Lower limb rehabilitation device and method for children with cerebral palsy

Abstract

The invention discloses a lower limb rehabilitation device and method for children with cerebral palsy, and relates to the technical field of medical treatment. Comprising a seat and a pedal mechanism arranged at the front end of the seat, the pedal mechanism comprises a permanent magnet motor, a first pedal and a second pedal, and the first pedal and the second pedal are correspondingly arranged on the two sides of the permanent magnet motor; the system further comprises a host, VR glasses, an upper computer, a permanent magnet motor driver and a detection unit of a pedal mechanism. The detection unit is arranged on the pedal mechanism and is in communication connection with the host; the VR glasses and the upper computer are in communication connection with the host; and the permanent magnet motor driver is arranged on the permanent magnet motor and is connected with the upper computer. Games presented by the VR glasses add fun to rehabilitation, multi-sensory stimulation of the VR glasses promotes plasticity of brain nerves, training time can be effectively prolonged, training frequency and intensity can be improved, a new way is developed for rehabilitation treatment of children with cerebral palsy, and the rehabilitation process of the children with cerebral palsy is powerfully promoted; the structure is simple and easy to realize, and the experience of cerebral palsy children is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical technology, and in particular to a lower limb rehabilitation device and method for children with cerebral palsy. Background Art

[0002] Cerebral palsy (CP) is a non-progressive brain injury syndrome, mainly manifested by central movement disorders and abnormal postures. It is a common movement disorder in children. The occurrence of CP is closely related to abnormal brain development or damage, which may cause patients to have a series of problems such as movement, perception, cognition, communication, and behavior disorders.

[0003] Rehabilitation treatment for children with cerebral palsy is a long and complex process. The development of rehabilitation equipment has covered a variety of physical factors such as sound, light, electricity, magnetism, heat, and mechanics, and has become an indispensable treatment method for clinical rehabilitation treatment. Traditional rehabilitation methods include physical therapy, occupational therapy, speech therapy, etc., but these methods are often inefficient and highly dependent on therapists. With the development of science and technology and the advancement of virtual reality technology, the research and development of rehabilitation equipment for children with cerebral palsy has become an emerging research field.

[0004] Therefore, it is an urgent problem for those skilled in the art to propose a lower limb rehabilitation device and method for children with cerebral palsy to overcome the difficulties existing in the prior art. Summary of the invention

[0005] In view of this, the present invention provides a lower limb rehabilitation device and method for children with cerebral palsy. The device has a scientific and reasonable structural design, low equipment construction and operation costs, low failure rate, and long service life. The manufactured lower limb rehabilitation device for children with cerebral palsy can effectively help children exercise to stimulate the brain for rehabilitation.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A lower limb rehabilitation device for children with cerebral palsy, comprising:

[0008] A seat, a pedal mechanism arranged at the front end of the seat, the pedal mechanism comprising a permanent magnet motor, a first pedal and a second pedal, the first pedal and the second pedal being arranged at both sides of the permanent magnet motor respectively;

[0009] It also includes a host, VR glasses, a host computer, a permanent magnet motor driver, and a detection unit for a pedal mechanism;

[0010] The detection unit is arranged on the pedal mechanism and is connected to the host for communication;

[0011] VR glasses and host computer are connected to the host computer;

[0012] The permanent magnet motor driver is arranged on the permanent magnet motor and is connected to the host computer.

[0013] In the above device, optionally, the host includes a database and a single-chip microcomputer in communication connection.

[0014] In the above device, optionally, the detection unit includes a Hall sensor, a first HX711 sensor and a second HX711 sensor arranged in parallel;

[0015] The Hall sensor is arranged on the permanent magnet motor, the first HX711 sensor is arranged on the first pedal, and the second HX711 sensor is arranged on the second pedal;

[0016] The Hall sensor, the first HX711 sensor and the second HX711 sensor are respectively connected to the single chip microcomputer of the host for communication.

[0017] The above-mentioned device may optionally further include a millimeter wave radar communicatively connected to the host.

[0018] The above-mentioned device may optionally further include a monitoring terminal that is communicatively connected to the host.

[0019] The above-mentioned device may optionally further include a Unity platform that is communicatively connected to the VR glasses and the host computer.

[0020] A working method of a lower limb rehabilitation device for children with cerebral palsy, based on any one of the above-mentioned lower limb rehabilitation devices for children with cerebral palsy, comprises the following steps:

[0021] S1, Unity platform controls VR glasses to display a picture, and then transmits the data to the host computer, and then to the database;

[0022] S2, the single chip computer collects the vital signs of the child through the millimeter wave radar; collects the pressure of the child on the first pedal and the second pedal through the HX711 sensor; collects the speed of the permanent magnet motor through the Hall sensor, and then transmits it to the host computer through the serial port, and finally transmits it to the database;

[0023] S3, the host computer writes a script by calling the Mysql library, establishes a connection with the database, and uses the SELECT statement to query data, thereby realizing direct operation on the database;

[0024] S4. The host computer controls the speed of the permanent magnet motor according to the Modbus RTU protocol.

