Electromagnetic needleless injector system and method based on series excited machine

Abstract

The invention relates to an electromagnetic needleless injector system and method based on a series excited machine, and the system comprises the series excited machine which is used for driving a plunger rod to move; the displacement monitoring module is used for monitoring the displacement of the plunger rod in real time; the safety condition detection module is used for generating a signal representing whether an injection safety condition is met or not; the control module is connected with the series motor, the displacement monitoring module and the safety condition detection module, and the control module is configured to receive injection parameters set by a user; in response to a signal which is received from the safety condition detection module and indicates that the safety condition is met, controlling the series motor to start according to the injection parameter; in the injection process, closed-loop control is conducted on operation of the series motor according to real-time displacement data fed back by the displacement monitoring module until injection actions corresponding to the injection parameters are completed, and therefore the efficient, accurate, safe and intelligent injection operation requirements of the modern livestock breeding industry are met.

Description

Technical Field

[0001] This invention relates to the field of livestock breeding equipment technology, and in particular to an electromagnetic needleless injector system and method based on a series-wound motor. Background Technology

[0002] In livestock farming, especially in pig farming, immunization and drug administration are crucial for ensuring animal health and preventing diseases. For a long time, needle injectors have been the traditional primary tool for performing these procedures. However, in large-scale practical applications, this technology has gradually revealed many inherent defects and limitations.

[0003] First, there are significant issues regarding animal welfare and operational safety. Because needle insertion causes pain, pigs are prone to strong stress responses during injection, exhibiting behaviors such as struggling and squealing. This not only places a physiological and psychological burden on the animals, affecting their growth performance and immune efficacy, but also significantly increases the difficulty of the operation and the risk of personal injury for operators. Second, there is a conflict between hygiene and disease prevention and cost control. Theoretically, to avoid cross-infection of diseases, each animal or each batch should use a sterile new needle. However, in practice, frequent needle changes directly lead to a significant increase in consumable costs; while reusing needles makes thorough sterilization difficult, posing a significant risk of pathogen transmission and potentially causing group infections. Third, there are shortcomings in injection quality and precision. Traditional needle injections rely heavily on manual injection, making it difficult to achieve precise and uniform control of injection speed, depth, and dosage. Inaccurate dosage may affect drug efficacy or vaccine immunization, while deviations in injection site or depth may lead to drug leakage, poor absorption, or even tissue damage.

[0004] To overcome the aforementioned drawbacks of needle-based injection, needle-free injection technology has emerged and begun to be applied in the livestock industry. Currently, most commercially available needle-free injectors for livestock use employ a spring-driven mechanical mechanism. While these devices eliminate the need for needles, they still have significant shortcomings: First, their driving force relies on the elastic potential energy of the spring, resulting in insufficient power and rapid attenuation, making it difficult to reliably achieve the needs of large-dose, deep intramuscular injections. Second, they are typically designed for fixed doses, failing to flexibly adapt to the differentiated injection needs of different growth stages (such as piglets, finishing pigs, and sows). Third, the overall control process is simple, mostly open-loop control, unable to monitor and dynamically adjust the injection process in real time, making it difficult to guarantee injection stability and consistency. Fourth, they lack intelligent diagnostic and feedback functions for equipment status (such as spring fatigue and component failure), requiring experience for maintenance, which hinders reliable promotion in large-scale, intensive farming scenarios.

[0005] Therefore, existing needle-based injectors and spring-driven needle-free injectors cannot fully meet the demands of modern livestock farming for efficient, precise, safe, and intelligent injection operations. There is an urgent need to develop an injection device and technical solution that offers stronger power, more precise control, adjustable dosage, and intelligent monitoring capabilities. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides an electromagnetic needleless injector system and method based on a series motor, which solves the technical problem that the prior art is unable to fully meet the requirements of modern animal husbandry for efficient, precise, safe and intelligent injection operations.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0010] In a first aspect, embodiments of the present invention provide an electromagnetic needleless injector system based on a series-excited motor, comprising:

[0011] Series-wound motors are used to drive the piston rod.

[0012] The displacement monitoring module is used to monitor the displacement of the plunger rod in real time.

[0013] The safety condition detection module is used to generate signals that characterize whether the injection safety conditions are met.

[0014] The control module is connected to the series motor, the displacement monitoring module, and the safety condition detection module. The control module is configured to: receive injection parameters set by the user; respond to a signal received from the safety condition detection module indicating that the safety conditions are met, control the series motor to start according to the injection parameters; and, during the injection process, perform closed-loop control of the operation of the series motor according to the real-time displacement data fed back by the displacement monitoring module until the injection action corresponding to the injection parameters is completed.

