A cardiopulmonary resuscitation machine step-by-step PID control method, system, medium and product

Abstract

The application provides a cardiopulmonary resuscitation machine step-by-step PID control method, system, medium and product, and relates to the technical field of automatic control. The method comprises the following steps: presetting a target pressing speed and a maximum acceleration, and then driving a pressing head to perform pressing; in the pressing process, an actual speed of the pressing head is collected in real time by a speed detection module, a PID control module combines the actual speed, the target pressing speed and the maximum acceleration, and calculates a phased actual target speed to be tracked at present; then, the PID control module outputs a control signal according to the actual target speed, drives a servo motor in a pressing execution module to act, and makes the pressing head complete the external chest compression action as required, so that smooth and accurate pressing control is realized. The method can effectively weaken the deviation mutation of the traditional PID starting moment, avoid the saturation caused by the excessive accumulation of the integral element, simultaneously consider the control response speed and stability, and improve the control precision in the initial stage of cardiopulmonary resuscitation.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a stepping PID control method, system, medium and product for a cardiopulmonary resuscitation machine. Background Technology

[0002] A cardiopulmonary resuscitation (CPR) machine is a medical device used to replace manual cardiopulmonary resuscitation (CPR). It uses mechanical devices to simulate manual compressions and ventilations, ensuring a continuous blood circulation and oxygen supply to the patient during cardiac arrest. Traditional CPR machines often employ PID control algorithms to adjust the speed and depth of the compression head to achieve stable compression results. However, with the development of medical technology, higher demands are placed on the control precision and response speed of CPR machines, especially in emergency situations where rapid start-up and stable operation of the equipment are crucial.

[0003] Currently, the control of cardiopulmonary resuscitation (CPR) machines mainly adopts the traditional PID control algorithm. This algorithm adjusts the system output through three components: proportional (P), integral (I), and derivative (D), in order to achieve precise control of the compression head speed and depth.

[0004] However, in traditional PID control, a significant difference exists between the target speed and the actual speed at startup, leading to excessive accumulation of the integral term (integral saturation), which affects the system's dynamic response and stability. Furthermore, while some high-end devices employ fuzzy control or adaptive control algorithms, these methods are complex to implement and costly, making them difficult to widely apply in common equipment. Summary of the Invention

[0005] This application provides a stepping PID control method, system, medium, and product for cardiopulmonary resuscitation (CPR) machines, used to optimize the compression control accuracy of CPR machines.

[0006] In a first aspect, this application provides a stepping PID control method for a cardiopulmonary resuscitation (CPR) machine, applied to a stepping control system for a CPR machine. The system includes a speed detection module, a PID control module, a compression execution module, and a compression head. The method includes: after setting the target compression speed and maximum acceleration, driving the compression head to perform compression; during the compression process, monitoring the actual speed of the compression head in real time through the speed detection module; based on the actual speed, the target compression speed, and the maximum acceleration, calculating the actual target speed through the PID control module, where the actual target speed is the phased speed target that the PID control module needs to track; and based on the actual target speed, outputting a control signal through the PID control module to drive the servo motor in the compression execution module, so that the compression head performs the compression action.

[0007] By adopting the above technical solution, this method abandons the conventional logic of traditional PID control that directly tracks the final target speed. Instead, it introduces a maximum acceleration constraint and a phased actual target speed calculation mechanism. The target speed and maximum acceleration are preset before compressions begin, thus avoiding excessive deviation in the initial stage. The speed detection module collects the actual speed in real time, providing precise feedback to the PID control module. The PID module no longer directly outputs control quantities but first calculates the phased tracking target based on the actual speed, target speed, and maximum acceleration, and then drives the servo motor based on this target. This linkage mechanism effectively weakens the sudden deviation at the moment of traditional PID control, avoids excessive accumulation of integral components leading to saturation, and simultaneously considers control response speed and stability. This results in a smoother start-up of the compression head, ensuring the compression speed conforms to emergency care standards throughout, significantly improving control accuracy in the initial stage of CPR, and guaranteeing the stability of blood circulation supply for cardiac arrest patients in the early stages of emergency care.

[0008] In conjunction with some embodiments of the first aspect, in some embodiments, the step of calculating the actual target speed based on the actual speed, the target pressing speed, and the maximum acceleration by the PID control module specifically includes: calculating the difference between the actual speed and the target pressing speed; calculating the product of the maximum acceleration and the current control cycle duration to obtain the single-step maximum speed increment; determining the relationship between the difference and the single-step maximum speed increment; when the difference is greater than or equal to the single-step maximum speed increment, using the sum of the actual speed and the single-step maximum speed increment as the actual target speed; when the difference is less than the single-step maximum speed increment, using the target pressing speed as the actual target speed.