[0025] The above method may optionally further include S5, the database communicating with the host computer to obtain the permanent magnet motor speed and the child's vital signs data, and judging whether the child's behavior poses a safety risk based on preset safety rules and algorithms. When there is a safety risk, an alarm signal is promptly issued and relevant information is fed back to the supervisory end.

[0026] It can be seen from the above technical solutions that, compared with the prior art, the present invention provides a lower limb rehabilitation device and method for children with cerebral palsy, which has the following beneficial effects:

[0027] 1) VR games (bicycle riding) add fun to the rehabilitation process. This immersive experience can attract children's attention and make them more willing to actively participate in rehabilitation training. For children with cerebral palsy who have difficulty concentrating and are easily bored with repetitive movements, the fun of VR games can effectively extend their training time and increase the frequency and intensity of training.

[0028] 2) Through VR games combined with motor assistance, children will feel that they are "playing games" instead of doing boring rehabilitation; they will try to control their leg movements more actively to achieve better results in the game, such as speeding up the bicycle or completing specific tasks in the game; the motor driving the leg rotation can also make children feel that their legs are participating in the exercise. This positive feedback will enhance their confidence in rehabilitation and stimulate their internal motivation for rehabilitation;

[0029] 3) VR glasses not only provide visual stimulation, but also provide auditory stimulation through the sound effects in the game (such as the sound of bicycle bells and surrounding environmental sound effects). At the same time, the motor drives the legs to rotate so that children can feel the tactile and kinesthetic stimulation of their limbs. This multi-sensory stimulation helps the brain's neuroplasticity and promotes the reconstruction of neural pathways.

[0030] 4) The device has a simple structure and is easy to implement and control, which improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0032] Figure 1 This is a structural block diagram of a lower limb rehabilitation device for children with cerebral palsy disclosed in the present invention;

[0033] Figure 2 A schematic diagram of a lower limb rehabilitation device for children with cerebral palsy disclosed in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the 3144E switch type Hall sensor integrated module disclosed in the present invention;

[0035] Figure 4The internal circuit diagram of the 3144E switch type Hall sensor integrated module disclosed in the present invention;

[0036] Figure 5 This is a typical circuit diagram of the HX711 sensor disclosed in the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] In this application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0039] Reference Figure 1 As shown, a lower limb rehabilitation device for children with cerebral palsy comprises:

[0040] A seat 1, a pedal mechanism 2 arranged at the front end of the seat, the pedal mechanism 2 comprising a permanent magnet motor 21, a first pedal 22 and a second pedal 23, the first pedal 22 and the second pedal 23 being arranged at both sides of the permanent magnet motor 21 correspondingly;

[0041] It also includes a host 3, VR glasses 4, a host computer 5, a permanent magnet motor driver, and a detection unit of the pedal mechanism 2;

[0042] The detection unit is arranged on the pedal mechanism 2 and is connected to the host computer 3 for communication;

[0043] VR glasses 4 and host computer 5 are both connected to the host computer 3 for communication;

[0044] The permanent magnet motor driver is arranged on the permanent magnet motor 21 and connected to the host computer 5 .

[0045] The host 3 includes a database and a single chip microcomputer which are in communication connection.

[0046] The detection unit includes a Hall sensor, a first HX711 sensor and a second HX711 sensor arranged in parallel;

[0047] The Hall sensor is arranged on the permanent magnet motor 21, the first HX711 sensor is arranged on the first pedal 22, and the second HX711 sensor is arranged on the second pedal 23;

[0048] The Hall sensor, the first HX711 sensor and the second HX711 sensor are respectively connected to the single chip microcomputer of the host 3 for communication.

[0049] It also includes a millimeter wave radar and a monitoring terminal that are connected to the host 3 for communication.

[0050] It also includes a Unity platform that is communicatively connected to the VR glasses 4 and the host computer 5.

[0051] The Hall sensor uses a 3144E switch type Hall sensor to measure the speed and pedaling frequency of the spinning bike. Figure 3 There are two output modes: 1. If the output is digital DO, the analog AO is invalid; 2. If the output is DO, AO is invalid and cannot be used at the same time. Figure 4 .