[0015] Optionally, the safety condition detection module includes an enable switch and a trigger switch; the signal indicating that the safety condition is met is generated only when both the enable switch and the trigger switch are triggered by the user.

[0016] Optionally, the displacement monitoring module includes a magnetic scale and a zero-position detection switch; the control module is also configured to: control the piston rod to move until the zero-position detection switch is triggered when the system is powered on and initialized, and use the reading of the magnetic scale at this moment as the zero point of displacement for calibration.

[0017] Optionally, the injection parameters include injection force parameters; the control module is configured to adjust the drive current of the series motor according to the injection force parameters to control the injection thrust.

[0018] Optionally, the system also includes a wireless communication module and a human-computer interaction module; the injection parameters are either user-set injection parameters received through the human-computer interaction module or remotely transmitted injection parameters received through the wireless communication module.

[0019] Optionally, the control module is configured to upload injection operation data to the cloud management system via a wireless communication module; the injection operation data includes at least the injection time, the actual injection dose, and the identification information of the injected animal.

[0020] Optionally, the control module is configured to execute an injection cycle comprising the following steps: after safety conditions are met, controlling the series motor to advance the plunger rod according to the injection parameters; when the target displacement is reached based on real-time displacement data, stopping the advance and controlling the plunger rod to return to the initial position; after the plunger rod returns to the initial position, putting the system into standby mode, waiting to trigger the next injection cycle.

[0021] Optionally, the control module is also configured to control the series motor to perform a braking action when an abnormal state of the device is detected, and to issue an alarm message through the human-machine interaction module.

[0022] In a second aspect, embodiments of the present invention provide an electromagnetic needleless injection control method, which is applied to an electromagnetic needleless injector system based on a series-excited motor as described in any one of the first aspects; the method includes:

[0023] Receives injection parameters set by the user;

[0024] In response to the safety condition detection module confirming that the safety conditions are met, the series excitation motor is started according to the injection parameters.

[0025] During the injection process, the series motor is controlled in a closed loop based on the real-time displacement data fed back by the displacement monitoring module until the target displacement corresponding to the injection parameters is reached.

[0026] Thirdly, embodiments of the present invention provide an electromagnetic needleless injector, which integrates an electromagnetic needleless injector system based on a series motor as described in any one of the first aspects.

[0027] (III) Beneficial Effects

[0028] The beneficial effects of this invention are:

[0029] This application proposes an electromagnetic needle-free injector system and method based on a series-wound motor. First, a series-wound motor replaces the traditional spring as the power source, and the thrust is controllable through current adjustment, completely solving the problems of insufficient driving force and easy attenuation of spring, which cannot meet the needs of intramuscular injection. Second, by receiving the injection parameters set by the user, the same device can flexibly adapt to the differentiated needs of animals at different growth stages, breaking through the limitations of fixed dose design. Third, a fully closed-loop control system based on real-time displacement monitoring is constructed to realize dynamic feedback and precise adjustment of the injection process, ensuring a high degree of consistency between injection dose and depth. Finally, relying on the intelligent architecture of displacement monitoring module, safety condition detection module and control module, a solid foundation is laid for realizing real-time monitoring of equipment status, fault early warning and predictive maintenance, significantly improving the reliability and safety of the equipment in large-scale breeding. Attached Figure Description

[0030] Figure 1 A schematic diagram of an electromagnetic needleless injector system based on a series motor, provided in an embodiment of this application, is shown.

[0031] Figure 2 A flowchart of an electromagnetic needle-free injection control method provided in an embodiment of this application is shown. Detailed Implementation

[0032] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] To meet the demands of modern livestock farming for efficient, precise, safe, and intelligent injection operations, this application proposes an electromagnetic needle-free injector system and method based on a series-wound motor. First, a series-wound motor replaces the traditional spring as the power source, and the thrust is controllable through current adjustment, completely solving the problems of insufficient spring driving force and easy attenuation, which cannot meet the needs of intramuscular injection. Second, by receiving user-set injection parameters, the same device can flexibly adapt to the differentiated needs of animals at different growth stages, breaking through the limitations of fixed-dose design. Third, a fully closed-loop control system based on real-time displacement monitoring is constructed, realizing dynamic feedback and precise adjustment of the injection process, ensuring a high degree of consistency between injection dosage and depth. Finally, relying on the intelligent architecture of the displacement monitoring module, safety condition detection module, and control module, a solid foundation is laid for real-time monitoring of equipment status, fault early warning, and predictive maintenance, significantly improving the reliability and safety of the equipment in large-scale farming.