[0009] By adopting the above technical solution, this step achieves the core logic of step-by-step speed control through three progressive operations: difference calculation, single-step increment calculation, and magnitude judgment. First, the deviation between the actual and target speeds is calculated. Then, the maximum allowable speed increase per step is determined by combining the control cycle and maximum acceleration. Step-by-step acceleration is achieved through two-level numerical comparison. When the deviation is greater than the single-step increment, the speed is gradually increased by the maximum increment, rather than jumping to the target speed all at once. When the deviation is small, the target speed is directly locked. This step-by-step tracking method avoids mechanical shocks and system overshoot caused by sudden speed changes by limiting the increment, while ensuring the continuity of speed increases. It completely solves the pain points of overshoot and oscillation in traditional PID control. Furthermore, the algorithm's calculation logic is extremely simple, requiring low computing power from the main control hardware and can be implemented without additional hardware upgrades. It is suitable for the mass production and promotion of widely used cardiopulmonary resuscitation machines, balancing control stability and equipment cost advantages.

[0010] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes: obtaining the current position of the pressing head and the target pressing depth; calculating in real time the remaining distance from the pressing head to the target pressing depth based on the current position and the target pressing depth; and dynamically adjusting the value of the maximum acceleration based on the remaining distance so that the speed of the pressing head approaches zero when it reaches the target pressing depth.

[0011] By adopting the above technical solution, this method adds a position closed-loop feedback and dynamic acceleration adjustment mechanism to the existing speed closed-loop control. Compared with fixed acceleration control, this solution achieves dual coordinated control of speed and position. Its core function is to prevent overshoot caused by excessive speed when the compression head reaches the target depth, thus preventing damage to the patient's chest cavity due to excessive compression depth, and simultaneously eliminating the impact of insufficient compression on the emergency response. By using the residual distance to constrain acceleration, the movement state of the compression head is always adapted to the target position, gradually and smoothly transitioning the operating speed to a state close to zero. This ensures accurate compression depth, conforming to the clinical operation standards of cardiopulmonary resuscitation, while also reducing mechanical impact wear, extending the service life of the equipment, and improving the safety and accuracy of the compression action.

[0012] In conjunction with some embodiments of the first aspect, in some embodiments, the step of dynamically adjusting the value of the maximum acceleration based on the remaining distance specifically includes: determining whether the remaining distance is less than or equal to a preset deceleration threshold distance; when the remaining distance is less than or equal to the deceleration threshold distance, calculating the deceleration acceleration based on the remaining distance and the actual speed; comparing the deceleration acceleration with a preset maximum deceleration and taking the smaller value as the adjusted maximum acceleration; when the remaining distance is greater than the deceleration threshold distance, keeping the maximum acceleration unchanged.

[0013] By adopting the above technical solution, this step refines the adjustment logic of dynamic acceleration, sets a deceleration threshold distance as the control boundary point, and achieves segmented precise speed control. First, it determines whether the remaining distance enters the deceleration zone, and then calculates the appropriate acceleration accordingly. In the non-deceleration zone, the original maximum acceleration is maintained to ensure efficient compression. Once in the deceleration zone, a specific deceleration acceleration is calculated based on the actual speed and remaining distance, and then compared with the preset maximum deceleration, taking the smaller value. This ensures sufficient deceleration to allow the compression head to smoothly reach the target position, while preventing excessive deceleration from causing pauses or interruptions in compression continuity. This dual constraint mechanism of threshold judgment and numerical optimization makes the deceleration process smoother and more controllable, avoiding system oscillations caused by sudden deceleration, further enhancing depth control accuracy, and ensuring a smooth and uninterrupted compression motion throughout, meeting the core emergency needs of continuous and stable CPR.

[0014] In conjunction with some embodiments of the first aspect, in some embodiments, the step of calculating the deceleration acceleration based on the remaining distance and the actual speed specifically includes: calculating, based on the remaining distance and the actual speed, the theoretical deceleration acceleration required to make the velocity of the pressing head zero at the target pressing depth according to kinematic formulas, wherein the formula for calculating the theoretical deceleration acceleration is: ;in For the theoretical deceleration acceleration, For this actual speed, The remaining distance is given; the theoretical deceleration acceleration is determined as the deceleration acceleration.

