Infusion height warning and blocking device and infusion height warning and blocking method

Abstract

The present invention discloses an infusion height warning and blocking device for an infusion stand, comprising a communication module for receiving at least one sensing signal from at least one gravity sensor; and a processing unit for calculating an infusion height difference between a starting position and a use position according to the at least one sensing signal, and generating at least one height indication signal according to the infusion height difference and at least one height difference threshold value.

Description

Technical Field

[0001] The present invention relates to an infusion height warning and blocking device and an infusion height warning and blocking method, and in particular to an infusion height warning and blocking device and an infusion height warning and blocking method, which can use a gravity sensor to accurately judge the infusion height difference and effectively perform different operations for different infusion height differences to maintain the flow rate and avoid backflow or excessive flow rate. Background Art

[0002] Infusion devices commonly used in medical procedures (such as intravenous drips) often cause the hand or arm being infused to be less than a certain distance (such as less than 75 to 90 cm) from the infusion bottle in height because the patient is uncomfortable with the needle being left in the blood vessel and moves around or carries the infusion stand (to go to the toilet or take a walk). This can cause the infusion flow rate to slow down, the needle to be blocked, and even venous blood to flow back. This can not only easily cause the infusion treatment to go wrong, but also increase the workload of nursing staff in changing needles and increase patient discomfort.

[0003] In order to solve the above problems, the existing technology uses radio frequency signals combined with semi-shielded metal to try to solve the problem. The principle is that when the patient's hand is above a certain height, the radio frequency signal emitted by the hand can cross the semi-shielded metal and be received by the radio frequency receiver to judge that the hand height is too high. However, the existing method lacks the two-stage action of warning first and then blocking and is not flexible. In fact, it is not easy to block radio frequency signals. Even if the shielding metal is used to block the radio frequency signal in a specific direction, it is easy for the receiver to receive the signal after multiple reflections. As a result, although there is a sufficient height difference between the infusion and the infusion bottle, the receiver still receives the reflected signal from other directions, causing a false alarm.

[0004] In view of this, the prior art needs to be improved. Summary of the invention

[0005] Therefore, the main purpose of the present invention is to provide an infusion height warning and blocking device and an infusion height warning and blocking method thereof, which can use a gravity sensor to accurately determine the infusion height difference and effectively perform different operations for different infusion height differences to maintain the flow rate and avoid backflow or excessive flow rate.

[0006] The present invention discloses an infusion height warning and blocking device for an infusion stand, comprising a communication module for receiving at least one sensing signal from at least one gravity sensor; and a processing unit for calculating an infusion height difference between a starting position and a use position according to the at least one sensing signal, and generating at least one height indication signal according to the infusion height difference and at least one height difference threshold value.

[0007] The present invention further discloses an infusion height warning and blocking method for an infusion stand, comprising receiving at least one sensing signal by at least one gravity sensor; calculating an infusion height difference between a starting position and a use position according to the at least one sensing signal; and generating at least one height indication signal according to the infusion height difference and at least one height difference threshold value. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A schematic diagram of an infusion height warning and blocking system and a ring worn by an infusion recipient according to an embodiment of the present invention;

[0009] Figures 2 to 4 It is a schematic diagram of the operation of the infusion height warning and blocking system and the infusion wear ring used in an infusion stand according to an embodiment of the present invention;

[0010] Figure 5 The first gravity sensor of the present invention is Figure 3 A schematic diagram of a processing unit calculating an infusion height difference under the operation shown;

[0011] Figure 6 The figure is a schematic diagram of the infusion height warning and blocking process according to the first embodiment of the present invention.