[0034] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0035] First Embodiment

[0036] Please see Figure 1 , Figure 1 A schematic diagram of an electromagnetic needleless injector system based on a series-wound motor, provided in an embodiment of this application, is shown. Figure 1 As shown, the system includes:

[0037] Series-wound motors are used to drive the piston rod.

[0038] The displacement monitoring module is used to monitor the displacement of the plunger rod in real time.

[0039] The safety condition detection module is used to generate signals that characterize whether the injection safety conditions are met.

[0040] The control module is connected to the series motor, the displacement monitoring module, and the safety condition detection module. The control module is configured to: receive injection parameters set by the user; respond to a signal received from the safety condition detection module indicating that the safety conditions are met, control the series motor to start according to the injection parameters; and, during the injection process, perform closed-loop control of the operation of the series motor according to the real-time displacement data fed back by the displacement monitoring module until the injection action corresponding to the injection parameters is completed.

[0041] Furthermore, when the injection parameters include the injection force parameter, the control module is specifically configured to adjust the drive current of the series motor according to the injection force parameter in order to control the injection thrust.

[0042] It should be understood that the specific motor and its installation position of the series excitation motor can be set according to actual needs, and the embodiments of this application are not limited thereto.

[0043] Optionally, the series excitation motor can use the principle of electromagnetic induction to convert electrical energy into mechanical energy. Through precise control by an external control circuit, it can achieve high thrust and microsecond-level rapid response within a short stroke, achieving a balance between dynamic performance, control accuracy and reliability, and meeting the high thrust requirements for animal muscle layer injection.

[0044] Furthermore, this series-wound motor possesses high starting torque and rapid transient response characteristics (down to the microsecond level), enabling it to generate enormous thrust within a short stroke, sufficient to overcome the resistance of high-viscosity oil adjuvant vaccines and achieve reliable intramuscular injection. The motor output shaft is directly connected to the plunger rod via a rigid coupling, forming a rigid direct-drive structure. To ensure motion accuracy, the plunger rod is guided and supported by at least one pair of high-precision linear bearings, ensuring that it moves along a strictly defined linear trajectory during operation, avoiding radial runout or deviation. By precisely controlling the input current to the motor, the thrust of the plunger rod can be linearly and steplessly adjusted, thereby achieving precise control of the injection force.

[0045] It should also be understood that the specific modules of the displacement monitoring module and their installation locations can be set according to actual needs, and the embodiments of this application are not limited thereto.

[0046] Optionally, the displacement monitoring module includes a magnetic scale and a zero-position detection switch. The reading head of the magnetic scale is fixed to the device housing, and the scale is linked to the plunger rod. It can monitor the absolute displacement of the plunger rod in real time with micron-level resolution and continuously feed the data back to the control module, forming the basis for achieving dose closed-loop control. The zero-position detection switch is used to detect the zero-return state of the plunger rod upon power-on, performing zero-position calibration of the magnetic scale. Additionally, a photoelectric or mechanical limit switch can be installed at the physical zero position (fully retracted position) of the plunger rod, providing an absolute position reference point for the magnetic scale each time the device is powered on and initialized, completing the "zeroing" and "calibration" processes.

[0047] Based on the above, the control module is also configured to: control the piston rod to move until the zero-position detection switch is triggered when the system is powered on and initialized, and use the reading of the magnetic scale at this moment as the zero point of displacement for calibration.

[0048] For example, after the equipment is powered on and started, the control module first drives the series motor to slowly move the plunger rod in the direction of full retraction (i.e., the "zeroing" direction). During this process, the magnetic scale in the displacement monitoring module continuously outputs position readings, but these readings are only used as a relative reference at this stage.

[0049] When the plunger rod reaches the final limit of its physical stroke, it triggers a zero-position detection switch fixed to the housing. Upon detecting this trigger signal, the control module immediately stops the motor and simultaneously captures and records the precise reading output by the magnetic scale. The control module permanently defines this specific reading as the absolute displacement zero point (or "software zero") for the entire injection stroke within its internal software.

[0050] After this calibration is completed, the system establishes a stable and repeatable absolute position coordinate system. Thereafter, at any given time, the absolute displacement of the plunger rod can be obtained by calculating the difference between the current magnetic scale reading and the calibrated zero-point reading.

[0051] It should also be understood that the specific modules and their installation locations of the safety condition detection module can be set according to actual needs, and the embodiments of this application are not limited thereto.