[0015] By adopting the above technical solution, this step uses standardized kinematic formulas to calculate theoretical deceleration acceleration, deeply integrating physical motion laws with PID control, abandoning empirical parameter settings, and achieving precise quantitative control. Using two real-time feedback parameters—actual speed and remaining distance—the theoretical acceleration that allows the compression head to reach zero speed at the target depth is directly calculated, transforming deceleration control from fuzzy regulation to precise quantitative control, completely eliminating errors and uncertainties from manually set parameters. This calculation method is highly efficient, requiring no complex algorithm iterations. It ensures the compression head accurately stops at the target depth without overshoot or undershoot, significantly reducing depth control errors, without increasing the system's computational load. Combined with step-type PID control logic, it further optimizes the system's dynamic response and steady-state accuracy, ensuring that compression depth control fully meets the stringent standards of clinical emergency care, improving the clinical applicability of the equipment.

[0016] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes: obtaining the initial position of the pressing head, the target pressing depth, and the number of pressings; after a single pressing is completed, determining whether the pressing head has reached the target pressing depth; when the target pressing depth is reached, controlling the pressing head to return to the initial position at a preset return speed; repeating the pressing action until the number of pressings is completed or a stop command is received.

[0017] By adopting the above technical solution, this method improves the full-cycle cyclic control logic of the cardiopulmonary resuscitation (CPR) machine. It first presets the initial position, target depth, and number of compressions, achieving a closed-loop connection between each compression and the return motion. After a single compression is performed, the compression head is controlled to smoothly return to the initial position at a preset return speed, following a step-by-step PID control logic throughout to avoid excessively fast or slow return speeds affecting cycle efficiency. The cycle is repeated until the set number of compressions is completed or a stop command is received. This ensures a stable and compliant compression frequency, meeting the standard CPR compression frequency requirements, and reduces manual intervention and the workload of emergency responders through a standardized cycle. Simultaneously, the smooth connection between the return and compression actions avoids the impact and vibration caused by mechanical reciprocating motion, ensuring continuous and stable operation of the equipment, adapting to long-term CPR emergency scenarios, and maintaining continuous blood circulation and oxygen supply.

[0018] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes: during the pressing process, monitoring the pressing force applied by the pressing head in real time through a pressure sensor; when the pressing force exceeds a preset safety threshold, immediately reducing the actual target speed or stopping the pressing action of the pressing head, and outputting an alarm signal.

[0019] By adopting the above technical solution, this method adds a pressure safety monitoring and emergency protection mechanism to the existing speed and position closed-loop control. It collects compression force data in real time through pressure sensors, forming a multi-dimensional closed-loop protection system. Its core function is to monitor in real time whether the compression force exceeds the safe threshold tolerated by the human chest cavity. Once this threshold is exceeded, it immediately cuts off the dangerous compression action by reducing the actual target speed or directly stopping the machine, while simultaneously outputting an alarm signal to alert the operator. This emergency logic responds rapidly and is closely linked to the stepper PID control module, quickly triggering protection without manual judgment. It avoids medical risks such as rib fractures and chest cavity injuries caused by excessive compression force, and provides timely warnings in case of equipment malfunction, ensuring the safety of emergency operations. It addresses both the core requirements of control precision and clinical safety, significantly improving the reliability and safety of the cardiopulmonary resuscitation machine.

[0020] In a second aspect, this application provides a stepping control system for a cardiopulmonary resuscitation (CPR) machine, the CPR machine stepping control system comprising: one or more processors and a memory; the memory is coupled to the one or more processors, the memory being used to store computer program code, the computer program code including computer instructions, the one or more processors calling the computer instructions to cause the CPR machine stepping control system to perform the method described in the first aspect and any possible implementation thereof.

[0021] Thirdly, this application provides a computer-readable storage medium including instructions that, when executed on a cardiopulmonary resuscitation (CPR) machine stepping control system, cause the CPR machine stepping control system to perform the method described in the first aspect and any possible implementation thereof.

[0022] Fourthly, this application provides a computer program product, including a computer program that, when run on a cardiopulmonary resuscitation (CPR) machine step control system, causes the CPR machine step control system to perform the method described in the first aspect and any possible implementation thereof.

[0023] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0024] 1. By adopting a stepper PID control method that uses a preset target compression speed and maximum acceleration, combined with the real-time actual speed to calculate the staged actual target speed, and then outputs a control signal based on the staged target to drive the servo motor, the technical problems of excessive deviation at the start, integral saturation, and poor dynamic response caused by the direct tracking of the final target in the existing traditional PID control are effectively solved. This results in a smooth start of the compression head without overshoot, stable system operation, and at the same time, it takes into account the control response speed and accuracy, ensuring a continuous and stable blood circulation supply in the early stage of cardiopulmonary resuscitation.

