Glue injection control method, device and equipment applied to hot melt filling scene

Abstract

The application relates to the technical field of root canal glue injection control, and discloses a glue injection control method, device and equipment applied to a hot melt filling scene, which realizes real-time monitoring of an electromotive force speed component (the component is estimated based on electromotive force of a motor) and a ripple frequency speed of the motor in a continuous glue injection process, so as to realize fusion estimation of real-time rotating speed of the motor, improve estimation accuracy of the rotating speed of the motor in the continuous glue injection process, improve control accuracy of torque of the motor, further improve driving control accuracy of a push rod, improve glue injection filling effect, improve glue output stability and accuracy, and improve filling effect.

Description

Technical Field

[0001] This invention relates to the field of root canal filling control technology, and in particular to a filling control method, apparatus and equipment for hot melt filling scenarios. Background Technology

[0002] Glue filling is a core finishing step in root canal treatment. It refers to the process of using a hot-melt gutta-percha filling machine to precisely inject and fill the cleaned and prepared root canal cavity into the cavity of the root canal through the push rod of the filling machine and the glue injection needle. In other words, hot-melt gutta-percha is used to seal the hollow space inside the root canal. It is the key to sealing the cleaned root canal and preventing reinfection. The precise torque output of the motor of the filling machine to accurately push the push rod to inject glue is the key to ensuring the filling effect.

[0003] Currently, in traditional control schemes for brushed DC motors, speed closed-loop feedback typically relies on physical sensors such as encoders or Hall sensors for precise control. However, these sensors have significant drawbacks. They not only increase the hardware cost and physical size of the system, but their mechanical structure (such as encoders) or magnetic sensitivity characteristics (such as Hall sensors) are also susceptible to environmental factors (such as dust, oil, and electromagnetic interference). Long-term use leads to wear and decreased reliability, especially in root canal treatment scenarios where miniaturization of instruments and environmental cleanliness are crucial. Therefore, sensorless control technology has become an important development direction for root canal filling. Thus, the back electromotive force (EMF) method for estimating motor speed has emerged. This method estimates the motor speed by measuring the back EMF (formula: e=u-iR-Ldi / dt, where e is the back EMF, u is the terminal voltage, i is the current, R is the internal resistance, and L is the inductance), thereby controlling the motor and ultimately controlling the push rod to perform the glue injection operation.

[0004] However, in practice, it has been found that the winding internal resistance R and inductance L of the motor change due to temperature rise during operation, causing the calculated back electromotive force to deviate from the actual value. This, in turn, affects the accuracy of motor speed estimation. Furthermore, if temperature compensation is performed, a temperature sensor needs to be added, further increasing system complexity and cost. Therefore, there is an urgent need to propose a new glue injection control method to improve the accuracy of motor speed estimation during continuous glue injection, thereby improving the accuracy of motor torque control, and ultimately improving the accuracy of push rod drive control, thus enhancing the glue injection filling effect. Summary of the Invention

[0005] This invention provides a glue injection control method, apparatus, and equipment for hot melt filling scenarios, which can improve the estimation accuracy of motor speed during continuous glue injection, thereby improving the control accuracy of motor torque, and further improving the drive control accuracy of push rod, so as to improve the glue injection filling effect.

[0006] The first aspect of this invention discloses a glue injection control method applied in hot melt filling scenarios, the method comprising: During continuous glue injection, the ripple frequency speed and back EMF speed components of the motor of the glue injection equipment are monitored in real time to obtain the real-time ripple frequency speed and real-time back EMF speed components of the motor. The motor is used to drive the push rod of the glue injection equipment to perform glue injection operation. The real-time back EMF speed components of the motor are estimated based on the monitored back EMF of the motor. The real-time rotational speed of the motor is obtained by fusing and analyzing the real-time ripple frequency speed and the real-time back electromotive force speed component. Based on the analyzed real-time speed of the motor, the push rod is controlled to perform the glue injection operation.

[0007] As an optional implementation, in the first aspect of the present invention, the step of monitoring and fusing the real-time ripple frequency speed of the motor and the real-time back electromotive force speed component to obtain the real-time rotational speed of the motor includes: The starting ripple weight and starting back EMF weight of the motor are determined when the glue dispensing starts, corresponding to the real-time rotational speed of the motor. The starting ripple weight and starting back EMF weight of the motor are determined by the ripple weight and back EMF weight of the motor at the end of the glue dispensing start-up phase of the glue dispensing equipment. The real-time rotational speed of the motor is calculated based on the real-time ripple frequency speed of the motor, the current ripple weight of the motor, the real-time back EMF speed component of the motor, and the current back EMF weight of the motor; wherein, the current ripple weight of the motor includes the initial ripple weight of the motor, and the current back EMF weight of the motor includes the initial back EMF weight of the motor.

[0008] As an optional implementation, in the first aspect of the present invention, after fusing and analyzing the real-time ripple frequency speed of the motor and the real-time back electromotive force speed component to obtain the real-time rotational speed of the motor, the method further includes: The real-time speed of the motor is compared with the predetermined target motor speed to obtain the motor speed comparison result; when the motor speed comparison result indicates that the real-time speed of the motor is not abnormal, the step of controlling the push rod to perform the glue injection operation based on the analyzed real-time speed of the motor is executed, and the target motor speed is the motor speed required for continuous glue injection; When the motor speed comparison result is used to indicate that the real-time speed of the motor is abnormal, the real-time speed of the motor is calculated by subtracting the target motor speed from the real-time motor speed to obtain the real-time motor speed difference; Based on the real-time motor speed difference, analyze the control method that matches the real-time motor speed difference; Based on the control method that matches the real-time motor speed difference, the PID adjustment parameters that match the control method are analyzed, and based on the PID adjustment parameters corresponding to the motor speed difference, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection operation.

[0009] As an optional implementation, in a first aspect of the present invention, the method further includes: Based on the collected real-time ripple frequency speed of the motor, analyze the real-time ripple signal of the motor, and based on the real-time ripple signal of the motor, analyze the signal-to-noise ratio of the real-time ripple signal of the motor. Calculate the ripple signal-to-noise ratio difference between the real-time ripple signal-to-noise ratio of the motor and the preset ripple signal-to-noise ratio. When the ripple signal-to-noise ratio difference is greater than or equal to the preset signal-to-noise ratio threshold, adjust the current ripple weight and the current back electromotive force weight of the motor according to the ripple signal-to-noise ratio difference to obtain the adjusted ripple weight and back electromotive force weight of the motor. The step of controlling the real-time speed of the motor based on the PID adjustment parameters corresponding to the motor speed difference to drive the push rod to perform the glue injection control operation includes: Based on the PID adjustment parameters corresponding to the motor speed difference, the adjusted ripple weight of the motor, and the back EMF weight of the motor, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection control operation.

