1. First check valve, A1-F2. 11. Second check valve, B1-F1. Third check valve, B1-F2. Fourth check valve, 12. Waste liquid inlet pipe, 13. Waste liquid outlet pipe, A2-F1. Fifth check valve, A2-F2. Sixth check valve, B2-F1. Seventh check valve, B2-F2. Eighth check valve, 100. Housing, 200. End cap, 300. Liquid hole, Y1. First cavity, Y2. Second cavity, Z1. Third cavity, Z2. Fourth cavity. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0032] A self-balancing liquid injection pump, combined with Figure 2 As shown, the system includes a first pump body 1a, a second pump body 1b, a liquid inlet pipe 9, a liquid outlet pipe 10, a waste liquid inlet pipe 11, and a waste liquid outlet pipe 12. The first pump body 1a and the second pump body 1b are arranged vertically and have the same structure. A piston 2 is provided in the inner cavity of both the first pump body 1a and the second pump body 1b, and the piston 2 and the inner cavity form a structure similar to a syringe. The liquid inlet pipe 9, the liquid outlet pipe 10, the waste liquid inlet pipe 11, and the waste liquid outlet pipe 12 are respectively connected to the first pump body 1a and the second pump body 1b. In use, the movement of piston 2 enables liquid to enter the first pump body 1a and the second pump body 1b through the liquid inlet pipe 9 and to discharge the liquid entering the first pump body 1a and the second pump body 1b through the liquid outlet pipe 10, thereby injecting liquid into the human body; at the same time, waste liquid enters the first pump body 1a and the second pump body 1b through the waste liquid inlet pipe 11 and to discharge the waste liquid entering the first pump body 1a and the second pump body 1b through the waste liquid outlet pipe 12, thereby removing waste liquid from the human body; and can automatically maintain the same amount of liquid injected into the human body and waste liquid removed from the human body, achieving liquid self-balance, and can precisely control the flow rate and volume of liquid injected into the human body and waste liquid removed from the human body by precisely controlling the movement speed and distance of piston 2.

[0033] Each of the first pump body 1a and the second pump body 1b contains two pistons 2 within its inner cavity. The two pistons 2 are spaced apart along the length of the inner cavity and are respectively fitted with movable seals within the inner cavity. The specific structure of these movable seals includes, but is not limited to, rubber pistons, single or multiple rubber rings, or other sealing structures. The two pistons 2 divide the inner cavity into two sealed chambers and a sterilization gas chamber 8, with the sterilization gas chamber 8 located between the two sealed chambers. A linkage rod 3 is fixedly connected between the two pistons 2, located within the sterilization gas chamber 8, and is used to achieve linkage between the two pistons 2. A connecting rod 6 is provided on the linkage rod 3 of the first pump body 1a and the second pump body 1b. The connecting rod 6 extends from the first pump body 1a and the second pump body 1b, and drives the two linkage rods 3 to achieve linkage between the four pistons 2.

[0034] Specifically, each of the sterilization chambers 8 of the first pump body 1a and the second pump body 1b is provided with a mounting seat 5. The mounting seat 5 is fixedly sleeved in the middle of the corresponding linkage rod 3 and is set perpendicular to the linkage rod 3. The connecting rod 6 is Y-shaped, and the two inner ends of the connecting rod 6 are respectively connected to the two mounting seats 5 one-to-one through the slot structure, which can facilitate the connection and separation of the two. The outer end of the connecting rod 6 away from the two inner ends passes through the first pump body 1a and the second pump body 1b and is connected to an electric cylinder. The electric cylinder is used to drive the connecting rod 6 to move, thereby driving the four pistons 2 to move in linkage.

[0035] The first pump body 1a and the second pump body 1b are respectively provided with openings to allow the connecting rod 6 to pass during its movement. To fully ensure the isolation of the liquid from the external atmospheric environment and prevent bacteria, dust, and other objects from mixing into the liquid, two flexible tubes 7 are respectively provided in the first pump body 1a and the second pump body 1b. The two flexible tubes 7 are symmetrically arranged on both sides of the corresponding mounting base 5. The two ends of the flexible tube 7 on each side are connected to the corresponding mounting base 5 and the inner cavity, respectively. This not only ensures the sealing of the corresponding sterilization air chamber 8 by blocking the opening through the flexible tubes 7 and completely isolates the corresponding piston 2 from the external atmospheric environment, but also does not affect the movement of the connecting rod 6. Specifically, the specific structure of the flexible tube 7 includes, but is not limited to, a bellows, a flexible diaphragm, a flexible film, or an elastic film.