[0025] 2. By employing a step-limiting speed regulation method that calculates the speed difference and the maximum speed increment per step, and determines the actual target speed in stages by comparing the difference and increment, the technical problems of sudden speed changes and overshoot oscillations in traditional PID control, as well as the complexity, high cost, and difficulty in popularizing high-end adaptive control algorithms, are effectively solved. This results in a smooth and continuous speed increase without mechanical shock or system oscillation, and the algorithm is simple with low hardware load, making it suitable for large-scale promotion of popular equipment.

[0026] 3. By adopting a quantitative control method based on kinematic formulas combined with real-time actual speed and remaining distance to accurately calculate the theoretical deceleration acceleration required for the speed to return to zero at the target depth, the technical problems of large errors in traditional empirical deceleration parameter setting and fuzzy and inaccurate depth control are effectively solved. This results in precise stopping of the press head without overshoot or undershoot, a significant reduction in depth control error, and efficient operation without increasing system load, fully meeting the stringent standards of clinical emergency care. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a scenario of the stepper PID control method for a cardiopulmonary resuscitation machine in the embodiments of this application;

[0028] Figure 2This is a schematic diagram of a pressing execution module in an embodiment of this application;

[0029] Figure 3 This is a flowchart illustrating a stepper PID control method for a cardiopulmonary resuscitation machine in an embodiment of this application.

[0030] Figure 4 This is a schematic diagram of the physical device structure of a step-type control system for a cardiopulmonary resuscitation machine in the embodiments of this application. Detailed Implementation

[0031] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0032] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0033] To facilitate understanding, the method provided in this implementation is described in a scenario below. Please refer to [link / reference]. Figure 1 This is a schematic diagram of a scenario for the stepping PID control method of a cardiopulmonary resuscitation machine in an embodiment of this application.

[0034] exist Figure 1 In the process, medical staff first preset the target compression speed and maximum acceleration parameters and input this configuration into the PID control module. Then, the compression execution module drives the servo motor to move the compression head to perform the compression action. The speed detection module collects the actual speed of the compression head in real time and feeds it back to the PID control module. The PID control module combines the preset parameters and the actual speed to calculate the current stage of actual target speed that needs to be tracked, and outputs a control signal to the compression execution module to adjust the operation of the servo motor, so that the compression head can smoothly and accurately complete the cardiopulmonary resuscitation compression action on the patient, avoiding sudden speed changes and integral saturation problems in the initiation stage, and ensuring that the compression process is stable and controllable.

[0035] The following is a detailed structural description of the press execution module in the method provided in this implementation. Please refer to... Figure 2 This is a schematic diagram of a pressing execution module in an embodiment of this application.

[0036] exist Figure 2 In the middle, the pressing execution module mainly consists of four parts: servo motor and speed detection component, pressing head, connection and fixing structure, and back plate.

[0037] Servo motor and speed detection component: Located at the top of the module, it is used to achieve precise chest compressions on the patient, drive the compression head to complete reciprocating motion, and collect compression speed data in real time to provide feedback for stepper PID control, ensuring that the depth and frequency of compressions meet the requirements of cardiopulmonary resuscitation.

[0038] The compression head is the actuator that acts directly on the patient's chest. Driven by a servo motor, it transmits compression force to complete the chest compression action.

[0039] Connection and fixing structure: Distributed on both sides and bottom of the module, it is used to combine the various parts of the cardiopulmonary resuscitation machine into a whole, ensuring the stability of the structure during use, so that operations such as chest compressions can be performed smoothly and continuously.

[0040] Backplate: Located at the bottom of the module, it supports the patient's back and provides a stable plane for chest compressions, ensuring sufficient support for the back during compressions and preventing instability of the back from affecting the compression effect. At the same time, its shape design also helps to conform to the contour of the patient's back, improving the fit and comfort during use.

[0041] The following describes the process of the method provided in this implementation, using the above scenario and the press-to-execute module as examples. Please refer to [link / reference]. Figure 3 This is a flowchart illustrating a stepping PID control method for a cardiopulmonary resuscitation machine in an embodiment of this application.

[0042] S101. After completing the target pressing speed and maximum acceleration settings, drive the pressing head to press;

[0043] The target compression rate refers to the rate of motion that the compression head of the cardiopulmonary resuscitation machine is expected to reach and maintain stably when performing chest compressions. It is a preset speed parameter that conforms to the clinical cardiopulmonary resuscitation operation guidelines.

[0044] This step is performed before the cardiopulmonary resuscitation machine starts the compression process, and after the system has completed initialization and the key control parameters have been configured. Scenarios include emergency machine startup, the start of a single compression cycle, and restarting compressions after a reset.