[0010] As an optional implementation, in a first aspect of the present invention, the method further includes: Before controlling the dispensing equipment to perform the dispensing operation, the current ripple frequency speed and the current back electromotive force speed component of the motor are collected based on a predetermined acquisition period. Determine the ripple weight and back EMF weight of the motor in the current acquisition period, and generate the current speed of the motor based on the current ripple frequency speed and ripple weight of the motor, the current back EMF speed component and back EMF weight of the motor. The current speed of the motor is compared with the speed of the target motor to obtain the comparison result of the current speed of the motor; When the current speed comparison result of the motor is used to indicate that the difference between the target motor speed and the current motor speed is greater than the preset motor speed threshold, the operation of collecting the current ripple frequency speed and the current back EMF speed component of the motor based on the predetermined acquisition period continues until the difference between the target motor speed and the real-time motor speed is less than or equal to the preset motor speed threshold, and then the glue injection operation is performed.

[0011] As an optional implementation, in the first aspect of the present invention, determining the ripple weight and back electromotive force weight of the motor in the current acquisition period includes: For the first acquisition cycle, a pre-determined ripple weight and a pre-determined back EMF weight are determined, which are the ripple weight and back EMF weight of the motor for that acquisition cycle; or, For acquisition cycles other than the first one, analyze the speed difference between the motor's ripple frequency speed and the motor's back EMF speed component in the previous acquisition cycle; based on the speed difference of the motor in the previous acquisition cycle, perform an adjustment operation on the motor's ripple weight and back EMF weight in the previous acquisition cycle to obtain the adjusted motor ripple weight and back EMF weight; determine the adjusted motor ripple weight and back EMF weight as the motor ripple weight and back EMF weight in the current acquisition cycle.

[0012] As an optional implementation, in a first aspect of the present invention, the method further includes: During the continuous glue injection process, the real-time electrical parameters of the motor are monitored to obtain the real-time electrical parameter monitoring results of the motor. The real-time electrical parameter monitoring results of the motor are analyzed to obtain the real-time electrical parameter changes of the motor; When the real-time electrical parameter changes of the motor are used to indicate that the electrical parameter changes of the motor exceed the preset electrical parameter changes within a preset time period, a rotation speed command matching the current operating parameters of the motor is generated based on the real-time electrical parameter changes of the motor and the current operating parameters of the motor; and abnormal control operations are performed on the motor based on the corresponding rotation speed command.

[0013] A second aspect of this invention discloses a glue injection control device for hot melt filling scenarios, the device comprising: The monitoring module is used to monitor the ripple frequency speed and back electromotive force speed components of the motor of the dispensing equipment in real time during the continuous dispensing process, and obtain the real-time ripple frequency speed and real-time back electromotive force speed components of the motor. The motor is used to drive the push rod of the dispensing equipment to perform the dispensing operation. The real-time back electromotive force speed components of the motor are estimated based on the monitored back electromotive force of the motor. The analysis module is used to perform fusion analysis on the real-time ripple frequency speed and the real-time back electromotive force speed component of the motor to obtain the real-time rotational speed of the motor. The control module is used to control the push rod to perform the glue injection operation based on the analyzed real-time speed of the motor.

[0014] As an optional implementation, in a second aspect of the invention, the analysis module monitors and performs fusion analysis on the real-time ripple frequency speed and the real-time back electromotive force speed component of the motor to obtain the real-time rotational speed of the motor, including: The starting ripple weight and starting back EMF weight of the motor are determined when the glue dispensing starts, corresponding to the real-time rotational speed of the motor. The starting ripple weight and starting back EMF weight of the motor are determined by the ripple weight and back EMF weight of the motor at the end of the glue dispensing start-up phase of the glue dispensing equipment. The real-time rotational speed of the motor is calculated based on the real-time ripple frequency speed of the motor, the current ripple weight of the motor, the real-time back EMF speed component of the motor, and the current back EMF weight of the motor; wherein, the current ripple weight of the motor includes the initial ripple weight of the motor, and the current back EMF weight of the motor includes the initial back EMF weight of the motor.

[0015] As an optional implementation, in a second aspect of the present invention, the analysis module is further configured to, after performing a fusion analysis on the real-time ripple frequency speed and the real-time back electromotive force speed component of the motor to obtain the real-time rotational speed of the motor, compare the real-time rotational speed of the motor with a predetermined target motor speed to obtain a motor speed comparison result; when the motor speed comparison result indicates that the real-time rotational speed of the motor is not abnormal, the control module is triggered to execute the step of controlling the push rod to perform the glue injection operation based on the analyzed real-time rotational speed of the motor, wherein the target motor speed is the motor speed required for continuous glue injection; The device further includes: The calculation module is used to calculate the real-time motor speed difference by subtracting the target motor speed from the real-time motor speed when the motor speed comparison result is used to indicate that the real-time motor speed is abnormal. The analysis module is also used to analyze the control method that matches the real-time motor speed difference based on the real-time motor speed difference, and to analyze the PID adjustment parameters that match the control method based on the control method that matches the real-time motor speed difference. The control module is also used to perform control operations on the real-time speed of the motor according to the PID adjustment parameters corresponding to the motor speed difference, so as to drive the push rod to perform the glue injection operation.

[0016] As an optional implementation, in a second aspect of the present invention, the analysis module is further configured to analyze the real-time ripple signal of the motor based on the collected real-time ripple frequency speed of the motor, and to analyze the real-time ripple signal signal-to-noise ratio of the motor based on the real-time ripple signal of the motor. The calculation module is also used to calculate the ripple signal-to-noise ratio difference between the real-time ripple signal-to-noise ratio of the motor and the preset ripple signal-to-noise ratio. The device further includes: An adjustment module is used to adjust the current ripple weight and the current back EMF weight of the motor according to the ripple signal-to-noise ratio difference when the ripple signal-to-noise ratio difference is greater than or equal to a preset signal-to-noise ratio threshold, so as to obtain the adjusted ripple weight and back EMF weight of the motor. The specific method by which the control module controls the real-time speed of the motor based on the PID adjustment parameters corresponding to the motor speed difference, thereby driving the push rod to perform the glue injection operation, includes: Based on the PID adjustment parameters corresponding to the motor speed difference, the adjusted ripple weight of the motor, and the back EMF weight of the motor, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection control operation.

[0017] As an optional implementation, in a second aspect of the invention, the monitoring module is further configured to, before controlling the dispensing equipment to perform the dispensing operation, collect the current ripple frequency speed and the current back electromotive force speed component of the motor based on a predetermined collection period; The device further includes: The determination module is used to determine the ripple weight and back electromotive force weight of the motor in the current acquisition cycle; The first generation module is used to generate the current rotational speed of the motor based on the current ripple frequency speed and ripple weight of the motor, the current back EMF speed component and back EMF weight of the motor. The analysis module is further configured to compare the current speed of the motor with the speed of the target motor to obtain a comparison result of the current speed of the motor; when the comparison result of the current speed of the motor indicates that the difference between the current speed of the target motor and the current speed of the motor is greater than a preset motor speed threshold, the monitoring module is further triggered to perform the operation of collecting the current ripple frequency speed and the current back electromotive force speed component of the motor based on a predetermined acquisition period, until the difference between the current speed of the target motor and the real-time speed of the motor is less than or equal to the preset motor speed threshold, and then the glue injection operation is performed.