[0052] Millimeter wave radar: used to measure distance or motion information, such as:

[0053] 77G breathing heartbeat R77ABH1

[0054] Output

[0055] Person / no person activity / stillness vital signs parameters size breathing activity heart rate detection

[0056] Product size <60x45x5mm

[0057] Working frequency 77-78Hz

[0058] Transmit power 10dBm

[0059] Product power consumption 5V / 250mA

[0060] Working voltage 3.3V

[0061] Output format serial port / high and low level

[0062] Installation direction: top / downward / horizontal

[0063] Detection direction 5V / 250mA

[0064] Installation height: 2m

[0065] Respiratory and heartbeat observation range (R): The straight-line distance between the radar and the chest cavity is 0.1-2m.

[0066] The HX711 sensor is a weighing sensor used for weight measurement. The thickness of the integrated acrylic is: 4.5mm for 10kg, 7mm for 20kg and 40kg;

[0067] Applicable sensor size: length 89mm, width 22mm, thickness 21mm. Sensor line length: about 20cm. The sensor interface on the scale is: XH2.54-4P. The product size is 130*95mm. Figure 5 The typical circuit diagram of the HX711 sensor, where L1 is used to isolate the analog and digital units, and Q1 is used to shut down the sensor and ADC unit.

[0068] In a specific embodiment, the Unity platform is used to construct a picture in the VR glasses 4, and transmit the data to the host computer 5 and then to the database. The VR scene constructed by the Unity platform includes the basic elements of constructing the VR scene, setting the lighting effect of the scene, adding materials to the objects in the scene, and if interaction with VR is required, the input information of the handle can be obtained by using the interface provided by the VR plug-in;

[0069] The VR plug-in is a SteamVR plug-in, which uses the SteamVR_Input_Sources class to accurately detect controller operations, including capturing controller button press operation signals and triggering corresponding events in the Unity scene according to pre-set logic, as well as obtaining the movement direction and amplitude information of the controller joystick and converting it into the perspective rotation of the character in the scene or the translation, rotation and other operations of the object.

[0070] Specifically, when using the Unity platform to build a VR scene, we must first focus on building the basic elements of the VR scene. This covers the creation of various basic geometric shapes, such as cubes, spheres, cylinders, etc., which will serve as the cornerstone of the scene and build the framework structure of the entire virtual space. The second is to set the lighting effect of the scene. Lighting plays an extremely critical role in VR scenes, and it can create a completely different atmosphere and sense of reality. By adjusting parameters such as the intensity, color, shadow type, and attenuation range of the light, realistic light and shadow effects can be created, making the objects in the scene look more three-dimensional and richer in texture, making the user feel as if they are in a real environment. Finally, add materials to the objects in the scene. The selection and application of materials can give objects unique appearance characteristics, making them more visually attractive and realistic. By carefully adjusting the parameters of the material, including texture mapping, transparency, self-illumination, etc., a variety of rich visual effects can be achieved, further improving the overall quality of the scene. If you need to interact with VR, this process can use the interface provided by the VR plug-in to obtain the input information of the handle. Taking the widely used SteamVR plug-in as an example, the SteamVR_Input_Sources class can be fully utilized to achieve accurate detection of handle operations. When the user presses a button on the handle, this class can quickly capture the operation signal and trigger the corresponding event in the Unity scene according to the pre-set logic. When the user turns the joystick on the handle, this class can also be used to obtain the joystick's movement direction and amplitude information, which can then be converted into the character's perspective rotation or the object's translation, rotation and other operations in the scene, bringing users a smooth and natural interactive experience.

[0071] In a specific embodiment, the single-chip microcomputer is connected to the millimeter-wave radar to control the signal transmission and reception process of the millimeter-wave radar, analyze and process the reflected waves to extract the child's vital signs data, including heart rate and breathing rate; connected to the HX711 sensor to receive the pedal pressure digital signal amplified and analog-to-digital converted by the HX711 sensor and calculate the pressure value of the pedal; connected to the Hall sensor to calculate the speed of the permanent magnet motor 21 by counting the pulse signals generated by the Hall sensor and measuring the time interval between adjacent pulses, and transmit the sorted and packaged child's vital signs, pedal pressure and speed data of the permanent magnet motor 21 to the host computer 5.

[0072] Specifically, in the collaborative working mechanism of the MCU and the millimeter-wave radar, the millimeter-wave radar emits a millimeter-wave signal of a specific frequency. After it is reflected by the child's body, the MCU extracts the child's vital signs data by analyzing the key parameters of the reflected wave, such as the frequency offset, phase change, and amplitude change. In the data transmission channel between the MCU and the HX711 sensor, when the child interacts with the pedal equipped with the HX711 sensor, the pedal pressure causes the strain gauge inside the HX711 sensor to deform. The HX711 sensor amplifies the weak electrical signal generated and converts it into a digital signal and transmits it to the MCU. The MCU calculates the pressure value of the pedal and analyzes the child's weight distribution information, posture changes, and whether there is abnormal behavior.