[0045] Specifically, the step-by-step control system of the cardiopulmonary resuscitation machine first determines whether the target compression speed and maximum acceleration have been configured and are in effect. If the parameters are confirmed to be valid and there are no abnormal alarms, a start command is sent to the compression execution module, which then drives the compression head to move from its initial position towards the patient's chest, performing forward compressions. During this process, the control system does not directly jump the compression head to the target speed; instead, it relies on a preset maximum acceleration constraint to limit subsequent speed changes, laying the foundation for step-by-step speed tracking. This step, by configuring constraint parameters before initiating compressions, avoids the speed abruptness problem caused by direct PID control, thus providing a prerequisite for subsequently suppressing integral saturation and improving dynamic response stability.

[0046] S102. During the pressing process, the actual speed of the pressing head is monitored in real time by the speed detection module;

[0047] This step is performed from the moment the pressing head begins to move until the single pressing action is completed, covering the entire process of pressing acceleration, constant speed, and deceleration as it approaches the target depth.

[0048] Specifically, after the compression head begins to move, the stepper control system of the CPR machine immediately triggers the speed detection module. This module continuously collects real-time motion signals from the compression head and converts them into electrical or digital signals, which are then uploaded to the PID control module. The control system filters, calibrates, and quantizes the raw speed signals to remove interference noise and obtain a stable and reliable actual speed value. This value is then updated in real-time to the control register for subsequent closed-loop speed calculations. This step, by continuously collecting actual speed data, provides accurate feedback to the PID control module, solving the problem of accumulated deviations caused by untimely feedback in traditional PID control and improving the real-time performance and accuracy of speed tracking.

[0049] S103. Based on the actual speed, the target pressing speed, and the maximum acceleration, the actual target speed is calculated by the PID control module. The actual target speed is the phased speed target that the PID control module needs to track at the moment.

[0050] This step is performed within each speed control cycle, after the latest actual speed is obtained and before the motor control signal is output. This scenario applies to every closed-loop adjustment throughout the entire pressing process.

[0051] Specifically, in each control cycle, the step-by-step control system of the cardiopulmonary resuscitation machine first reads the latest actual speed, the preset target compression speed, and the maximum acceleration, and sends these three as inputs to the PID control module. The PID control module calculates the permissible step speed in this cycle, i.e., the actual target speed, based on the speed deviation and acceleration constraints. This speed will not exceed the single-step increment limited by the maximum acceleration, thereby achieving a step-by-step smooth approach to the target compression speed, rather than a one-time jump.

[0052] More specifically, the CPR machine's stepping control system first activates the arithmetic unit. It subtracts the real-time actual speed from the target compression speed to accurately calculate the speed deviation, and stores this difference after eliminating minor interference errors. Next, it multiplies the preset maximum acceleration with the currently set control cycle duration to obtain the upper limit of speed increase within a single control cycle, i.e., the maximum speed increment per step. This increment remains constant throughout, acting as a rigid limit. Then, the logic comparison unit precisely compares the calculated speed difference with the maximum speed increment per step, strictly distinguishing between the two logic branches. If the difference is greater than or equal to the maximum speed increment per step, it indicates a significant gap between the current speed and the target speed. To avoid overshoot and integral saturation caused by direct acceleration, the system adds the maximum speed increment per step to the current actual speed, using the result as the current actual target speed for a gradual, step-by-step acceleration. If the difference is less than the maximum speed increment per step, it indicates that the current speed is close to the target speed with no risk of overspeeding, and the target compression speed is directly set as the current actual target speed, achieving precise and stable speed.

[0053] This step completely solves the problems of integral saturation and overshoot oscillation caused by excessive instantaneous deviation during traditional PID control through step-limiting speed regulation logic. At the same time, the algorithm is extremely simple, does not increase hardware costs or computing power load, and takes into account both control stability and equipment universality.

[0054] S104. Based on the actual target speed, the PID control module outputs a control signal to drive the servo motor in the pressing execution module so that the pressing head performs a pressing action.

[0055] This step is executed immediately after the actual target speed calculation is completed within each control cycle, and it continues throughout the entire movement of the pressing head, covering all pressing stages including acceleration, constant speed, and deceleration.

[0056] Specifically, the stepper control system of the cardiopulmonary resuscitation machine inputs the actual target speed into the PID control module. The module compares the difference between the actual target speed and the real-time actual speed, and generates a corresponding PWM control signal through proportional, integral, and derivative operations, which is then sent to the compression execution module. The control signal is transmitted to the servo motor, which precisely adjusts the motor's output speed and output torque. The motor drives the compression head through the transmission mechanism, moving strictly according to the actual target speed, ensuring that the compression head smoothly and gradually approaches the target compression speed, ultimately completing the standard chest compression action.

[0057] This step drives the motor through phased targets, achieving shock-free and overshoot-free compression action, solving the problems of abrupt start and unstable operation of traditional PID compression, while ensuring that the compression frequency and force accurately meet clinical standards, thus improving emergency safety.