[0052] Optionally, the safety condition detection module consists of two independent mechanical electronic switches: an enable switch actively triggered by the operator, and a trigger switch located at the injection nozzle and triggered by stable contact with the surface of the injected object. A signal indicating that the injection safety conditions are met is generated only when the control module detects that the level signals of the enable switch and the trigger switch simultaneously change from an inactive state (e.g., low level) to an active state (e.g., high level, i.e., both triggered by the user) and remain active. This method directly enforces the requirement of both "human confirmation" and "stable contact" through hardware circuitry, fundamentally preventing accidental operation.

[0053] Optionally, the safety condition detection module includes an enable switch and a contact detection mechanism disposed at the nozzle end. One specific embodiment of the contact detection mechanism is as follows: an axially sliding metal trigger ring forms the contact end face of the nozzle, with a return spring abutting behind it; an inductive proximity switch is fixedly installed at the end of the travel stroke behind the metal trigger ring. When the nozzle presses vertically against the animal skin with appropriate pressure, the trigger ring retracts under force and compresses the spring; when the compression stroke reaches a set position, indicating that the contact has reached a preset stable pressure, the metal trigger ring enters the effective sensing area of ​​the proximity switch, triggering the switch to generate a valid electrical signal.

[0054] Furthermore, the generation of the signal characterizing the satisfaction of injection safety conditions must simultaneously meet the following two conditions: First, the enable switch is continuously triggered by the user and remains effective; second, the contact detection mechanism (inductive proximity switch in the above implementation scheme) is triggered, and its trigger state must be stably maintained for more than a set minimum time (e.g., 200 milliseconds).

[0055] This method, through the dual mechanisms of "mechanical stroke compression in place" and "stable and continuous electrical signal", can not only reliably determine whether physical contact has occurred, but also effectively identify whether the contact has reached a stable and forceful state. This avoids false triggering caused by sudden animal movement or insufficient contact pressure, and ensures reliable contact between the nozzle and the injection site before injection is initiated.

[0056] It should be noted that although the above description uses a specific implementation of a contact detection mechanism as an example, those skilled in the art should understand that it can be configured according to actual needs. For example, the contact detection mechanism can also be a pressure sensor, etc.

[0057] Optionally, the safety condition detection module includes a compound limit switch with two defined travel levels. A signal characterizing that the injection safety condition is met is generated only when the control module detects that the compound switch has been pressed for a full duration through the first travel level (corresponding to enable) and finally reaches and remains in the second travel level (corresponding to trigger).

[0058] Optionally, the safety condition detection module includes an enable switch, a pressure sensor, and a biometric identifier. A signal characterizing that the injection safety conditions are met is generated by satisfying a complex chain of conditions: first, the enable switch is triggered; second, physical contact is confirmed by the pressure sensor; and finally, the biometric identifier confirms that the characteristics of the contacting material match a preset biological tissue feature model.

[0059] It should also be understood that the specific modules of the control module and their installation locations can be set according to actual needs, and the embodiments of this application are not limited thereto.

[0060] Optionally, the control module may include a microcontroller, a motor drive circuit, and a signal conditioning and acquisition circuit. The microcontroller may be configured to: run a closed-loop control algorithm; process all input signals from the safety condition detection module, displacement monitoring module, etc.; generate pulse width modulation (PWM) signals and direction signals for controlling the series motor; manage the display output of the human-machine interface module; and handle data exchange with the wireless communication module.

[0061] The motor drive circuit can use a high-power H-bridge driver chip, connected to a microcontroller, to provide adjustable voltage and adjustable current drive power to the series motor according to the received PWM signal and direction signal, and realize the forward rotation, reverse rotation and fast braking control of the motor.

[0062] The signal conditioning and acquisition circuit can be connected to the microcontroller, displacement monitoring module and each safety switch respectively. It is used to receive, filter and digitize the differential signal output by the magnetic scale, as well as to debouncing and level conversion of the input signals of each mechanical switch for reliable reading by the microcontroller.

[0063] See also Figure 1The system also includes a wireless communication module and a human-machine interaction module. The wireless communication module typically uses an integrated chip module supporting protocols such as Wi-Fi, Bluetooth, or 4G, and connects to the main control microcontroller via a serial interface. Its core function is bidirectional data exchange: on the one hand, after each injection, it automatically uploads a data package containing information such as timestamps, actual injection dosage, and animal identification to the cloud management system, achieving paperless and precise traceability; on the other hand, it receives remote instructions from the cloud, such as batch parameter distribution (e.g., injection parameters) and firmware upgrades, enabling centralized and efficient management of the equipment. This module integrates a single injection device into the entire farm's digital management network, significantly improving management efficiency and traceability.