[0018] As an optional implementation, in a second aspect of the invention, the determining module determines the specific method by which it determines the ripple weight and back EMF weight of the motor in the current acquisition cycle, including: For the first acquisition cycle, a pre-determined ripple weight and a pre-determined back EMF weight are determined, which are the ripple weight and back EMF weight of the motor for that acquisition cycle; or, For acquisition cycles other than the first one, analyze the speed difference between the motor's ripple frequency speed and the motor's back EMF speed component in the previous acquisition cycle; based on the speed difference of the motor in the previous acquisition cycle, perform an adjustment operation on the motor's ripple weight and back EMF weight in the previous acquisition cycle to obtain the adjusted motor ripple weight and back EMF weight; determine the adjusted motor ripple weight and back EMF weight as the motor ripple weight and back EMF weight in the current acquisition cycle.

[0019] As an optional implementation, in a second aspect of the present invention, the monitoring module is further configured to perform a monitoring operation on the real-time electrical parameters of the motor during the continuous glue injection process, and obtain the real-time electrical parameter monitoring results of the motor; The analysis module is also used to analyze the real-time electrical parameter monitoring results of the motor to obtain the real-time electrical parameter changes of the motor. The second generation module is used to generate a rotation speed command that matches the current operating parameters of the motor, based on the real-time electrical parameter changes of the motor and the current operating parameters of the motor, when the real-time electrical parameter changes of the motor indicate that the electrical parameter changes of the motor exceed the preset electrical parameter changes within a preset time period. The control module is also used to perform abnormal control operations on the motor according to the speed command corresponding to the motor.

[0020] A third aspect of this invention discloses a glue dispensing device, the glue dispensing device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute some or all of the steps in the glue injection control method for hot melt filling scenarios as described in any of the first aspects of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in the glue injection control method applied to hot melt filling scenarios as described in any of the first aspects of the present invention.

[0022] Compared with the prior art, the present invention has the following beneficial effects: In this embodiment of the invention, during continuous glue dispensing, the ripple frequency speed and back EMF speed components of the motor of the glue dispensing equipment are monitored in real time to obtain the real-time ripple frequency speed and real-time back EMF speed components of the motor. The motor is used to drive the push rod of the glue dispensing equipment to perform glue dispensing operations. The real-time back EMF speed component of the motor is estimated based on the monitored back EMF of the motor. The real-time ripple frequency speed and real-time back EMF speed components of the motor are fused and analyzed to obtain the real-time rotational speed of the motor. Based on the analyzed real-time rotational speed of the motor, the push rod is controlled to perform glue dispensing operations. It can be seen that by implementing this invention, the real-time monitoring of the back EMF speed component and ripple frequency speed of the motor during continuous glue dispensing enables the fusion estimation of the real-time rotational speed of the motor, improving the accuracy of motor rotational speed estimation during continuous glue dispensing, thereby improving the accuracy of motor torque control, and further improving the accuracy of push rod drive control, thus improving the glue dispensing filling effect, enhancing glue dispensing stability and accuracy, and ultimately improving the filling effect. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating an adhesive injection control method for hot melt filling scenarios disclosed in an embodiment of the present invention. Figure 2 This is a schematic flowchart of another glue injection control method for hot melt filling scenarios disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a glue injection control device for hot melt filling scenarios disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another glue injection control device for hot melt filling scenarios disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a glue dispensing device disclosed in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] This invention discloses a glue injection control method, apparatus, and equipment applied to hot melt filling scenarios. By real-time monitoring of the back electromotive force velocity component and ripple frequency velocity of the motor during continuous glue injection, the real-time rotational speed of the motor is estimated, improving the accuracy of motor speed estimation during continuous glue injection. This improves the accuracy of motor torque control, thereby improving the accuracy of push rod drive control, and ultimately enhancing the glue injection filling effect, glue dispensing stability, and accuracy, thus improving the filling effect. Detailed descriptions follow.

[0029] Example 1 Please see Figure 1 , Figure 1 This is a schematic flowchart of a glue injection control method for hot melt filling scenarios disclosed in an embodiment of the present invention. Figure 1The described method is applied to root canal treatment involving glue filling. For example... Figure 1 As shown, the method may include the following operations: 101. During the continuous dispensing process, the ripple frequency speed and back EMF speed components of the dispensing equipment motor are monitored in real time to obtain the real-time ripple frequency speed and real-time back EMF speed components of the motor. The motor is used to drive the push rod of the dispensing equipment to perform the dispensing operation. The real-time back EMF speed component of the motor is estimated based on the monitored back EMF of the motor.

[0030] In this embodiment of the invention, the real-time back EMF speed component of the motor is estimated based on the monitored back EMF of the motor. Specifically, the real-time back EMF speed of the motor can be equal to the real-time back EMF voltage of the motor divided by a preset back EMF constant (e.g., 0.3).

[0031] 102. The real-time ripple frequency speed and real-time back EMF speed components of the motor are fused and analyzed to obtain the real-time speed of the motor.

[0032] In this embodiment of the invention, the frequency of the current ripple generated by the commutator brush of the motor is positively correlated with the rotational speed, and the magnitude of the reverse voltage generated by the rotation of the motor is positively correlated with the rotational speed. Therefore, the real-time rotational speed of the motor can be obtained by fusing and analyzing the real-time ripple frequency speed and the real-time back electromotive force speed components.

[0033] 103. Based on the analyzed real-time speed of the motor, control the push rod to perform the glue injection operation.

[0034] In this embodiment of the invention, based on the analyzed real-time speed of the motor, a corresponding torque is output to drive the push rod to perform the glue injection operation.

[0035] It is evident that implementation Figure 1 The described method improves the accuracy of motor speed estimation by real-time monitoring of the back electromotive force velocity component and ripple frequency velocity of the motor during continuous glue injection, thereby improving the accuracy of motor torque control, which in turn improves the accuracy of push rod drive control, thus improving glue injection filling effect, glue dispensing stability and accuracy, and ultimately improving filling effect.

[0036] In this embodiment of the invention, optionally, the real-time ripple frequency speed and the real-time back electromotive force speed component of the motor are monitored and fused to obtain the real-time rotational speed of the motor, including: Determine the initial ripple weight and initial back EMF weight of the motor corresponding to the real-time speed of the motor when the glue injection begins. The real-time speed of the motor is calculated based on the motor's real-time ripple frequency speed, the motor's current ripple weight, the motor's real-time back EMF speed component, and the motor's current back EMF weight. The motor's current ripple weight includes the motor's initial ripple weight, and the motor's current back EMF weight includes the motor's initial back EMF weight.

[0037] In this embodiment of the invention, the initial ripple weight and the initial back EMF weight of the motor are determined by the ripple weight and the back EMF weight of the motor at the end of the glue injection start-up phase of the glue injection equipment. It can be understood that the initial ripple weight and the initial back EMF weight of the motor are equal to the ripple weight and the back EMF weight of the motor at the end of the glue injection start-up phase of the glue injection equipment, or slightly greater or slightly smaller, respectively, as long as the glue injection operation is performed smoothly.