[0058] In some embodiments, during the process of performing a single forward compression and completing chest compressions, simply completing a single compression cannot meet the clinical emergency needs of continuous cardiopulmonary resuscitation (CPR). This can easily lead to interruptions in the compression action and irregular cyclic rhythm, thereby affecting the continuity of the patient's blood circulation and oxygen supply. In this case, the following steps can be performed to achieve standardized and automated cyclic compression control, ensuring that the compression frequency and procedure comply with regulations:

[0059] After the compression head completes a single forward compression and reaches the target compression depth, the CPR machine's stepper control system automatically initializes the cycle parameters before initiating the cyclic compressions. This is done by first acquiring and locking the initial position of the compression head via the position detection module, and then reading the user-preset or system-default target compression depth and total number of compressions. After the compression head completes a single forward compression, the system immediately uses the position signal from the position detection module to determine if the compression head has accurately reached the target compression depth, eliminating any abnormalities such as insufficient compression or excessive depth. If the target compression depth is accurately reached, the system immediately switches the operating mode and outputs a return control command, controlling the compression head to smoothly return to the initial position at a preset fixed return speed. The return process also follows stepper PID control logic to avoid sudden speed changes or mechanical shocks. Once the compression head returns to the initial position, the system automatically repeats the forward compression steps, cycling continuously until the preset total number of compressions is completed, or immediately stops all operations upon receiving a manual stop, emergency stop, or fault shutdown command.

[0060] This step enables fully automated cyclic control of cardiopulmonary resuscitation, standardizes the compression cycle rhythm, ensures that the compression frequency meets clinical standards, avoids compression interruptions caused by manual intervention, and ensures that the compression depth is compliant with regulations through the in-place judgment mechanism. It solves the problems that a single compression cannot meet the continuous emergency needs and the unstable rhythm of manual operation, and improves the automation level of the equipment and the efficiency of emergency rescue.

[0061] In some embodiments, during the entire period from the start of the compression head's compression action to its cessation, the CPR machine's stepper control system can immediately activate the pressure sensor the moment the compression head begins to move and perform the compression action. The sensor continuously collects the real-time compression force signal applied by the compression head and converts the analog signal into a digital signal, which is then uploaded to the main control chip. The chip filters and calibrates the signal to obtain an accurate real-time compression force value. The system compares this value with a preset safety threshold in real time. Once the real-time compression force is detected to be greater than or equal to the safety threshold, an emergency protection mechanism is immediately triggered, simultaneously performing two operations: First, the actual target speed of the PID control module is rapidly reduced to decrease the compression force. If the pressure continues to exceed the limit, the servo motor control signal is directly cut off, stopping all compression actions of the compression head. Second, the device's built-in audible and visual alarm module is activated simultaneously, and a warning message indicating excessive pressure is displayed on the operation interface, immediately alerting medical personnel to investigate the abnormality. Operation can only be manually resumed after the compression force returns to within the safety threshold and the fault is resolved.

[0062] This step establishes a complete pressure safety protection closed loop, effectively solving the technical problems of uncontrollable compression pressure and the risk of secondary injury to patients caused by traditional cardiopulmonary resuscitation machines. At the same time, it avoids equipment overload damage, balances compression control accuracy and clinical safety, and significantly improves the safety, reliability and clinical applicability of the equipment.

[0063] In some embodiments, if the compression head moves towards the target compression depth according to the step-type PID speed control logic, and a fixed maximum acceleration is used throughout the process, the compression head may still have a large speed when it reaches the target compression depth, which may lead to over-compression, excessive chest impact, or mechanical oscillation and positional deviation after the compression is completed. This cannot guarantee accurate compression depth and may even pose a risk of damaging the patient's chest cavity. In this case, the following steps can be performed to achieve dynamic acceleration adaptation and control to ensure accurate and stable compression positioning:

[0064] Specifically, from the moment the compression head starts its forward compression motion from its initial position until it reaches the target compression depth, the CPR machine's stepping control system continuously collects the current position data of the compression head through the position detection module. At the same time, it retrieves the pre-set target compression depth parameter and uses the arithmetic unit to subtract the current position value from the target compression depth value in real time to accurately calculate the remaining distance between the compression head and the target compression depth. The remaining distance data is updated once in each control cycle to ensure that the value is accurate in real time.