[0064] The human-machine interface module serves as the local interface for intuitive interaction between the operator and the equipment. Hardware-wise, it primarily includes a color LCD touchscreen, key physical buttons (such as power on / off and emergency stop buttons), multi-color LED indicators (such as tri-color lights), and a buzzer. On the software side, a graphical user interface provides visualized settings and real-time display of injection parameters such as dosage and force, dynamically shows the injection progress, and displays clear text alarm messages and handling instructions when the equipment self-checks or malfunctions. Physical buttons and audible / visual indicators provide redundant and immediate status feedback and ensure safe operation. These two modules work together to form the system's capability of "intuitive local interaction and remote intelligent control," significantly reducing operational complexity and supporting the core requirements of efficient, standardized, and traceable equipment in large-scale farming. The multi-color indicator lights display the equipment's operating status, such as standby, injection complete, and abnormal alarm, providing immediate and clear status feedback (such as ready, injection in progress, warning, and fault) and alarm prompts through color and sound without requiring the operator to look at the screen.

[0065] For example, via the touchscreen, operators can access the parameter setting interface to easily adjust the injection dosage and force. The dosage can be adjusted steplessly in tiny increments within the set range, while the force can be selected from preset levels (such as "gentle," "standard," and "strong") or customized for fine-tuning. The system can save customized parameter presets for pigs at different growth stages, such as "piglet," "finishing pig," and "sow," enabling one-click recall and precise adaptation to differentiated needs.

[0066] For example, the main interface can display key system statuses in real time, such as battery percentage, allowing operators to clearly understand the battery life and plan charging in advance to avoid work interruptions. The equipment continuously performs self-diagnosis during operation. Once any abnormality is detected (such as motor overload, sensor failure, communication interruption, etc.), the system will automatically trigger an audible and visual alarm and display the specific fault code and handling prompts in a prominent pop-up window on the touchscreen, achieving synchronous feedback of abnormal status.

[0067] For example, once safety conditions are met and parameters are set, the operator only needs one confirmation action to start the injection operation with a single button. The system then automatically completes the entire process from start-up and initiation, closed-loop control, to termination and reset, greatly simplifying the operation.

[0068] For example, the system automatically records every injection operation, with core data including the number of injections, time, dosage, and parameters used. This data can be stored locally and automatically uploaded to the cloud management system via wireless communication, forming a complete electronic traceability file. On the other hand, administrators can send standardized preset injection parameter packages to different batches or pens of pigs with a single click on the cloud platform. Upon receiving the package, the device automatically updates its local settings, allowing operators to directly use the latest parameters for injection operations without any additional manual adjustments, ensuring the uniformity and accuracy of immunization programs in large-scale farming.

[0069] It should also be understood that, in addition to the system Figure 1 In addition to the modules shown, the system may include more modules, and the functions of the included modules can be set according to actual needs. This application embodiment is not limited to this.

[0070] For example, the system may also include a trigger-activated injection switch connected to a microcontroller, which can be installed inside the nozzle guard assembly at the front of the device. The trigger mechanism of this injection switch is mechanically linked to the nozzle guard, and its design ensures that the switch is reliably triggered only when the nozzle is pressed vertically and stably against the surface of the animal being injected with appropriate pressure, causing the guard to fully retract into place. This design ensures that the injection action is initiated only when the nozzle and injection site achieve complete and stable contact, fundamentally preventing drug splashing or insufficient injection depth due to poor contact, and providing a crucial physical guarantee for safe and effective injection.

[0071] For example, the system may also include a power management module responsible for providing a stable and reliable power supply and management for the entire electromagnetic needle-free injector system. This module may include a lithium battery pack, battery protection circuitry, multiple DC-DC voltage converters, and a charging management unit. The power management module can efficiently and stably convert the voltage of the built-in lithium battery (e.g., 24V) into different operating voltages required by various components within the system (e.g., providing high-current drive power for the series motor, and providing low-voltage digital power such as 5V and 3.3V for the control module, sensors, and display). Simultaneously, the power management module monitors the battery level in real time and displays the information intuitively on the human-machine interface through the control module, providing early warnings when the battery is too low, effectively preventing operational interruptions due to sudden power outages. Furthermore, the module also features overcharge, over-discharge, overcurrent, and short-circuit protection functions, comprehensively ensuring the system's electrical safety and hardware lifespan.