[0038] As can be seen, implementing the embodiments of the present invention can also determine the initial weight of the dispensing stage by combining the ripple weight and back electromotive force weight at the end of the dispensing start-up stage, so that the weights of the start-up and dispensing stages are seamlessly connected, and the real-time speed of the motor is calculated by combining the speeds of the two stages. This reduces the deviation in the calculation of the real-time speed of the motor caused by sudden weight changes, and improves the accuracy and reliability of the real-time speed of the motor. This is conducive to improving the continuity and stability of motor speed monitoring throughout the dispensing process, improving the accuracy of PID speed control, and ensuring uniform dispensing speed during the dispensing process. Furthermore, the initial weight of the dispensing stage can be slightly adjusted with the premise of stable dispensing, which can be adapted to different root canal treatment scenarios and improve the adaptability of motor speed calculation.

[0039] In an optional embodiment, the method may further include the following steps: Before controlling the dispensing equipment to perform the dispensing operation, the current ripple frequency speed and the current back electromotive force speed component of the motor are collected based on a predetermined acquisition period; Determine the ripple weight and back EMF weight of the motor in the current acquisition period, and generate the current speed of the motor based on the current ripple frequency speed and ripple weight of the motor, the current back EMF speed component and back EMF weight of the motor. The current speed of the motor is compared with the speed of the target motor to obtain the comparison result of the current speed of the motor. When the current motor speed comparison result is used to indicate that the difference between the target motor speed and the current motor speed is greater than the preset motor speed threshold, the operation of collecting the current ripple frequency speed and the current back EMF speed component of the motor based on the predetermined acquisition period continues until the difference between the target motor speed and the real-time motor speed is less than or equal to the preset motor speed threshold, at which point the glue injection operation is performed.

[0040] In this optional embodiment, optionally, determining the ripple weight and back EMF weight of the motor in the current acquisition period includes: For the first acquisition cycle, determine the pre-determined ripple weight and pre-determined back EMF weight, which are the motor ripple weight and back EMF weight for that acquisition cycle; or, For acquisition cycles other than the first one, analyze the speed difference between the motor's ripple frequency speed and the motor's back EMF speed component in the previous acquisition cycle; based on the motor's speed difference in the previous acquisition cycle, perform adjustment operations on the motor's ripple weight and back EMF weight in the previous acquisition cycle to obtain the adjusted motor ripple weight and back EMF weight; determine the adjusted motor ripple weight and back EMF weight as the motor ripple weight and back EMF weight in the current acquisition cycle.

[0041] In this optional embodiment, when the dispensing equipment is detected to be powered on, an initialization program is automatically started to load preset dispensing parameters. These preset dispensing parameters include, but are not limited to, basic motor parameters (such as the number of commutator segments of the motor (22, used for subsequent speed conversion), target dispensing speed, PID initial control parameters (such as Kp=8, Ki=0.5, Kd=0.2), electrical parameters (such as a current protection threshold of 500mA, used to determine dispensing overload), initial ripple weight of the motor, and back EMF weight (the initial ripple weight is 0.4 and the back EMF weight is 0.6 during the startup phase). After all preset dispensing parameters are loaded, the dispensing equipment enters standby mode.

[0042] In this optional embodiment, when the start of the glue injection operation is detected (e.g., the user presses the start button of the glue injection device, or the glue outlet of the glue injection device is placed at the designated position in the patient's root canal), the control loop is activated, the motor starts to rotate, and the push rod is driven forward through the transmission mechanism to enter the start-up phase of a preset start-up duration (e.g., 100ms). The preset start-up duration consists of multiple sampling cycles; for example, 100ms can correspond to 5 sampling cycles. For any sampling cycle, the current ripple frequency velocity and the current back EMF velocity component of that sampling cycle are collected. Combined with the ripple weight and back EMF weight corresponding to that sampling cycle, the current motor speed of that sampling cycle is calculated and compared with the target motor speed to obtain the motor speed difference in that sampling cycle. This difference is then compared with a preset motor speed threshold. If it is greater than the threshold, the motor speed continues for the next sampling cycle until it is less than or equal to the preset motor speed threshold. At this point, the glue injection operation begins at the designated position in the root canal. The preset motor speed threshold can be 0, 1, or other values. The ripple weight and back EMF weight for the first sampling period can be pre-loaded when the dispensing equipment is powered on. The ripple weight and back EMF weight for each subsequent sampling period are determined based on the motor speed difference of the previous sampling period. The ripple weight increases with the start-up duration, while the back EMF weight decreases. For example, if the ripple signal is weak in the initial startup phase, the weight is lower; conversely, the back EMF weight is higher. The greater the change in the ripple number per unit time, the stronger the ripple signal, and the higher the weight. However, the sum of the two weights always equals 1. The following table illustrates the ripple number change, ripple frequency, back EMF voltage, back EMF speed component, and current motor speed for each sampling period during the dispensing equipment startup phase. As shown in the table, when the current motor speed in the 5th sampling period equals the target motor speed of 10 mm / s, the startup is complete, and the dispensing phase can begin.

[0043]

[0044] As shown in the table, assuming the initial weight of ripple is 0.4 and the initial weight of back EMF is 0.6, for the first sampling period, the current speed of the fused motor is (0.5*0.4)+(0.3*0.6)=0.20+0.18=0.38mm / s.

[0045] As can be seen, implementing this optional embodiment divides the start-up phase of the dispensing equipment into multiple sampling cycles to sample the ripple frequency velocity and back EMF velocity components respectively. The motor speed is then calculated by combining the ripple weight and back EMF weight under the corresponding sampling cycle. Furthermore, the weights of these two components are dynamically adjusted during the start-up phase based on the target motor speed required for dispensing. The motor speed is then calculated by sampling these two speeds and combining them again. This improves the sampling accuracy of the motor speed until it is equal to or close to the required target motor speed, thus controlling the motor to accelerate smoothly and improving the start-up accuracy of the dispensing equipment. This ensures that the dispensing start-up phase is compatible with the dispensing execution phase, resulting in a uniform and smooth push rod advancement. This, in turn, helps improve the control accuracy and stability of dispensing, and enhances the uniformity and precision of root canal dispensing.

[0046] In another alternative embodiment, the method may further include the following steps: During the glue injection start-up phase, based on the determined sampling period, the resistance change characteristics of the push rod are collected multiple times, such as the change amplitude of electrical parameters (such as current or voltage), resistance change rate, and speed deviation between adjacent sampling periods. The resistance change characteristics of all sampling periods are smoothed and filtered, and the effective characteristics of all smoothed and filtered resistance change characteristics are analyzed to obtain effective load characteristics, such as average current, maximum speed deviation, and average resistance change rate. The extracted payload features are compared with root canal morphology data in a pre-determined root canal morphology database to obtain root canal morphology comparison results, which include multiple feature similarities. Based on the root canal morphology comparison results, the target root canal morphology with the highest feature similarity is determined, and it is determined whether the highest feature similarity is greater than or equal to the preset similarity threshold. When it is determined that it is less than or equal to the preset similarity threshold, the ripple weight of the motor and the back electromotive force weight of the motor at the end of the glue dispensing start-up phase of the glue dispensing equipment will be used as the starting ripple weight of the motor and the starting back electromotive force weight of the motor. When the similarity is greater than the preset threshold, such as severe stenosis, the target initial ripple weight and target initial back electromotive force weight corresponding to the target root canal morphology are obtained. Calculate the ripple weight difference between the target initial ripple weight and the motor ripple weight at the end of the dispensing start-up phase of the dispensing equipment, and calculate the back EMF weight difference between the target initial back EMF weight and the motor back EMF weight at the end of the dispensing start-up phase of the dispensing equipment; when the ripple weight difference is less than the preset ripple weight threshold and when the back EMF weight difference is less than the preset back EMF weight threshold, take the motor ripple weight and the motor back EMF weight at the end of the dispensing start-up phase of the dispensing equipment as the initial ripple weight and the initial back EMF weight of the motor. When the ripple weight difference is greater than or equal to the preset ripple weight threshold, or when the back EMF weight difference is greater than or equal to the preset back EMF weight threshold, the ripple weight of the motor at the end of the glue dispensing start-up phase of the glue dispensing equipment is adjusted according to the ripple weight difference, and the back EMF weight of the motor at the end of the glue dispensing start-up phase of the glue dispensing equipment is adjusted according to the back EMF weight difference, so that the adjusted ripple weight and back EMF weight are close to the target initial ripple weight and the target initial back EMF weight, and the adjusted ripple weight and back EMF weight are used as the initial ripple weight and the initial back EMF weight of the motor.