[0065] Next, in each control cycle, the CPR machine's stepping control system first retrieves the remaining distance value calculated in real time and compares it with the preset deceleration threshold distance stored in the internal memory. When it is determined that the remaining distance is greater than the deceleration threshold distance, it means that the compression head is currently far from the target compression depth and is still in the normal advancement stage. At this time, there is no need to activate the deceleration logic. The system maintains the initially set maximum acceleration value and keeps it constant to maintain stable advancement efficiency. This avoids excessively long compression time or insufficient compression frequency due to premature deceleration, ensuring that the CPR compression rhythm meets the frequency standards required by international clinical guidelines. At the same time, it reduces unnecessary computational load and improves system operating efficiency.

[0066] When the remaining distance is determined to be less than or equal to the deceleration threshold distance, it signifies that the pressing head has officially entered the precise deceleration zone near the target depth. The system immediately switches to deceleration control mode, first retrieving the latest error-free actual speed v from the speed detection module's cache, and simultaneously locking the current remaining distance s. These two sets of real-time data are then substituted into the formula for uniform deceleration linear kinematics. The system performs high-precision floating-point calculations using the built-in arithmetic unit of the main control chip to obtain the theoretical deceleration acceleration that will allow the pressure head to return to zero when it reaches the target depth. This calculation process relies entirely on the laws of physical motion, eliminating the fuzzy parameters set by human experience and eliminating human debugging errors at the source. The system then directly determines the theoretical deceleration acceleration as the current deceleration acceleration, ensuring that the deceleration force is fully adapted to the real-time motion state.

[0067] The system does not directly execute the deceleration output. Instead, it incorporates hardware safety verification logic, comparing the calculated deceleration with the preset maximum deceleration. The smaller of the two values ​​is strictly selected as the final adjusted maximum acceleration. This design ensures that the deceleration force is sufficient to counteract the inertia of the compression head, achieving a near-zero speed, while preventing theoretical calculations from exceeding the hardware's capacity. This avoids problems such as sudden stopping of the compression head, excessive mechanical impact, motor overload and burnout, or interruption of the compression action due to excessive deceleration. It also prevents excessive instantaneous deceleration from causing a rigid pulling force on the patient's chest cavity, reducing the risk of secondary injury. Throughout the deceleration control process, the system recalculates the remaining distance and actual speed in each control cycle, repeating the above judgment, calculation, and comparison process, dynamically updating the maximum acceleration value until the compression head precisely reaches the target compression depth and the speed completely drops to zero.

[0068] In the above embodiments, the triple progressive logic of "threshold demarcation + precise quantification calculation + hardware safety limiting" solves the technical pain points of traditional fixed acceleration control and fuzzy deceleration control, such as depth overshoot, loss of control over the arrival speed, and insufficient compression accuracy. At the same time, it makes up for the lack of hardware constraints in pure theoretical calculation. It significantly improves the steady-state accuracy and positioning accuracy of step-type PID control, keeping the compression depth error within a very small range, fully meeting the stringent standards of clinical cardiopulmonary resuscitation. It also effectively protects the safety of the equipment hardware and the patient, solves the core problem of uncontrollable compression intensity and depth during emergency treatment, and further optimizes the dynamic response characteristics of the system, making the entire compression process smooth, fluid, shock-free, and vibration-free. At the same time, the algorithm logic is simple, the computing efficiency is high, no need to upgrade the main control hardware computing power, no increase in equipment production costs, and adapts to the large-scale promotion of popular cardiopulmonary resuscitation machines, comprehensively improving the control stability, clinical safety, and universality of the equipment.

[0069] The stepper control system of the cardiopulmonary resuscitation machine in this application embodiment is described below from the perspective of hardware processing. Please refer to [link to relevant documentation]. Figure 4 This is a schematic diagram of the physical device structure of a stepping control system for a cardiopulmonary resuscitation machine in an embodiment of this application.

[0070] It should be noted that, Figure 4 The structure of the stepping control system for the cardiopulmonary resuscitation machine shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0071] like Figure 4 As shown, the cardiopulmonary resuscitation machine stepper control system includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 402 or programs loaded from storage section 408 into random access memory (RAM) 403, such as performing the methods described in the above embodiments. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0072] The following components are connected to I / O interface 405: input section 406 including audio input devices, push-button switches, etc.; output section 407 including a liquid crystal display (LCD) and audio output devices, indicator lights, etc.; storage section 408 including a hard disk, etc.; and communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. Communication section 409 performs communication processing via a network such as the Internet. Drive 410 is also connected to I / O interface 405 as needed. Removable media 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 410 as needed so that computer programs read from them can be installed into storage section 408 as needed.

[0073] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs the various functions defined in this application.

[0074] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0075] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those shown in the drawings.

[0076] Specifically, the step-by-step control system for the cardiopulmonary resuscitation machine in this embodiment includes a processor and a memory. The memory stores a computer program, and when the computer program is executed by the processor, it implements the step-by-step PID control method for the cardiopulmonary resuscitation machine provided in the above embodiment.