[0072] For example, the system can also install an RFID reader / writer unit at the vial interface, which is directly connected to the control module via a data bus. Furthermore, when a passive electronic tag is affixed to the dedicated vial, the reader / writer unit automatically reads the drug identification information (such as name and batch number) stored in the tag when the vial is installed. The control module compares this information with the current immunization schedule set locally via the human-machine interface module or downloaded from the cloud via the wireless communication module. If the comparison fails, the control module immediately locks the injection function and issues a clear alarm through the display screen and audio-visual unit of the human-machine interface module; if the comparison succeeds, the drug information is automatically linked to all subsequent injection records using the vial and uploaded via the wireless communication module, achieving precise traceability throughout the entire chain. This module eliminates medication errors at the source.

[0073] For example, the system may also include a miniature bioimpedance sensing array integrated inside the injection nozzle, with its signal output connected to a high-speed analog-to-digital converter within the control module. During the extremely short time (milliseconds) of drug injection, this array synchronously monitors the transient impedance changes caused by the drug flow penetrating skin tissue. The control module performs real-time matching analysis between the acquired impedance characteristic curve and a pre-stored feature model representing a successful intramuscular injection. Based on the analysis results, the control module not only completes basic displacement closed-loop control but also generates a validity assessment of the injection tissue depth (e.g., "effective," "subcutaneous," "suspected"), immediately displaying the assessment result on the screen of the human-machine interface module, and simultaneously storing and uploading it along with the current operation data.

[0074] For example, the system may also include a contact pressure pre-detection sensor, typically installed near the trigger switch at the nozzle, with its signal independently input to the control module. First, before the nozzle contacts the skin and the trigger switch is activated, the control module uses this pre-detection sensor to obtain the initial contact pressure value. Based on this, it makes initial fine adjustments to the injection force parameters (motor current curve) to adapt to the skin tightness of different animals. Second, during each injection, the control module analyzes the correspondence between the actual current-time curve of the series-wound motor and the displacement-time curve fed back by the displacement monitoring module, forming the "efficiency characteristics" of this injection. This characteristic data is accumulated and used to optimize the internal parameter model, enabling the system to automatically call upon better injection parameters when facing similar contact pressures, achieving continuous self-optimization.

[0075] In addition, the control module is configured to execute an injection cycle that includes the following steps: after safety conditions are met, the series motor is controlled to advance the plunger rod according to the injection parameters; when the target displacement is reached according to real-time displacement data, the advancement is stopped and the plunger rod is controlled to return to the initial position; after the plunger rod returns to the initial position, the system enters a standby state, waiting to trigger the next injection cycle.

[0076] For example, once the control module confirms that the "injection safety conditions are met" (i.e., simultaneously detecting valid signals from both the enable and trigger switches), it immediately calculates the target displacement of the plunger rod and the corresponding motor drive command based on the pre-set injection parameters (including dosage and force). Subsequently, the control module starts the series motor, driving the plunger rod forward in the preset direction according to the command, initiating the drug injection process. During this process, the control module continuously receives real-time displacement feedback data from the displacement monitoring module (such as a magnetic scale). The internal algorithm of the control module dynamically compares this real-time data with the target displacement value and adjusts the motor current in a closed loop accordingly to ensure accurate and stable injection. When the real-time displacement data reaches the preset target displacement value, the control module determines that the injection dose has been administered, immediately issues a command to stop the motor's advance, and controls the motor drive circuit to enter braking mode, causing the plunger rod to momentarily stop. After the drug injection is completed, the control module automatically initiates a reset sequence: controlling the series motor to rotate in reverse, driving the plunger rod back to its initial position. During this process, the displacement monitoring module continuously provides position information. Once it is confirmed that the plunger rod has returned to the initial position determined by the displacement monitoring module or the zero-position detection switch, the control module stops the motor and completes the reset. Subsequently, the control module updates the system's internal status to "ready" and displays a corresponding prompt on the human-machine interface module (such as a solid green light), putting the entire system into a low-power standby state. At this point, the equipment is ready to respond to the next safety trigger signal and start a new injection cycle.

[0077] In addition, the control module is also configured to control the series motor to perform a braking action when an abnormal state of the equipment is detected, and to issue an alarm message through the human-machine interaction module.

[0078] For example, the control module continuously analyzes voltage and current signals from the power management module, motion trajectory data from the displacement monitoring module, the status of the motor drive circuit, and feedback from various sensors to diagnose the health of the equipment in real time. Once an abnormal state such as battery undervoltage, motor overcurrent or overheating, plunger movement jamming, or sensor signal failure is detected, the control module will immediately activate the preset safety protection process: First, it will send a high-priority emergency braking command to the motor drive circuit, forcing the series motor to stop and lock, regardless of the equipment's operating stage, to prevent the abnormality from escalating or causing mechanical damage; Second, it will simultaneously activate clear multiple alarms through the human-machine interface module, i.e., a pop-up alarm window on the display screen with prominent text indicating the specific fault information (such as "E02: Reset Timeout"), while the control status indicator light flashes red and triggers the buzzer to sound, ensuring that the operator can perceive the problem immediately; Finally, the system will automatically enter a safety lock state, prohibiting the response to any new injection commands, and record and upload the relevant data of this abnormal event to the cloud management platform, thus realizing a fully automatic safety closed loop from abnormality detection, immediate braking, clear alarms to system locking, significantly improving the operational reliability and safety of the equipment in complex aquaculture environments, and effectively preventing production risks that may be caused by equipment failure.