[0073] The single-chip microcomputer and millimeter-wave radar establish a close connection and collaborative working mechanism. With its unique high-frequency electromagnetic wave transmission and reception capabilities, the millimeter-wave radar continuously transmits millimeter-wave signals of specific frequencies to the surrounding space. When these signals encounter the child's body, reflection occurs, and the reflected millimeter waves carry rich information. The single-chip microcomputer accurately controls the signal transmission and reception process of the millimeter-wave radar, and conducts in-depth analysis and processing of the reflected waves. By analyzing the key parameters of the reflected wave, such as frequency offset, phase change, and amplitude change, the extremely critical vital signs data of the child is successfully extracted from it, covering the heart rate, an important indicator reflecting the heart beat rhythm and health status, and the respiratory rate, a core parameter related to body metabolism and life maintenance. This non-contact vital signs collection method based on millimeter-wave radar has extremely high accuracy and reliability. It can not only achieve continuous and stable data monitoring without interfering with the normal activities of children, but also effectively avoid the discomfort or potential risks that traditional contact collection methods may bring to children, providing a very safe, efficient and comfortable solution for children's life and health monitoring.

[0074] In the cooperation relationship between the single-chip microcomputer and the Hall sensor, the Hall sensor generates a pulse signal when the magnetic element at the shaft of the permanent magnet motor 21 produces a periodic change in the magnetic field as the motor shaft rotates. The single-chip microcomputer calculates the motor speed by counting the pulse signals and measuring the time interval, and accurately controls and flexibly adjusts the equipment operating speed based on the safe operating parameters and control strategies.

[0075] Furthermore, a close cooperation relationship is formed between the single-chip microcomputer and the Hall sensor, so as to accurately collect the speed of the motor. The Hall sensor cleverly uses the Hall effect principle to work. Magnetic elements are carefully installed on the shaft of the motor. As the motor shaft rotates steadily, the magnetic field generated by the magnetic elements will change periodically. The Hall sensor keenly senses the dynamic changes of this magnetic field and generates corresponding pulse signals accordingly. The single-chip microcomputer can accurately calculate the speed value of the motor at different times by accurately counting these pulse signals and accurately measuring the time interval between adjacent pulses, and using mature mathematical calculation models and algorithms. With the help of real-time monitoring data of the motor speed, the single-chip microcomputer can accurately control and flexibly adjust the running speed of the equipment according to the pre-set safe operation parameters and control strategies. Ensure that the motor always runs stably within a safe and appropriate speed range, effectively prevent the occurrence of dangerous situations such as equipment loss of control and collision caused by excessive motor speed, or the equipment cannot work properly due to too slow motor speed, affecting children's use experience or causing potential safety hazards, and comprehensively guarantee the safety and comfort of children in the process of using electric equipment.

[0076] An efficient data transmission channel is built between the microcontroller and the HX711 sensor to accurately collect the pressure of the child's pedal. When a child stands on or interacts with a pedal equipped with an HX711 sensor, the pressure on the pedal causes the strain gauge inside the HX711 to produce a slight but accurately measurable deformation. This deformation directly causes a corresponding change in the resistance value of the strain gauge, and the HX711 sensor gives full play to its excellent signal amplification and analog-to-digital conversion functions. It can greatly amplify the weak electrical signal generated by the change in resistance value so that it can meet the microcontroller's requirements for signal strength and accuracy, and then accurately convert the amplified analog signal into a digital signal and quickly transmit it to the microcontroller. After receiving these digital signals from the HX711 sensor, the microcontroller quickly calculates and analyzes the data according to the pre-set program, thereby accurately calculating the numerical value of the pressure on the pedal. Through continuous monitoring and in-depth analysis of these pressure data, we can not only obtain information on the child's weight distribution and understand the changes in the child's posture on the pedal, but also promptly detect special situations that may indicate safety hazards or abnormal conditions, such as whether the child has abnormal and violent jumping behavior on the pedal, or whether there is a long period of stillness, providing strong data support for the safety monitoring of children's activities.

[0077] The database is used to receive the rotation speed of the permanent magnet motor 21 and the vital sign data of the child from the single chip microcomputer, and control the rotation speed of the permanent magnet motor through Modbus RTU to promote the recovery of the cerebral palsy child.

[0078] After completing the collection and preliminary processing of the above-mentioned multi-source data such as the child's vital signs, pedal pressure, and the speed of the permanent magnet motor 21, the single-chip microcomputer further transmits these sorted and packaged data in an orderly manner to the host computer 5 through the serial communication technology. Seamless connection and smooth information transmission between the single-chip microcomputer at the source of data collection and the host computer 5 at the data comprehensive processing and decision-making center are realized, providing solid data guarantee and technical support for the stable operation and precise control of the entire intelligent child safety monitoring and equipment control system.