[0036] The sterility of the sterilization chamber 8 is mainly achieved through the overall high-temperature sterilization of this invention, or through production in a sterile production workshop. The sterilization chamber 8 is divided into a first sterilization chamber 81 and a second sterilization chamber 82, which are arranged to the left and right, by the corresponding mounting base 5 and flexible tube 7. The linkage rod 3 is provided with an air passage 4, and the two ends of the air passage 4 are respectively connected to the corresponding first sterilization chamber 81 and second sterilization chamber 82, thereby realizing the connection between the first sterilization chamber 81 and the second sterilization chamber 82. When the piston 2 moves left and right to compress or stretch the flexible tube 7, the total volume of the first sterilization chamber 81 and the second sterilization chamber 82 remains unchanged, thereby ensuring the air pressure balance of the first sterilization chamber 81 and the second sterilization chamber 82.

[0037] The first pump body 1a has two sealed chambers, a first sealed chamber A1 and a second sealed chamber B1, located to the left and right respectively. The left end of the first pump body 1a has a first interface and a second interface, both connected to the first sealed chamber A1. The first interface contains a first one-way valve A1-F1, and the second interface contains a second one-way valve A1-F2. The right end of the first pump body 1a has a third interface and a fourth interface, both connected to the second sealed chamber B1. The third interface contains a third one-way valve B1-F1, and the fourth interface contains a fourth one-way valve B1-F2. The second pump body 1b has two sealed chambers, a fourth sealed chamber B2 and a third sealed chamber A2, located to the left and right respectively. The right end of the second pump body 1b has a fifth interface and a sixth interface, both connected to the third sealed chamber A2. The fifth interface contains a fifth one-way valve A2-F1, and the sixth interface contains a sixth one-way valve A2-F2. The left end of the second pump body 1b is provided with a seventh port and an eighth port, which are respectively connected to the fourth sealed chamber B2. The seventh port is provided with a seventh one-way valve B2-F1, and the eighth port is provided with an eighth one-way valve B2-F2. Specifically, the first port and the fifth port are both connected to the liquid inlet pipe 9, the second port and the sixth port are both connected to the liquid outlet pipe 10, the third port and the seventh port are both connected to the waste liquid inlet pipe 11, and the fourth port and the eighth port are both connected to the waste liquid outlet pipe 12. The eight one-way valves are used to control the flow direction of the liquid and prevent backflow. The specific structure includes, but is not limited to, various forms such as diaphragm type, steel ball type, and duckbill type.

[0038] When the four pistons 2 are driven in conjunction by the electric cylinder drive linkage 6 and move towards the second sealed chamber B1 and the third sealed chamber A2, the liquid self-balancing process is as follows: external liquid is drawn into the first sealed chamber A1 through the liquid inlet pipe 9 and the first one-way valve A1-F1; external waste liquid is drawn into the fourth sealed chamber B2 through the waste liquid inlet pipe 11 and the seventh one-way valve B2-F1; waste liquid in the second sealed chamber B1 is discharged into the waste liquid outlet pipe 12 through the fourth one-way valve B1-F2; and liquid in the third sealed chamber A2 is discharged into the liquid outlet pipe 10 through the sixth one-way valve A2-F2.

[0039] When the four pistons 2 are driven in conjunction by the electric cylinder drive linkage 6 and move towards the first sealed chamber A1 and the fourth sealed chamber B2, the liquid self-balancing process is as follows: external waste liquid is drawn into the second sealed chamber B1 through the waste liquid inlet pipe 11 and the third one-way valve B1-F1; external liquid is drawn into the third sealed chamber A2 through the liquid inlet pipe 9 and the fifth one-way valve A2-F1; liquid in the first sealed chamber A1 is discharged into the liquid outlet pipe 10 through the second one-way valve A1-F2; waste liquid in the fourth sealed chamber B2 is discharged into the waste liquid outlet pipe 12 through the eighth one-way valve B2-F2.