[0079] Based on the above, and to facilitate understanding of the embodiments of this application, a complete intelligent injection operation process is described below.

[0080] Specifically, after the equipment is powered on, the control module starts and first performs system initialization. The control module drives the series motor, causing the plunger rod to slowly move towards full retraction. When the plunger rod reaches its mechanical limit position and triggers the fixed zero-position detection switch, the control module immediately captures and records the reading fed back by the high-precision magnetic scale at this moment, setting it as the absolute software "zero position" for the entire injection stroke. After this benchmark calibration is completed, all sensors and actuators are in a stable state, and the equipment enters a stable standby state indicated by the green indicator light, ready for operation.

[0081] Subsequently, when the operator begins the operation, they must first actively press and hold the enable button switch on the device handle, which puts the system into the "ready" state. Then, the operator vertically aligns the device nozzle with and firmly presses it against the injection site on the animal (e.g., the neck of a pig), causing the nozzle guard to retract under pressure, thereby triggering the trigger injection switch located inside. The control module performs real-time logic monitoring of the two switch signals. Only when the enable switch and trigger switch are simultaneously and continuously in a valid closed state does the control module ultimately determine that "injection safety conditions are met" and generate an injection start command.

[0082] Subsequently, once the safety conditions are met, the control module immediately calculates the target displacement value of the plunger rod and the corresponding initial drive current of the motor based on preset injection parameters (including target dose and injection force). The control module then starts the series-wound motor, pushing the plunger rod forward according to the set current. During this process, a magnetic scale linked to the plunger rod monitors displacement changes in real time at an extremely high frequency and continuously feeds feedback to the control module. The core control algorithm (such as a PID algorithm) running within the control module dynamically compares the real-time displacement with the preset ideal propulsion curve, and dynamically adjusts the motor current by adjusting the duty cycle of the pulse width modulation (PWM) signal output to the motor in real time, thereby compensating for and correcting deviations caused by changes in drug viscosity or tissue resistance in real time. This dynamic adjustment mechanism based on real-time displacement feedback constitutes a "fully closed-loop control," ensuring extreme stability of the injection process and high accuracy of the final dose (error ≤ ±0.01mL).

[0083] Subsequently, when the control module determines, based on displacement monitoring data, that the plunger rod has precisely reached the target displacement point, it indicates that the medication has been dispensed according to the preset dosage, and the injection action is complete. The control module immediately instructs the motor drive circuit to enter braking mode, causing the plunger rod to stop instantly. Then, the system initiates an enhanced automatic reset process: the control module drives the series motor in reverse, causing the plunger rod to retract to its initial position. The system continuously monitors the zero-position detection switch; once a trigger is confirmed, the motor immediately stops, completing the physical reference positioning. Simultaneously, the control module synchronously verifies whether the magnetic scale reading has returned to the software zero position, achieving synchronous electrical position verification. If both verifications pass, the reset is considered successful, the system updates its internal status, prompts the operator through the human-machine interface module, and the equipment immediately enters standby mode, preparing for the next injection. If the reset times out or fails, the system will lock the equipment and issue an audible and visual alarm to prevent operation while malfunctioning.

[0084] Furthermore, throughout the entire operation, the control module automatically collects and generates structured injection operation data, including timestamps, preset / actual doses, injection results, equipment status, and animal identification information. This data packet is stored locally. When the device connects to the network via the wireless communication module, the data is automatically uploaded to the cloud management system, forming a traceable electronic record.

[0085] In summary, by utilizing the aforementioned technical solutions, this application first replaces the traditional spring with a series-wound motor as the power source, achieving controllable thrust through current regulation. This completely solves the problems of insufficient spring driving force and easy attenuation, which prevent it from meeting the needs of intramuscular injection. Secondly, by receiving injection parameters set by the user, the same device can flexibly adapt to the differentiated needs of animals at different growth stages, breaking through the limitations of fixed-dose design. Furthermore, a fully closed-loop control system based on real-time displacement monitoring is constructed, realizing dynamic feedback and precise adjustment of the injection process, ensuring a high degree of consistency between injection dosage and depth. Finally, relying on the intelligent architecture of the displacement monitoring module, safety condition detection module, and control module, a solid foundation is laid for realizing real-time monitoring of equipment status, fault early warning, and predictive maintenance, significantly improving the reliability and safety of the equipment in large-scale farming.