[0079] As a data aggregation hub, the host computer 5 receives multi-source data transmitted by the single-chip microcomputer, and quickly activates an operating structure similar to an efficient "sorting workshop" to organize the complex information in an orderly manner. In the face of vital signs data such as children's heart rate and respiratory rate, the channel has a built-in intelligent "discrimination filter" to keenly capture and eliminate abnormal values ​​and noise interference, ensuring that the output data accurately reflects the real-time health status of children, and lays a solid information foundation for medical staff to judge the physical condition during the rehabilitation process. In the face of the pedal pressure data collected by the HX711 sensor and the speed data of the permanent magnet motor 21 captured by the Hall sensor, a "cleaning assembly line" system is established. Accurately identify invalid data, such as sensor failure, erroneous readings caused by signal interference, and repeated redundant parts, these "impurities" will disrupt the analysis. After strict screening and elimination, the data is "reborn", pure and reliable, and flows smoothly to the subsequent links to ensure the precise operation of rehabilitation. After completing the "purification" of the data, the host computer switches to the role of "commander-in-chief" of motor control, relying on the "evaluation and command" architecture to drive the permanent magnet motor to operate accurately.

[0080] The host computer 5 follows the Modbus RTU protocol specification and builds a command "foundry"-like structure to generate control command data packets. In this structure, the key control elements of the motor - target speed, steering, and torque are treated like precision mechanical parts, carefully encoded according to the "mold" of a specific byte format, and the abstract control intention is converted into a standard data language. The permanent magnet motor driver is equipped with a professional "analysis workshop" structure to respond to the host computer instructions. When the data packet arrives, the unpacking and verification process is quickly started to accurately extract the control parameter information such as the target speed, steering, and torque, and then trigger the electrical parameter debugging mechanism. By fine-tuning the power supply voltage, current, and frequency, the "pace" set by the host computer is followed step by step until the target speed is accurately reached, demonstrating the structure's ability to control the operation of the motor at the micro level, ensuring that the strength and speed of the rehabilitation movements are accurately adapted to the needs of the children's rehabilitation training stage.

[0081] In a specific embodiment, the host computer 5 interacts with the database and directly operates the database by calling scripts written in the Mysql library, including data query, insertion, update and deletion operations. After receiving the data transmitted by the single-chip microcomputer, the data is parsed, classified, integrated, format converted and cleaned. Based on the pre-set control strategy and logic, the permanent magnet motor 21 is precisely controlled through the Modbus RTU protocol, including evaluating the current operating state of the permanent magnet motor 21, calculating the speed deviation value and generating a control instruction data packet based on the deviation value and PID control parameters to send to the permanent magnet motor driver of the permanent magnet motor 21 to control the electrical parameters such as the power supply voltage, current and frequency of the permanent magnet motor 21 to achieve precise control of the rotation of the permanent magnet motor 21, and continuously receiving the real-time feedback data of the permanent magnet motor 21 for real-time monitoring and dynamic adjustment.

[0082] Specifically, when the host computer 5 controls the permanent magnet motor through the Modbus RTU protocol, the constructed control instruction data packet encodes the key control parameters of the permanent magnet motor 21, such as the target speed, direction, torque, etc., in a specific byte format and adds a check code, and sends it to the permanent magnet motor driver of the permanent magnet motor 21 through the serial communication interface. After the permanent magnet motor driver unpacks and verifies the instruction data packet, it extracts the control parameter information and adjusts the electrical parameters of the permanent magnet motor 21, such as the power supply voltage, current and frequency.

[0083] The Unity platform communicates with the database. The Unity platform uploads children's interaction data in VR scenes, such as operation records, location information, behavioral actions, etc. to the database in real time. The database determines whether the child's behavior poses a safety risk based on preset safety rules and algorithms. When there is a safety risk, an alarm signal will be issued in a timely manner and relevant information will be fed back to the supervision end.

[0084] Specifically, the Unity platform communicates with the database to monitor the safety of children in real time. By establishing a stable network connection and docking with the database, the Unity platform can upload children's interactive data in VR scenes, such as operation records, location information, behavioral actions, etc. to the database in real time. The database can store, analyze and process this data, and determine whether the child's behavior poses a safety risk based on preset safety rules and algorithms. For example, if a child is in a dangerous area for a long time in a VR scene or performs unusually intense actions, the database can issue an alarm signal in time and feedback relevant information to the supervision end so that relevant personnel can take quick measures to ensure the safety and health of children when using VR glasses4.