[0047] As can be seen, in the real-time optional embodiment, during the glue injection start-up phase, the accuracy of resistance feature extraction is improved by filtering and analyzing the resistance features from multiple acquisition cycles and extracting effective resistance features. Furthermore, by combining this with root canal morphology data in the database for similarity comparison, precise matching of root canal morphology is achieved. For successfully matched morphologies, the starting weight is adjusted based on a weight difference threshold, ensuring the weight accurately adapts to the root canal morphology characteristics, which helps improve the real-time speed detection accuracy of the motor. When a match is unsuccessful, the default weight is used to ensure control stability. This achieves a smooth transition of weights between the start-up and glue injection phases, reducing speed fluctuations in the initial glue injection stage and ensuring uniform and accurate glue dispensing.

[0048] In yet another optional embodiment, the method may further include the following steps: During the continuous glue injection process, the real-time electrical parameters of the motor are monitored to obtain the real-time electrical parameter monitoring results of the motor. The real-time electrical parameter monitoring results of the motor are analyzed to obtain the changes in the real-time electrical parameters of the motor. When the real-time electrical parameter changes of the motor are used to indicate that the changes in electrical parameters of the motor exceed the preset electrical parameter changes (such as 500mA, 5V) within a preset time period (such as 3ms), a rotation speed command matching the current operating parameters of the motor is generated based on the real-time electrical parameter changes of the motor and the current operating parameters of the motor; and abnormal control operations are performed on the motor according to the corresponding speed command.

[0049] In this optional embodiment, the real-time electrical parameters of the motor include real-time current or real-time voltage. Current operating parameters include, but are not limited to, current operating current, current operating voltage, and current rotation direction. When the resistance increases abnormally (e.g., due to cold gel block or mechanical jamming) or when the gutta-percha motor is pushed from its initial position to the top, the real-time current feedback register of the sensorless drive chip can clearly detect a sudden increase in electrical parameters. For example, if the current is 100mA at a constant speed and increases to 500mA at the top for 3ms, a corresponding rotation speed command is immediately generated. For instance, the forward rotation of the motor is stopped first, and the motor begins to return to the initial position at the lowest rated speed.

[0050] As can be seen, implementing this optional embodiment monitors the motor electrical parameters in real time during continuous glue injection, determines abnormalities based on preset duration and preset electrical parameter changes, and performs targeted control. This improves the accuracy of determining sudden changes in electrical parameters caused by motor push rod jamming, root canal resistance surges, etc., thereby improving the timeliness of glue injection abnormality identification, and thus helping to improve the continuity, stability and safety of the glue injection process.

[0051] Example 2 Please see Figure 2 , Figure 2 This is a schematic flowchart of another glue injection control method for hot melt filling scenarios disclosed in an embodiment of the present invention. Figure 2 The described method is applied to root canal treatment involving glue filling. For example... Figure 2 As shown, the method may include the following operations: 201. During the continuous dispensing process, the ripple frequency speed and back EMF speed components of the dispensing equipment motor are monitored in real time to obtain the real-time ripple frequency speed and real-time back EMF speed components of the motor. The motor is used to drive the push rod of the dispensing equipment to perform the dispensing operation. The real-time back EMF speed component of the motor is estimated based on the monitored back EMF of the motor.

[0052] 202. The real-time ripple frequency speed and real-time back EMF speed components of the motor are fused and analyzed to obtain the real-time speed of the motor.

[0053] 203. Compare the real-time speed of the motor with the predetermined target motor speed to obtain the motor speed comparison result. The target motor speed is the motor speed required for continuous glue injection.

[0054] In this embodiment of the invention, during continuous glue injection, factors such as incomplete melting of the gutta-percha, increased local viscosity, and increased root canal resistance can all lead to an increase in the load torque of the push rod, causing the number of ripples to change per unit time. For example, there are 12 power ripples when there is constant resistance at a constant speed within 20ms, but when resistance is encountered, the number of ripples within 20ms becomes 10, resulting in a decreasing trend in the motor speed. Optionally, when the absolute value of the real-time speed difference between the real-time motor speed and the target motor speed is greater than or equal to a preset speed difference threshold (e.g., 1mm / s), an abnormality is indicated; otherwise, no abnormality is indicated.

[0055] 204. When the motor speed comparison result indicates that the real-time motor speed is not abnormal, the push rod is controlled to perform the glue injection operation based on the analyzed real-time motor speed.

[0056] 205. When the motor speed comparison result is used to indicate that the real-time motor speed is abnormal, calculate the real-time motor speed minus the target motor speed to obtain the real-time motor speed difference, and analyze the control method that matches the real-time motor speed difference based on the real-time motor speed difference.

[0057] 206. Based on the control method that matches the real-time motor speed difference, analyze the PID adjustment parameters that match the control method, and based on the PID adjustment parameters corresponding to the motor speed difference, perform control operations on the real-time speed of the motor to drive the push rod to perform the glue injection operation.

[0058] In this embodiment of the invention, the real-time motor speed difference, control method, and PID control parameters are related. Specifically: if the real-time motor speed difference is negative, it indicates that the real-time motor speed is too low. The control method then requires increasing the real-time motor speed. This means the proportional element (Kp) responds quickly, increasing the duty cycle of the PWM drive signal, such as from the initial 30% to 45%, thereby increasing the motor output torque. The integral element (Ki) eliminates speed deviation, reducing the continuous decrease in the real-time motor speed. The derivative element (Kd) suppresses real-time motor speed overshoot, reducing sudden excessive torque leading to excessive glue dispensing. After dynamic adjustment of the PID parameters, the motor output torque is increased, for example, to 1.6N. At this point, the real-time speed of the fused motor quickly recovers to the target motor speed, such as 2 mm / s, and remains stable. If the real-time motor speed difference is positive, it indicates that the real-time motor speed is too high. In this case, the control method needs to reduce the real-time motor speed. That is, the proportional element (Kp) responds quickly, reducing the duty cycle of the PWM drive signal, such as from the initial 60% to 45%, thereby reducing the motor output torque. The integral element (Ki) eliminates the speed deviation, reducing the continuous increase of the motor's real-time speed. The derivative element (Kd) suppresses the overshoot of the motor's real-time speed, reducing the sudden decrease in torque that leads to less glue output. After dynamic adjustment of the PID parameters, the motor output torque decreases, such as to 1.6 N. m, at this point, the real-time speed of the fused motor quickly recovers to the target motor speed, such as 2 mm / s, and remains stable.