[0086] It should be understood that the above-described electromagnetic needleless injector system based on a series motor is merely exemplary, and those skilled in the art can make various modifications based on the above method, and such modified solutions also fall within the protection scope of this application.

[0087] Second Embodiment

[0088] Please see Figure 2 , Figure 2 A flowchart of an electromagnetic needleless injection control method provided in an embodiment of this application is shown. Specifically, the method is applied to the electromagnetic needleless injector system based on a series-excited motor described in the first embodiment; the method includes:

[0089] Step S210: Receive the injection parameters set by the user;

[0090] Step S220: In response to the safety condition detection module confirming that the safety condition is met, the series motor is controlled to start according to the injection parameters;

[0091] In step S230, during the injection process, the series motor is controlled in a closed loop based on the real-time displacement data fed back by the displacement monitoring module until the target displacement corresponding to the injection parameters is reached.

[0092] It should be noted here that... Figure 2 For details of each step, please refer to the relevant description in the first embodiment, which will not be repeated here.

[0093] Third Embodiment

[0094] This application also provides an electromagnetic needleless injector that integrates an electromagnetic needleless injector system based on a series motor as described in the first embodiment.

[0095] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0097] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0098] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0099] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0100] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. An electromagnetic needle-free injector system based on a series motor, characterized in that, include: Series-wound motors are used to drive the piston rod. A displacement monitoring module is used to monitor the displacement of the plunger rod in real time; The safety condition detection module is used to generate signals that characterize whether the injection safety conditions are met. A control module, connected to the series motor, the displacement monitoring module, and the safety condition detection module, is configured to: receive injection parameters set by the user; respond to a signal received from the safety condition detection module indicating that safety conditions are met, control the series motor to start according to the injection parameters; and, during the injection process, perform closed-loop control of the operation of the series motor based on real-time displacement data fed back by the displacement monitoring module until the injection action corresponding to the injection parameters is completed.

2. The system according to claim 1, characterized in that, The safety condition detection module includes an enable switch and a trigger switch; the signal indicating that the safety condition is met is generated only when both the enable switch and the trigger switch are triggered by the user.

3. The system according to claim 1, characterized in that, The displacement monitoring module includes a magnetic scale and a zero-position detection switch; the control module is also configured to: control the piston rod to move until the zero-position detection switch is triggered when the system is powered on and initialized, and use the reading of the magnetic scale at this moment as the zero displacement point for calibration.

4. The system according to claim 1, characterized in that, The injection parameters include the injection force parameter; the control module is configured to adjust the drive current of the series motor according to the injection force parameter to control the injection thrust.

5. The system according to claim 1, characterized in that, The system also includes a wireless communication module and a human-computer interaction module; the injection parameters are either user-set injection parameters received through the human-computer interaction module or remotely transmitted injection parameters received through the wireless communication module.

6. The system according to claim 5, characterized in that, The control module is configured to upload injection operation data to the cloud management system via the wireless communication module; the injection operation data includes at least the injection time, the actual injection dose, and the identification information of the injected animal.

7. The system according to claim 1, characterized in that, The control module is configured to execute an injection cycle comprising the following steps: after the safety conditions are met, controlling the series motor to advance the plunger rod according to the injection parameters; when the target displacement is reached according to the real-time displacement data, stopping the advancement and controlling the plunger rod to return to the initial position; after the plunger rod returns to the initial position, putting the system into standby mode, waiting to trigger the next injection cycle.

8. The system according to claim 1, characterized in that, The control module is also configured to control the series motor to perform a braking action when an abnormal state of the device is detected, and to issue an alarm message through the human-machine interaction module.

9. An electromagnetic needle-free injection control method, characterized in that, The method is applied to an electromagnetic needleless injector system based on a series-excited motor as described in any one of claims 1 to 8; the method includes: Receives injection parameters set by the user; In response to the safety condition detection module confirming that the safety condition is met, the series excitation motor is controlled to start according to the injection parameters; During the injection process, the series motor is controlled in a closed loop based on the real-time displacement data fed back by the displacement monitoring module until the target displacement corresponding to the injection parameters is reached.

10. An electromagnetic needle-free injector, characterized in that, An electromagnetic needleless injector system based on a series-wound motor, as described in any one of claims 1 to 8, is integrated.

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