[0085] When the host computer 5 interacts with the database, the interaction between the host computer 5 and the database starts with a rigorous layout of the development environment and the construction of a precise setting structure adapted to the introduction of the Mysql library. The Mysql library file path is specially specified, just like clarifying the location of the key material storage warehouse in a complex building blueprint to ensure that the subsequent construction (calling the library function) can smoothly obtain materials; carefully combing the link dependencies is like confirming the connection parts between the piers and the bridge body when building a bridge. Each link is closely matched, consolidating the foundation of the host computer calling the Mysql library, so that the two have a seamless interaction "hardware" foundation, ensuring the stability of data interaction from the source, avoiding communication and functional failures caused by unstable foundations, and meeting the long-term stable operation requirements of rehabilitation devices. When the data is updated, a safety net is woven around the UPDATE statement. Anchor the update target based on the unique identifier of the database information table (such as the child's exclusive rehabilitation file number) to avoid wrong changes and random changes. Maintain data accuracy and integrity, protect the stability of the rehabilitation data chain, and ensure the continuity and effectiveness of rehabilitation training. When the data is inserted dominated by the INSERT INTO statement, an efficient storage "conveyor belt" is set up between the host computer 5 and the database. New data collected from external sensors (devices that monitor children's pedal pressure and vital signs) are accurately "delivered" to the corresponding storage area of ​​the database through this structure, so that data can be quickly accumulated, and the "portrait" of the entire process of children's rehabilitation can be continuously added to improve the rehabilitation process record, highlighting the value of the structure for dynamic management of rehabilitation data. When DELETE FROM builds a "data garbage cleaning channel" between the host computer 5 and the database. Regularly clean up redundant and expired data in the database to avoid "data bloat" that slows down the efficiency of query, update and other operations, ensure the efficient operation of the rehabilitation device data system, and maintain long-term stable operation to serve the children's rehabilitation process.

[0086] The present invention also discloses a working method of a lower limb rehabilitation device for children with cerebral palsy, which comprises the following steps based on any one of the above-mentioned lower limb rehabilitation devices for children with cerebral palsy:

[0087] S1, Unity platform controls VR glasses 4 to display a picture, and then transmits the data to the host computer 5, and then transmits it to the database;

[0088] S2, the single chip collects the vital signs of the child through the millimeter wave radar; collects the pressure of the child on the first pedal 22 and the second pedal 23 through the HX711 sensor; collects the speed of the permanent magnet motor 21 through the Hall sensor, and then transmits it to the host computer 5 through the serial port, and finally transmits it to the database;

[0089] S3, the host computer 5 writes a script by calling the Mysql library, establishes a connection with the database, and uses the SELECT statement to query data, thereby realizing direct operation on the database;

[0090] S4, the host computer 5 controls the speed of the permanent magnet motor 21 according to the Modbus RTU protocol.

[0091] Specifically, when the upper computer 5 calls the Mysql library to write a script for data query, the SELECT statement in the Mysql library is used to build the script, which can extract data according to multiple dimensions such as time range, device number, data type, etc.; when data insertion operation is required, the script written with the help of the INSERT INTO statement will store the new data collected from the external device or user input into the database; when the data needs to be updated, the script written with the UPDATE statement uses the unique identifier as the update condition to modify the relevant fields in the information table of the database, and ensures the security and reliability of data update through reasonable transaction processing and error rollback mechanism; when the data needs to be deleted, the script written with the DELETE FROM statement cleans up the redundant or expired garbage in the database according to the predetermined rules.

[0092] Furthermore, it also includes S5, the database and the host computer 5 communicating data to obtain the speed of the permanent magnet motor 21 and the vital signs data of the child, and judging whether the child's behavior has a safety risk based on the preset safety rules and algorithms. When there is a safety risk, an alarm signal is issued in time and relevant information is fed back to the supervision end.

[0093] See also Figure 2 As shown, a lower limb rehabilitation device for children with cerebral palsy disclosed in an embodiment of the present invention is shown.

[0094] A seat 1 and a pedal mechanism 2 arranged at the front end of the seat, the pedal mechanism 2 comprising a permanent magnet motor 21, a first pedal 22 and a second pedal 23, the first pedal 22 and the second pedal 23 being arranged on both sides of the permanent magnet motor 21 respectively; a Hall sensor (not shown in the figure) is arranged on the permanent magnet motor 21, a first HX711 sensor (not shown in the figure) is arranged on the first pedal 22, and a second HX711 sensor (not shown in the figure) is arranged on the second pedal 23; the Hall sensor, the first HX711 sensor and the second HX711 sensor are respectively connected to the single-chip microcomputer of the host 3 for communication; a millimeter wave radar (not shown in the figure) is arranged in the training room and connected to the single-chip microcomputer for communication; VR glasses 4 receive the constructed VR scene, and the host computer 5 is used to analyze and process the training data and life characteristic data to control the speed of the permanent magnet motor 21.