[0077] In another aspect, this application also provides a computer-readable storage medium, which may be included in the cardiopulmonary resuscitation (CPR) machine stepper control system described in the above embodiments; or it may exist independently and not assembled into the CPR machine stepper control system. The storage medium carries one or more computer programs, which, when executed by a processor of the CPR machine stepper control system, cause the CPR machine stepper control system to implement the CPR machine stepper PID control method provided in the above embodiments.

[0078] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0079] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is interpreted as meaning "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0080] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A stepper PID control method for a cardiopulmonary resuscitation machine, characterized in that, An application in a stepper control system for a cardiopulmonary resuscitation (CPR) machine, the system comprising a speed detection module, a PID control module, a compression execution module, and a compression head, the method comprising: After setting the target pressing speed and maximum acceleration, drive the pressing head to press; During the pressing process, the actual speed of the pressing head is monitored in real time by the speed detection module; Based on the actual speed, the target pressing speed, and the maximum acceleration, the actual target speed is calculated by the PID control module. The actual target speed is the phased speed target that the PID control module needs to track at the moment. Based on the actual target speed, the PID control module outputs a control signal to drive the servo motor in the pressing execution module, so that the pressing head performs a pressing action.

2. The method according to claim 1, characterized in that, The step of calculating the actual target speed using the PID control module based on the actual speed, the target pressing speed, and the maximum acceleration specifically includes: Calculate the difference between the actual speed and the target pressing speed; The maximum acceleration is calculated by multiplying it by the current control cycle duration to obtain the maximum speed increment per step. Determine the relationship between the difference and the maximum single-step speed increment; When the difference is greater than or equal to the maximum single-step speed increment, the sum of the actual speed and the maximum single-step speed increment is taken as the actual target speed. When the difference is less than the maximum single-step speed increment, the target pressing speed is taken as the actual target speed.

3. The method according to claim 1, characterized in that, Also includes: Obtain the current position and target compression depth of the pressing head; The remaining distance from the pressing head to the target pressing depth is calculated in real time based on the current position and the target pressing depth; Based on the remaining distance, the value of the maximum acceleration is dynamically adjusted so that the velocity of the pressing head approaches zero when it reaches the target pressing depth.

4. The method according to claim 3, characterized in that, The step of dynamically adjusting the value of the maximum acceleration based on the remaining distance specifically includes: Determine whether the remaining distance is less than or equal to a preset deceleration threshold distance; When the remaining distance is less than or equal to the deceleration threshold distance, the deceleration acceleration is calculated based on the remaining distance and the actual speed. The deceleration acceleration is compared with the preset maximum deceleration, and the smaller value is taken as the adjusted maximum acceleration. When the remaining distance is greater than the deceleration threshold distance, the maximum acceleration remains unchanged.

5. The method according to claim 4, characterized in that, The step of calculating the deceleration acceleration based on the remaining distance and the actual speed specifically includes: Based on kinematic formulas, the theoretical deceleration acceleration required to bring the pressure head to zero velocity at the target pressure depth is calculated using the remaining distance and the actual velocity. The formula for calculating the theoretical deceleration acceleration is as follows: ； in The theoretical deceleration acceleration is... The actual speed, The remaining distance; The theoretical deceleration acceleration is determined as the deceleration acceleration.

6. The method according to claim 1, characterized in that, The method further includes: The initial position, target pressing depth, and number of pressings of the pressing head are obtained; After a single press is completed, it is determined whether the pressing head has reached the target pressing depth; Once the target pressing depth is reached, the pressing head is controlled to return to the initial position at a preset return speed; Repeat the pressing action until the number of presses is completed or a stop command is received.

7. The method according to claim 1, characterized in that, The method further includes: During the pressing process, the pressing force applied by the pressing head is monitored in real time by a pressure sensor; When the pressing force exceeds the preset safety threshold, the actual target speed is immediately reduced or the pressing action of the pressing head is stopped, and an alarm signal is output.

8. A stepper control system for a cardiopulmonary resuscitation machine, characterized in that, The cardiopulmonary resuscitation machine stepping control system includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the cardiopulmonary resuscitation machine stepping control system to perform the method as described in any one of claims 1-7.

9. A computer-readable storage medium comprising instructions, characterized in that, When the instruction is executed on the step control system of the cardiopulmonary resuscitation machine, the step control system of the cardiopulmonary resuscitation machine performs the method as described in any one of claims 1-7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is run on the step control system of the cardiopulmonary resuscitation machine, the step control system of the cardiopulmonary resuscitation machine performs the method as described in any one of claims 1-7.

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