[0059] In this embodiment of the invention, when the dispensing is detected to be finished, if the dispensing start button is released, the motor stops outputting torque and the push rod stops moving forward. Furthermore, for some dispensing devices, a brief reverse (suction) action will be performed to reduce residual glue dripping from the needle tip. After that, the entire system stops completely, all control cycles are paused, and the system returns to standby mode, waiting for the next treatment command.

[0060] In this embodiment of the invention, it should be noted that for other related descriptions of steps 201-202 and step 204, please refer to the detailed description of steps 101-103 in Embodiment 1, which will not be repeated here.

[0061] It is evident that implementation Figure 2 The described method improves the accuracy of motor speed estimation by real-time monitoring of the back EMF velocity component and ripple frequency velocity of the motor during continuous dispensing. This enhances the accuracy of motor speed estimation, leading to more precise motor torque control and consequently, more precise push rod drive control. This, in turn, improves the dispensing filling effect, dispensing stability, and accuracy, ultimately enhancing the filling performance. Furthermore, by monitoring the motor speed required for dispensing, the method performs real-time speed anomaly monitoring during continuous dispensing. When an anomaly is detected, corresponding PID control parameters are generated based on the anomaly, improving the accuracy of PID parameter generation and PID response time. The method automatically increases or decreases the duty cycle of the PWM drive signal to achieve closed-loop PID control, improving the accuracy of motor torque output. This ensures precise stabilization of the motor speed at the required level for accurate push rod drive. Even under abnormal conditions, the method adaptively performs precise motor torque control based on the motor load during dispensing, further improving push rod control accuracy. This, in turn, further enhances the uniformity, consistency, and accuracy of dispensing speed, achieving uniform and precise dispensing.

[0062] In an optional embodiment, the method may further include the following steps: Based on the collected real-time ripple frequency and speed of the motor, analyze the real-time ripple signal of the motor, and based on the real-time ripple signal of the motor, analyze the signal-to-noise ratio of the real-time ripple signal of the motor. Calculate the ripple signal-to-noise ratio difference between the real-time ripple signal-to-noise ratio of the motor and the preset ripple signal-to-noise ratio. When the ripple signal-to-noise ratio difference is greater than or equal to the preset signal-to-noise ratio threshold, adjust the current ripple weight and the current back EMF weight of the motor according to the ripple signal-to-noise ratio difference to obtain the adjusted ripple weight and back EMF weight of the motor. Specifically, based on the PID adjustment parameters corresponding to the motor speed difference, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection control operation, including: Based on the PID adjustment parameters corresponding to the motor speed difference, the adjusted ripple weight of the motor, and the back EMF weight of the motor, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection control operation.

[0063] In this optional embodiment, when the ripple signal-to-noise ratio difference is less than a preset signal-to-noise ratio threshold, step 201 described above continues to be executed. When the ripple signal-to-noise ratio difference is greater than or equal to the preset signal-to-noise ratio threshold, the ripple weight can be reduced while the back electromotive force weight is increased to ensure uniform torque output from the motor.

[0064] As can be seen, by monitoring the signal-to-noise ratio of the ripple signal during continuous glue injection, and when an abnormality is detected, the ripple weight and back EMF weight are dynamically adjusted in combination with the deviation, and then the PID adjustment parameters are linked to control the motor speed. This achieves adaptive and precise control of the glue injection process, improves the control accuracy of the motor torque, and thus improves the drive control accuracy of the push rod, thereby improving the glue injection filling effect and improving the stability and accuracy of glue dispensing.

[0065] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an adhesive injection control device for hot melt filling scenarios disclosed in an embodiment of the present invention. Figure 3 The described device is used in root canal treatment involving glue filling. For example... Figure 3 As shown, the device may include: The monitoring module 301 is used to monitor the ripple frequency speed and back electromotive force speed components of the motor of the dispensing equipment in real time during the continuous dispensing process, and obtain the real-time ripple frequency speed and real-time back electromotive force speed components of the motor. The motor is used to drive the push rod of the dispensing equipment to perform the dispensing operation. The real-time back electromotive force speed components of the motor are estimated based on the monitored back electromotive force of the motor. Analysis module 302 is used to perform fusion analysis on the real-time ripple frequency speed and real-time back electromotive force speed components of the motor to obtain the real-time speed of the motor. The control module 303 is used to control the push rod to perform the glue injection operation based on the analyzed real-time speed of the motor.

[0066] It is evident that implementation Figure 3 The described device monitors the back electromotive force velocity component and ripple frequency velocity of the motor in real time during continuous glue injection to achieve a fusion estimation of the motor's real-time rotational speed. This improves the accuracy of motor speed estimation during continuous glue injection, thereby improving the accuracy of motor torque control, which in turn improves the accuracy of push rod drive control, thus enhancing the glue injection filling effect, improving glue dispensing stability and accuracy, and ultimately improving the filling effect.

[0067] In this embodiment of the invention, optionally, the analysis module 302 monitors and performs fusion analysis on the real-time ripple frequency speed and real-time back electromotive force speed components of the motor to obtain the specific method of the real-time rotational speed of the motor, including: Determine the initial ripple weight and initial back EMF weight of the motor corresponding to the real-time speed of the motor when the glue dispensing starts; wherein, the initial ripple weight and initial back EMF weight of the motor are determined by the ripple weight and back EMF weight of the motor at the end of the glue dispensing start-up phase of the glue dispensing equipment. The real-time speed of the motor is calculated based on the motor's real-time ripple frequency speed, the motor's current ripple weight, the motor's real-time back EMF speed component, and the motor's current back EMF weight. The motor's current ripple weight includes the motor's initial ripple weight, and the motor's current back EMF weight includes the motor's initial back EMF weight.

[0068] It is evident that implementation Figure 3 The described device can also determine the initial weight of the dispensing stage by combining the ripple weight and back EMF weight at the end of the dispensing start-up stage, so that the weights of the start-up and dispensing stages are seamlessly connected. It also combines the speeds of the two to calculate the real-time speed of the motor, reducing the deviation in the real-time speed calculation caused by sudden weight changes, and improving the accuracy and reliability of the real-time speed of the motor. This is conducive to improving the continuity and stability of motor speed monitoring throughout the dispensing process, improving the accuracy of PID speed control, and ensuring uniform dispensing speed during the dispensing process. In addition, the initial weight of the dispensing stage can be slightly adjusted with the premise of stable dispensing, which can be adapted to different root canal treatment scenarios and improve the adaptability of motor speed calculation.