[0095] The Unity platform constructs a screen in the VR glasses 4, transmits the required data to the host computer 5 and then to the database, and the microcontroller receives the speed of the permanent magnet motor 21 and the vital signs data of the child and transmits them to the database. The database controls the speed of the permanent magnet motor 21 more accurately through Modbus RTU to promote the recovery of children with cerebral palsy through stimulation.

[0096] In the Unity platform, a VR scene project is created. First, the basic elements of the VR scene are constructed, such as creating a cube representing a rehabilitation training site, setting its size and position, and creating a sphere as an auxiliary object in the scene. Then, the scene lighting is set, the intensity of the main light source is adjusted, the color is white to simulate natural sunlight and the intensity is moderate, the shadow type is set to soft shadow, and the attenuation range is reasonably set according to the size of the scene, so that the entire scene has a natural light and shadow effect. Then, materials are added to the objects in the scene, such as adding a material with a certain friction texture to the ground of the rehabilitation site, and adding a brightly colored and shiny material to the auxiliary objects to attract children's attention. To achieve VR interaction, the SteamVR plug-in is introduced, and the SteamVR_Input_Sources class is initialized for subsequent detection of handle operations. The Unity platform transmits the constructed VR scene screen to the VR glasses 4, and transmits relevant data (such as scene interaction data, including children's operation records, location information, behavior actions, etc. in the VR scene) to the host computer 5. After receiving the data, the host computer 5 performs preliminary processing on the data, extracts key information, and then transmits the data to the database for storage. For example, the Unity platform records the time when a child presses a handle button in a VR scene, the type of operation, and the character's position at the time, and transmits the information to the host computer 5. The host computer 5 organizes the information and stores it in the corresponding data table in the database for subsequent query and analysis.

[0097] The single chip microcomputer is connected to the millimeter wave radar, HX711 sensor, Hall sensor and host computer 5 through a serial communication line. When connecting, carefully check the serial port parameter settings, such as baud rate, data bit, stop bit, etc., to ensure that the serial port communication between the devices is normal. For the millimeter wave radar (not shown in the figure), install it in a suitable position so that the millimeter wave signal it emits can effectively cover the area where the children are; install the HX711 sensor (not shown in the figure) in a suitable position inside the rehabilitation pedal to ensure that the pedal pressure can be accurately sensed; the Hall sensor (not shown in the figure) is installed near the motor shaft and cooperates well with the magnetic element.

[0098] The host computer 5 establishes a network connection with the database server, configures the network address, port and other parameters, and ensures that the host computer 5 can communicate with the database in both directions. At the same time, the introduction configuration of the Mysql library is completed in the development environment of the host computer 5, the Mysql library file path is specified, and the required dependencies are linked.

[0099] The permanent magnet motor 21 is connected to the motor driver, and the motor driver is connected to the host computer 5 through serial communication, so as to receive the control instruction of the host computer 5 and drive the permanent magnet motor 21 to operate.

[0100] In this embodiment, the specific content of vital sign data collection is:

[0101] The single-chip microcomputer starts the millimeter-wave radar and sets the frequency of the millimeter-wave signal (for example, 24GHz). When the child enters the rehabilitation training area, the millimeter-wave radar continues to transmit signals, and the signals are reflected back by the child's body. The single-chip microcomputer receives the reflected wave signal in real time and uses the built-in signal processing algorithm to analyze the reflected wave. By detecting parameters such as the frequency offset, phase change, and amplitude change of the reflected wave, the child's heart rate and respiratory rate are calculated. For example, when the heart beats, the surface of the body will produce a slight displacement change, resulting in a slight shift in the frequency of the reflected wave. The single-chip microcomputer calculates the heart rate from these offsets according to a specific algorithm, accurate to the number of beats per minute; similarly, the respiratory rate is calculated from the changes in the reflected wave caused by the body fluctuations caused by breathing. After the collected vital signs data are sorted and packaged, they are transmitted to the host computer through serial communication in a predetermined data format.

[0102] In this embodiment, the specific content of pedal pressure data collection is:

[0103] When a child stands on or moves on the pedal mechanism 2 equipped with the HX711 sensor, the pressure on the pedal causes the strain gauge inside the HX711 sensor to deform, and the resistance value of the strain gauge changes accordingly. After the HX711 sensor detects the change in resistance value, it amplifies the weak electrical signal generated, and the amplification factor is set according to actual needs (such as 128 times) so that the signal strength meets the processing requirements of the single-chip microcomputer. Then the amplified analog signal is converted into a digital signal, and the conversion accuracy can be set to an appropriate value (such as 24 bits), and quickly transmitted to the single-chip microcomputer. After receiving the digital signal, the single-chip microcomputer performs calculations and analysis on the data according to the pre-written and optimized algorithm program. Through the comprehensive processing of multiple sensor data, the numerical value of the pressure on the pedal is calculated, and the child's weight distribution information is analyzed at the same time, such as judging whether the pressure on the child's feet is balanced; monitoring the child's posture changes on the pedal, such as whether there is a body tilt that causes uneven pressure distribution; timely detecting abnormal behaviors, such as the child's sudden and violent jumping on the pedal (judged by the rapid and large fluctuations in the pressure value) or long-term immobility (no obvious change in the pressure value for a long time) and other situations. These data are organized and packaged and then transmitted to the host computer 5 through the serial port.