[0040] In summary, by controlling the reciprocating motion of piston 2 through connecting rod 6, liquid can be alternately drawn into the first sealed chamber A1 and the third sealed chamber A2, and alternately discharged from the first sealed chamber A1 and the third sealed chamber A2 into the human body, while ensuring the continuity of liquid flow; at the same time, waste liquid can also be alternately drawn into the second sealed chamber B1 and the fourth sealed chamber B2, and alternately discharged from the second sealed chamber B1 and the fourth sealed chamber B2, so that waste liquid is removed from the human body, while ensuring the continuity of waste liquid flow. Because the cross-sectional areas of pistons 2 in the first sealed chamber A1, the second sealed chamber B1, the third sealed chamber A2, and the fourth sealed chamber B2 are the same and linked, the cooperation between the first sealed chamber A1 and the second sealed chamber B1, and the cooperation between the third sealed chamber A2 and the fourth sealed chamber B2, ensures that the volume changes of liquid and waste liquid are equal in real time. This guarantees that the liquid injected into the human body is equal to the liquid expelled in real time, thereby achieving automatic liquid balance. It has good tolerance to vibration and impact environments and is suitable for mobile applications. Furthermore, by controlling the rotation speed and number of revolutions of the electric cylinder, the movement speed and distance of piston 2 can be precisely controlled, thereby precisely controlling the flow rate and volume of inhaled and exhaled liquid and waste liquid. According to the patient's physical condition and the cross-sectional area of ​​piston 2, the movement speed of piston 2 can be controlled by controlling the electric cylinder to adapt the flow rate of liquid and waste liquid to the patient's body.

[0041] When multiple liquids need to be injected into the human body, multiple pumps of this invention (liquid self-balancing injection pumps) can be used, each pump injecting one liquid into the body and removing an equal amount of waste liquid. For example... Figures 3 to 7 The diagram illustrates an embodiment of three self-balancing liquid injection pumps integrated into a single housing 100. Each pump has three connecting rods 6 that drive four internal pistons 2 in a reciprocating motion, allowing for independent control of the three pumps. Each pump can inject liquid A, liquid B, and liquid C into the human body, while simultaneously removing waste liquid A, waste liquid B, and waste liquid C from the body.

[0042] The front shell plate of the housing 100 has a slot for exposing the three connecting rods 6 of the three self-balancing liquid injection pumps and for avoiding movement of the connecting rods 6. End caps 200 are respectively provided on the left and right sides of the housing 100, located on the left and right sides of the three self-balancing liquid injection pumps and connected to each pump through eight interfaces. The end caps 200 and the housing 100 are sealed together by welding, bonding, or threaded connection. The end caps 200 have internal liquid flow channels for the liquid inlet pipe 9, liquid outlet pipe 10, waste liquid inlet pipe 11, and waste liquid outlet pipe 12 of the three self-balancing liquid injection pumps, thus connecting the liquid paths. The input and output of waste liquid A, waste liquid B, and waste liquid C all converge through the liquid flow channels, thereby reducing the number of external interfaces.

[0043] Specifically, such as Figure 8 As shown, the flow paths for liquids A, B, and C, supplied to the human body by three self-balancing syringe pumps, are illustrated. The outlets / inlets for liquids A, B, and C are respectively located at... Figure 8 The left and right sides. For example... Figure 9 As shown, the liquid flow channels for waste liquid A, waste liquid B, and waste liquid C discharged from the human body by three self-balancing liquid syringe pumps are illustrated. The outlets / inlets of waste liquid A, waste liquid B, and waste liquid C are respectively located at... Figure 9 The left and right sides. For example... Figure 10 As shown, a liquid flow channel is provided to connect the waste liquids of three self-balancing liquid injection pumps. It includes six liquid holes 300, which are connected to the outlets and inlets of waste liquids A, B, and C, respectively. This allows the waste liquids to flow in from the upper right inlet and then be diverted to the three self-balancing liquid injection pumps through the three liquid holes 300 on the right side. The waste liquids flowing out of the three self-balancing liquid injection pumps are then combined through the three liquid holes 300 on the left side and flow out from the upper left outlet.

[0044] When in use, the self-balancing syringe pump connects the liquid inlet pipe 9 to the dialysate, the liquid outlet pipe 10 to the dialysate inlet of the dialyzer, the waste liquid inlet pipe 11 to the waste liquid outlet of the dialyzer, and the waste liquid outlet pipe 12 to the waste liquid collection device. The volume changes of the dialysate and waste liquid are kept constant in real time by the movement of the connecting rod 6, ensuring that the injected and expelled fluids are equal, achieving liquid self-balancing. The movement speed and distance of the piston 2 can be precisely controlled by controlling the connecting rod 6 with the electric cylinder, thus precisely controlling the flow rate and volume of the injected and expelled fluids. Multiple self-balancing syringe pumps can be used when multiple fluids need to be injected into the body.