[0069] In an optional embodiment, such as Figure 3 As shown, the analysis module 302 is also used to perform fusion analysis on the real-time ripple frequency speed and real-time back EMF speed components of the motor to obtain the real-time speed of the motor, and then compare the real-time speed of the motor with the predetermined target motor speed to obtain the motor speed comparison result; when the motor speed comparison result indicates that the real-time speed of the motor is not abnormal, the control module 303 is triggered to execute the step of controlling the push rod to perform the glue injection operation based on the analyzed real-time speed of the motor. And, such as Figure 4 As shown, the device may further include: The calculation module 304 is used to calculate the real-time motor speed minus the target motor speed to obtain the real-time motor speed difference when the motor speed comparison result is used to indicate that the real-time motor speed is abnormal. The analysis module 302 is also used to analyze the control method that matches the real-time motor speed difference based on the real-time motor speed difference, and to analyze the PID adjustment parameters that match the control method based on the control method that matches the real-time motor speed difference. The control module 303 is also used to perform control operations on the real-time speed of the motor according to the PID adjustment parameters corresponding to the motor speed difference, so as to drive the push rod to perform the glue injection operation.

[0070] It is evident that implementation Figure 3 or Figure 4 The described device monitors the real-time motor speed during continuous glue dispensing by detecting abnormalities in the motor's rotational speed required for glue dispensing. When an abnormality is detected, corresponding PID control parameters are generated based on the abnormal situation, improving the accuracy of PID control parameter generation and the timeliness of PID response. The device automatically increases or decreases the duty cycle of the PWM drive signal to achieve closed-loop PID control, improving the accuracy of motor torque output. This ensures that the rotational speed is precisely stabilized at the required speed to accurately drive the push rod. Even under abnormal conditions, the device can adaptively perform precise control operations on the motor torque according to the motor load during glue dispensing, further improving the control accuracy of the push rod. This, in turn, further improves the uniformity, consistency, and accuracy of glue dispensing speed, achieving uniform and precise glue dispensing.

[0071] In another alternative embodiment, such as Figure 4 As shown, the analysis module 302 is also used to analyze the real-time ripple signal of the motor based on the collected real-time ripple frequency and speed of the motor, and to analyze the signal-to-noise ratio of the real-time ripple signal of the motor based on the real-time ripple signal of the motor. The calculation module 304 is also used to calculate the difference in ripple signal-to-noise ratio between the real-time ripple signal-to-noise ratio of the motor and the preset ripple signal-to-noise ratio; like Figure 4 As shown, the device may further include: The adjustment module 305 is used to adjust the current ripple weight and the current back EMF weight of the motor according to the ripple signal-to-noise ratio difference when the ripple signal-to-noise ratio difference is greater than or equal to the preset signal-to-noise ratio threshold, so as to obtain the adjusted ripple weight and back EMF weight of the motor. The control module 303 controls the real-time speed of the motor based on the PID adjustment parameters corresponding to the motor speed difference, and drives the push rod to perform the glue injection operation in the following ways: Based on the PID adjustment parameters corresponding to the motor speed difference, the adjusted ripple weight of the motor, and the back EMF weight of the motor, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection control operation.

[0072] It is evident that implementation Figure 4 The described device monitors the signal-to-noise ratio of the ripple signal during continuous glue injection. When an anomaly is detected, it dynamically adjusts the ripple weight and back EMF weight based on the deviation, and then links the PID adjustment parameters to control the motor speed. This achieves adaptive and precise control of the glue injection process, improves the control accuracy of the motor torque, and further improves the drive control accuracy of the push rod, thereby improving the glue injection filling effect and enhancing the stability and accuracy of glue dispensing.

[0073] In yet another alternative embodiment, such as Figure 4 As shown, the monitoring module 301 is also used to collect the current ripple frequency speed and the current back electromotive force speed component of the motor based on a predetermined acquisition period before controlling the dispensing equipment to perform the dispensing operation. The determination module 306 is used to determine the ripple weight and back electromotive force weight of the motor in the current acquisition cycle; The first generation module 307 is used to generate the current speed of the motor based on the current ripple frequency speed and ripple weight of the motor, the current back EMF speed component and back EMF weight of the motor. The analysis module 302 is also used to compare the current speed of the motor with the speed of the target motor to obtain the current speed comparison result of the motor. When the current speed comparison result of the motor is used to indicate that the difference between the current speed of the target motor and the current speed of the motor is greater than the preset motor speed threshold, the monitoring module 301 is triggered to perform the operation of collecting the current ripple frequency speed and the current back EMF speed component of the motor based on the predetermined acquisition period, until the difference between the current speed of the target motor and the real-time speed of the motor is less than or equal to the preset motor speed threshold, and then the glue injection operation is performed.

[0074] In this optional embodiment, the determining module 306 determines the specific method by which it determines the ripple weight and back EMF weight of the motor in the current acquisition cycle, including: For the first acquisition cycle, determine the pre-determined ripple weight and pre-determined back EMF weight, which are the motor ripple weight and back EMF weight for that acquisition cycle; or, For acquisition cycles other than the first one, analyze the speed difference between the motor's ripple frequency speed and the motor's back EMF speed component in the previous acquisition cycle; based on the motor's speed difference in the previous acquisition cycle, perform adjustment operations on the motor's ripple weight and back EMF weight in the previous acquisition cycle to obtain the adjusted motor ripple weight and back EMF weight; determine the adjusted motor ripple weight and back EMF weight as the motor ripple weight and back EMF weight in the current acquisition cycle.

[0075] It is evident that implementation Figure 4The described device divides the start-up phase of the dispensing equipment into multiple sampling cycles to sample the ripple frequency velocity and back EMF velocity components separately. It then combines the ripple weight and back EMF weight under the corresponding sampling cycle to calculate the motor speed. The device dynamically adjusts the weights of these two components during the start-up phase based on the target motor speed required for dispensing, and then samples both velocities again to calculate the motor speed. This improves the sampling accuracy of the motor speed until it is equal to or close to the required target motor speed, thus controlling the motor to accelerate smoothly and improving the start-up precision of the dispensing equipment. This ensures that the dispensing start-up phase is compatible with the dispensing execution phase, resulting in a uniform and smooth push rod advancement. This, in turn, improves the control precision and stability of dispensing, and enhances the uniformity and accuracy of root canal dispensing.

[0076] In yet another alternative embodiment, such as Figure 4 As shown, the monitoring module 301 is also used to perform a monitoring operation on the real-time electrical parameters of the motor during the continuous glue injection process, and obtain the real-time electrical parameter monitoring results of the motor. The analysis module 302 is also used to analyze the real-time electrical parameter monitoring results of the motor to obtain the real-time electrical parameter changes of the motor. The second generation module 308 is used to generate a rotation speed command that matches the current operating parameters of the motor when the real-time electrical parameter change of the motor indicates that the electrical parameter change of the motor exceeds the preset electrical parameter change within a preset time period. The control module 301 is also used to perform abnormal control operations on the motor according to the speed command corresponding to the motor.

[0077] It is evident that implementation Figure 4 The described device can also monitor the motor electrical parameters in real time during continuous glue injection, determine abnormalities based on preset duration and preset electrical parameter changes, and perform targeted control. This improves the accuracy of determining sudden changes in electrical parameters caused by motor push rod jamming, root canal resistance increase, etc., thereby improving the timeliness of glue injection abnormality identification, which in turn helps to improve the continuity, stability and safety of the glue injection process.

[0078] Example 4 Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a glue dispensing device disclosed in an embodiment of the present invention. Figure 5 The described device is used in root canal treatment involving glue filling. For example... Figure 5 As shown, the dispensing equipment may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps in any of the glue injection control methods disclosed in Embodiment 1 or Embodiment 2 of the present invention for hot melt filling scenarios.