[0104] In this embodiment, the specific content of the speed data collection of the permanent magnet motor 21 is:

[0105] When the permanent magnet motor 21 is running, the magnetic elements on the shaft of the permanent magnet motor 21 produce periodic changes in the magnetic field as the shaft rotates. The Hall sensor is sensitive to this change in the magnetic field and generates a corresponding pulse signal. The single-chip microcomputer accurately counts the pulse signal, for example, by using a timer interrupt method to count the number of pulses per unit time, and accurately measures the time interval between adjacent pulses, and uses a mature mathematical calculation model (such as the formula for calculating the speed based on the number of pulses and the time interval: speed = number of pulses × 60 / (time interval × number of magnetic pole pairs)) to calculate the speed value of the permanent magnet motor 21 at different times. The single-chip microcomputer organizes the speed data of the permanent magnet motor 21 and transmits it to the host computer 5, so that the host computer 5 can monitor and control the operating status of the permanent magnet motor 21.

[0106] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0107] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lower limb rehabilitation device for children with cerebral palsy, characterized in that: include: A seat (1), a pedal mechanism (2) arranged at the front end of the seat, the pedal mechanism (2) comprising a permanent magnet motor (21), a first pedal (22) and a second pedal (23), the first pedal (22) and the second pedal (23) being arranged on both sides of the permanent magnet motor (21) respectively; It also includes a host (3), VR glasses (4), a host computer (5), a permanent magnet motor driver, and a detection unit of a pedal mechanism (2); The detection unit is arranged on the pedal mechanism (2) and is communicatively connected with the host computer (3); The VR glasses (4) and the host computer (5) are both connected to the host computer (3) for communication; The permanent magnet motor driver is arranged on the permanent magnet motor (21) and is connected to the host computer (5).

2. A lower limb rehabilitation device for children with cerebral palsy according to claim 1, characterized in that: The host (3) includes a database and a single chip microcomputer which are in communication connection.

3. A lower limb rehabilitation device for children with cerebral palsy according to claim 2, characterized in that: The detection unit includes a Hall sensor, a first HX711 sensor and a second HX711 sensor arranged in parallel; The Hall sensor is arranged on the permanent magnet motor (21), the first HX711 sensor is arranged on the first pedal (22), and the second HX711 sensor is arranged on the second pedal (23); The Hall sensor, the first HX711 sensor and the second HX711 sensor are respectively connected to the single chip microcomputer of the host (3) for communication.

4. The lower limb rehabilitation device for children with cerebral palsy according to claim 3, characterized in that: It also includes a millimeter wave radar that is communicatively connected to the host (3).

5. The lower limb rehabilitation device for children with cerebral palsy according to claim 4, characterized in that: It also includes a monitoring terminal which is in communication connection with the host (3).

6. The lower limb rehabilitation device for children with cerebral palsy according to claim 5, characterized in that: It also includes a Unity platform that is communicatively connected to the VR glasses (4) and the host computer (5).

7. A working method of a lower limb rehabilitation device for children with cerebral palsy, characterized in that: A lower limb rehabilitation device for children with cerebral palsy according to any one of claims 1 to 6 comprises the following steps: S1, Unity platform controls VR glasses (4) to display a picture, and then transmits the data to the host computer (5), and then to the database; S2, the single chip computer collects the vital signs of the child through the millimeter wave radar; collects the pressure of the child on the first pedal (22) and the second pedal (23) through the HX711 sensor; collects the speed of the permanent magnet motor (21) through the Hall sensor, and then transmits it to the host computer (5) through the serial port, and finally transmits it to the database; S3, the host computer (5) writes a script by calling the Mysql library, establishes a connection with the database, and uses the SELECT statement to query data, thereby realizing direct operation on the database; S4, the host computer (5) controls the speed of the permanent magnet motor (21) according to the Modbus RTU protocol.

8. The working method of the lower limb rehabilitation device for children with cerebral palsy according to claim 7, characterized in that: It also includes S5, a database and a host computer (5) for data communication, obtaining the speed of the permanent magnet motor (21) and the vital signs data of the child, judging whether the child's behavior has a safety risk based on preset safety rules and algorithms, and issuing an alarm signal in a timely manner when there is a safety risk and feeding back relevant information to the supervision end.

Images