[0045] A high-precision liquid balance control method for mobile environments, based on a self-balancing injection pump, includes the following steps:

[0046] S1. Select an appropriate number of self-balancing injection pumps according to the type and quantity of the injected liquid, so as to realize the injection of different types of liquids through different self-balancing injection pumps and the discharge of equal amounts of waste liquid.

[0047] S2. After installing each liquid self-balancing syringe pump, start each liquid self-balancing syringe pump.

[0048] S3. Real-time self-balancing of liquid injection and waste liquid discharge by driving the piston 2 in each liquid self-balancing injection pump.

[0049] The present invention has the following main advantages:

[0050] (1) The piston 2 and the inner cavity of the pump body form a structure similar to a syringe. Only by driving the piston 2 to move, it can be ensured that the liquid injected into the human body and the liquid removed are equal in real time, thereby achieving automatic liquid balance. By precisely controlling the movement speed and distance of the piston 2, the flow rate and volume of the liquid injected into the human body and the liquid removed can be precisely controlled.

[0051] (2) By alternately injecting liquid into the human body through the first closed chamber A1 and the third closed chamber A2, and alternately removing liquid from the human body through the second closed chamber B1 and the fourth closed chamber B2, the continuity of liquid flow can be improved.

[0052] (3) By using multiple inventions, multiple liquids can be injected into the human body and an equal amount of waste liquid can be removed from the human body; and by integrating multiple inventions into a single design, the internal liquid flow channel can be used to communicate the liquid path, thereby reducing external pipelines and simplifying installation operations.

[0053] (4) The control of liquid balance does not rely on high-precision sensors such as liquid flow meters, has good tolerance to vibration and shock environments, is suitable for mobile applications, and has a simple control method with high reliability.

[0054] (5) The liquid balance control and liquid pump are integrated into one unit, and the flow distribution is carried out by a one-way valve. Compared with the traditional balance chamber structure, the number of components is reduced, the structure is simplified, and the reliability is higher.

Claims

1. A high-precision liquid balance control method in a mobile environment, based on a self-balancing liquid injection pump, characterized in that: Includes the following steps: S1. Select the appropriate number of self-balancing injection pumps according to the type and quantity of the injected liquid, so as to realize the injection of different types of liquids through different self-balancing injection pumps and the discharge of equal amounts of waste liquid. S2. After installing each liquid self-balancing injection pump, start each liquid self-balancing injection pump; S3. Real-time self-balancing of liquid injection and waste liquid discharge by driving the piston (2) in each liquid self-balancing injection pump.