[0079] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in any of the glue injection control methods disclosed in Embodiment 1 or Embodiment 2 of this invention, which are applied to hot melt filling scenarios.

[0080] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0081] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0082] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention 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 spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling glue injection in hot melt filling scenarios, characterized in that, The method includes: During continuous glue injection, the ripple frequency speed and back EMF speed components of the motor of the glue injection equipment are monitored in real time to obtain the real-time ripple frequency speed and real-time back EMF speed components of the motor. The motor is used to drive the push rod of the glue injection equipment to perform glue injection operation. The real-time back EMF speed components of the motor are estimated based on the monitored back EMF of the motor. The real-time rotational speed of the motor is obtained by fusing and analyzing the real-time ripple frequency speed and the real-time back electromotive force speed component. Based on the analyzed real-time speed of the motor, the push rod is controlled to perform the glue injection operation.

2. The method according to claim 1, characterized in that, The method of monitoring and fusing the real-time ripple frequency speed and the real-time back electromotive force speed component of the motor to obtain the real-time rotational speed of the motor includes: The starting ripple weight and starting back EMF weight of the motor are determined when the glue dispensing starts, corresponding to the real-time rotational speed of the motor. The starting ripple weight and starting back EMF weight of the motor are determined by the ripple weight and back EMF weight of the motor at the end of the glue dispensing start-up phase of the glue dispensing equipment. The real-time rotational speed of the motor is calculated based on the real-time ripple frequency speed of the motor, the current ripple weight of the motor, the real-time back EMF speed component of the motor, and the current back EMF weight of the motor; wherein, the current ripple weight of the motor includes the initial ripple weight of the motor, and the current back EMF weight of the motor includes the initial back EMF weight of the motor.

3. The method according to claim 1 or 2, characterized in that, After fusing and analyzing the real-time ripple frequency speed and the real-time back electromotive force speed component of the motor to obtain the real-time rotational speed of the motor, the method further includes: The real-time speed of the motor is compared with the predetermined target motor speed to obtain the motor speed comparison result; when the motor speed comparison result indicates that the real-time speed of the motor is not abnormal, the step of controlling the push rod to perform the glue injection operation based on the analyzed real-time speed of the motor is executed, and the target motor speed is the motor speed required for continuous glue injection; When the motor speed comparison result is used to indicate that the real-time speed of the motor is abnormal, the real-time speed of the motor is calculated by subtracting the target motor speed from the real-time motor speed to obtain the real-time motor speed difference; Based on the real-time motor speed difference, analyze the control method that matches the real-time motor speed difference; Based on the control method that matches the real-time motor speed difference, the PID adjustment parameters that match the control method are analyzed, and based on the PID adjustment parameters corresponding to the motor speed difference, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection operation.

4. The method according to claim 3, characterized in that, The method further includes: Based on the collected real-time ripple frequency speed of the motor, analyze the real-time ripple signal of the motor, and based on the real-time ripple signal of the motor, analyze the signal-to-noise ratio of the real-time ripple signal of the motor. Calculate the ripple signal-to-noise ratio difference between the real-time ripple signal-to-noise ratio of the motor and the preset ripple signal-to-noise ratio. When the ripple signal-to-noise ratio difference is greater than or equal to the preset signal-to-noise ratio threshold, adjust the current ripple weight and the current back electromotive force weight of the motor according to the ripple signal-to-noise ratio difference to obtain the adjusted ripple weight and back electromotive force weight of the motor. The step of controlling the real-time speed of the motor based on the PID adjustment parameters corresponding to the motor speed difference to drive the push rod to perform the glue injection operation includes: Based on the PID adjustment parameters corresponding to the motor speed difference, the adjusted ripple weight of the motor, and the back EMF weight of the motor, the real-time speed of the motor is controlled to drive the push rod to perform the glue injection control operation.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: Before controlling the dispensing equipment to perform the dispensing operation, the current ripple frequency speed and the current back electromotive force speed component of the motor are collected based on a predetermined acquisition period. Determine the ripple weight and back EMF weight of the motor in the current acquisition period, and generate the current speed of the motor based on the current ripple frequency speed and ripple weight of the motor, the current back EMF speed component and back EMF weight of the motor. The current speed of the motor is compared with the speed of the target motor to obtain the comparison result of the current speed of the motor; When the current speed comparison result of the motor is used to indicate that the difference between the target motor speed and the current motor speed is greater than the preset motor speed threshold, the operation of collecting the current ripple frequency speed and the current back EMF speed component of the motor based on the predetermined acquisition period continues until the difference between the target motor speed and the real-time motor speed is less than or equal to the preset motor speed threshold, and then the glue injection operation is performed.

6. The method according to claim 5, characterized in that, The determination of the ripple weight and back EMF weight of the motor in the current acquisition period includes: For the first acquisition cycle, a pre-determined ripple weight and a pre-determined back EMF weight are determined, which are the ripple weight and back EMF weight of the motor for that acquisition cycle; or, For acquisition cycles other than the first one, analyze the speed difference between the motor's ripple frequency speed and the motor's back EMF speed component in the previous acquisition cycle; based on the speed difference of the motor in the previous acquisition cycle, perform an adjustment operation on the motor's ripple weight and back EMF weight in the previous acquisition cycle to obtain the adjusted motor ripple weight and back EMF weight; determine the adjusted motor ripple weight and back EMF weight as the motor ripple weight and back EMF weight in the current acquisition cycle.

7. The method according to any one of claims 1-4, 6, characterized in that, The method further includes: During the continuous glue injection process, the real-time electrical parameters of the motor are monitored to obtain the real-time electrical parameter monitoring results of the motor. The real-time electrical parameter monitoring results of the motor are analyzed to obtain the real-time electrical parameter changes of the motor; When the real-time electrical parameter changes of the motor are used to indicate that the electrical parameter changes of the motor exceed the preset electrical parameter changes within a preset time period, a rotation speed command matching the current operating parameters of the motor is generated based on the real-time electrical parameter changes of the motor and the current operating parameters of the motor; and abnormal control operations are performed on the motor based on the corresponding rotation speed command.

8. A glue injection control device for hot melt filling scenarios, characterized in that, The device includes: The monitoring module is used to monitor the ripple frequency speed and back electromotive force speed components of the motor of the dispensing equipment in real time during the continuous dispensing process, and obtain the real-time ripple frequency speed and real-time back electromotive force speed components of the motor. The motor is used to drive the push rod of the dispensing equipment to perform the dispensing operation. The real-time back electromotive force speed components of the motor are estimated based on the monitored back electromotive force of the motor. The analysis module is used to perform fusion analysis on the real-time ripple frequency speed and the real-time back electromotive force speed component of the motor to obtain the real-time rotational speed of the motor. The control module is used to control the push rod to perform the glue injection operation based on the analyzed real-time speed of the motor.

9. A glue dispensing device, characterized in that, The dispensing equipment includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the glue injection control method as described in any one of claims 1-7 for hot melt filling scenarios.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the glue injection control method for hot melt filling scenarios as described in any one of claims 1-7.

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