2. The method for high-precision liquid balance control in a mobile environment according to claim 1, characterized in that: The self-balancing liquid injection pump includes a first pump body (1a) and a second pump body (1b) with the same structure and arranged vertically, a liquid inlet pipe (9), a liquid outlet pipe (10), a waste liquid inlet pipe (11), and a waste liquid outlet pipe (12); the inner cavities of the first pump body (1a) and the second pump body (1b) are each provided with two pistons (2) that are movably sealed to the inner cavity and divide the inner cavity into two sealed cavities and a sterilization air cavity (8) located between the two sealed cavities. The two pistons (2) in the same pump body are fixedly connected by a linkage rod (3) located in the corresponding sterilization air cavity (8) for realizing the linkage of the two pistons (2); the linkage rod (3) of the first pump body (1a) and the linkage rod (3) of the second pump body (1b) are provided with a connecting rod (6) that passes through the first pump body (1a) and the second pump body (1b) and is used to drive the four pistons (2) to link together. The first pump body (1a) has two sealed cavities, namely a first sealed cavity (A1) and a second sealed cavity (B1) arranged left and right. The left end of the first pump body (1a) has a first interface and a second interface respectively communicating with the first sealed cavity (A1), and the right end of the first pump body (1a) has a third interface and a fourth interface respectively communicating with the second sealed cavity (B1). The second pump body (1b) has two sealed cavities, namely a fourth sealed cavity (B2) and a third sealed cavity (A2) arranged left and right. The right end of the second pump body (1b) is provided with a fifth interface and a sixth interface that are respectively connected to the third sealed chamber (A2), and the left end of the second pump body (1b) is provided with a seventh interface and an eighth interface that are respectively connected to the fourth sealed chamber (B2); the first interface and the fifth interface are both connected to the liquid inlet pipe (9), the second interface and the sixth interface are both connected to the liquid outlet pipe (10), the third interface and the seventh interface are both connected to the waste liquid inlet pipe (11), and the fourth interface and the eighth interface are both connected to the waste liquid outlet pipe (12); The first interface is equipped with a first check valve (A1-F1) that controls external liquid to be drawn into the first sealed chamber (A1) through the liquid inlet pipe (9) when the piston (2) moves towards the second sealed chamber (B1) and the third sealed chamber (A2). The seventh interface is equipped with a seventh check valve (B2-F1) that controls external waste liquid to be drawn into the fourth sealed chamber (B2) through the waste liquid inlet pipe (11) when the piston (2) moves towards the second sealed chamber (B1) and the third sealed chamber (A2). The fourth interface is equipped with a fourth check valve (B1-F2) that controls the discharge of waste liquid from the second sealed chamber (B1) into the waste liquid outlet pipe (12) when the piston (2) moves towards the second sealed chamber (B1) and the third sealed chamber (A2). The sixth interface is equipped with a sixth check valve (A2-F2) that controls the discharge of liquid from the third sealed chamber (A2) into the liquid outlet pipe (10) when the piston (2) moves towards the second sealed chamber (B1) and the third sealed chamber (A2). The third interface is equipped with a third check valve (B1-F1) that controls the external waste liquid to be drawn into the second sealed chamber (B1) through the waste liquid inlet pipe (11) when the piston (2) moves towards the first sealed chamber (A1) and the fourth sealed chamber (B2). The fifth interface is equipped with a fifth check valve (A2-F1) that controls the external liquid to be drawn into the third sealed chamber (A2) through the liquid inlet pipe (9) when the piston (2) moves towards the first sealed chamber (A1) and the fourth sealed chamber (B2). The second interface is provided with a second check valve (A1-F2) that controls the liquid in the first sealed chamber (A1) to be discharged into the liquid outlet pipe (10) when the piston (2) moves towards the first sealed chamber (A1) and the fourth sealed chamber (B2). The eighth interface is provided with an eighth check valve (B2-F2) that controls the waste liquid in the fourth sealed chamber (B2) to be discharged into the waste liquid outlet pipe (12) when the piston (2) moves towards the first sealed chamber (A1) and the fourth sealed chamber (B2).

3. The method for high-precision liquid balance control in a mobile environment according to claim 2, characterized in that: The sterilization air chambers (8) of the first pump body (1a) and the second pump body (1b) are respectively provided with mounting seats (5) fixedly sleeved in the middle of the corresponding linkage rod (3) and perpendicular to the linkage rod (3); the connecting rod (6) is Y-shaped, and the two inner ends of the connecting rod (6) are respectively connected to the two mounting seats (5) one by one through the slot structure, and the outer end of the connecting rod (6) away from the two inner ends passes through the first pump body (1a) and the second pump body (1b).

4. The method for high-precision liquid balance control in a mobile environment according to claim 3, characterized in that: The outer end of the connecting rod (6) is connected to an electric cylinder for driving the connecting rod (6) to move so as to drive the piston (2) in conjunction with the connecting rod (6).

5. The method for high-precision liquid balance control in a mobile environment according to claim 3, characterized in that: The first pump body (1a) and the second pump body (1b) are respectively provided with openings for avoiding the connecting rod (6) when the connecting rod (6) moves; the first pump body (1a) and the second pump body (1b) are respectively provided with flexible tubes (7) symmetrically arranged on both sides of the corresponding mounting base (5) and connected to the corresponding mounting base (5) and the inner cavity respectively to block the corresponding openings to ensure the sealing of the corresponding sterilization air chamber (8) and to divide the corresponding sterilization air chamber (8) into the first sterilization air chamber (81) and the second sterilization air chamber (82).

6. The method for high-precision liquid balance control in a mobile environment according to claim 5, characterized in that: The linkage rod (3) is provided with an air passage (4) for connecting the first sterilization air chamber (81) and the second sterilization air chamber (82) corresponding to it to ensure the air pressure balance between the first sterilization air chamber (81) and the second sterilization air chamber (82).

Images