[0012] Explanation of symbols

[0013] 10: Infusion height warning and blocking system

[0014] 12: The infusion recipient wears a ring

[0015] 100: Infusion height warning and blocking device

[0016] 102,104: Gravity sensor

[0017] 106: Communication module

[0018] 108: Processing unit

[0019] 110: Infusion blocker

[0020] 112: Flow rate sensor

[0021] S1, S2: sensing signal

[0022] H1, H2: Altitude indication signal

[0023] FS: Flow rate sensing signal

[0024] F1, F2: Flow rate indication signal

[0025] 20: Infusion stand

[0026] 200: Infusion hose

[0027] X, Y, Z: initial axis

[0028] X', Y', Z': Axis

[0029] A: Acceleration

[0030] θ: angle

[0031] A cosθ: vertical acceleration

[0032] 60: Process

[0033] 602~630: Steps DETAILED DESCRIPTION

[0034] Please refer to Figure 1 , Figure 1 FIG. 1 is a schematic diagram of an infusion height warning and blocking system 10 and a ring 12 worn by an infusion user according to an embodiment of the present invention. Figure 1 As shown, the infusion height warning and blocking system 10 includes an infusion height warning and blocking device 100 and at least one gravity sensor 102, 104. The infusion height warning and blocking device 100 is used in an infusion stand, and includes a communication module 106, a processing unit 108, an infusion blocker 110 and a flow rate sensor 112. In simple terms, the gravity sensors 102 and 104 can detect acceleration, gravity direction, time and other information to generate at least one sensing signal S1 and S2. The communication module 106 can receive at least one sensing signal S1 and S2 from the gravity sensors 102 and 104 (such as through wireless transmission methods such as Bluetooth and WiFi or through wired transmission methods). The processing unit 108 can calculate an infusion height difference between a starting position (such as an infusion bottle outlet set on an infusion stand) and a use position (approximately the position where the infusion person wears the ring 12) based on the sensing signals S1 and S2, and generate at least one height indication signal H1 and H2 based on the infusion height difference and at least one height difference threshold value.

[0035] Specifically, the processing unit 108 may generate a height indication signal H1 to warn (e.g., by sound or light warning of insufficient vertical distance) when the infusion height difference is less than a first height difference threshold value (e.g., 75-90 cm) among the at least one height difference threshold values, so that the infusionist or the nursing staff may increase the height difference to maintain the flow rate. In addition, the processing unit 108 may generate a height indication signal H2 to instruct the infusion blocker 110 to block an infusion hose to stop the infusion (the infusion blocker 110 may be a mechanical clamping device that compresses and blocks the flow of the liquid in the infusion hose) when the infusion height difference is less than a second height difference threshold value (e.g., 10 cm) among the at least one height difference threshold values ​​or greater than a third height difference threshold value (e.g., 100 cm) among the at least one height difference threshold values, so as to avoid blocking the backflow or too fast flow rate (causing the patient's heart to be overloaded) when the infusion height difference is less than a second height difference threshold value (e.g., 10 cm) among the at least one height difference threshold values. In this way, the present invention can accurately determine the infusion height difference between the start position and the use position according to the sensing signals S1 and S2 generated by the gravity sensors 102 and 104, and effectively perform different operations for different infusion height differences to maintain the flow rate and avoid backflow or excessive flow rate.

[0036] On the other hand, the flow rate sensor 112 can detect a current flow rate of an infusion hose (e.g., clamped on the infusion hose, detecting and calculating the flow rate by non-contact means such as ultrasound), to generate a flow rate sensing signal FS, and the processing unit 108 generates at least one flow rate indication signal F1, F2 according to the flow rate sensing signal FS and at least one flow rate threshold value. In this case, the processing unit 108 can generate a flow rate indication signal F1 to warn (e.g., warn of abnormal infusion speed through sound or light) when the current flow rate is greater than or less than a first flow rate threshold value among the at least one flow rate threshold value by a specific ratio (e.g., greater than or less than 25% of the basic flow rate when the infusion is initially started), so that the infusionist or nursing staff can increase or decrease the height difference or adjust the infusion hose (e.g., untwist or bend) to maintain the flow rate. In addition, when the current flow rate is less than a second flow rate threshold value among the at least one flow rate threshold value (e.g., the current flow rate is 0 or reverse flow), the processing unit 108 generates a flow rate indication signal F2 to instruct the infusion blocker 110 to block the infusion hose to stop the infusion (the infusion blocker 110 may be a mechanical clamping device that compresses and blocks the flow of the liquid in the infusion hose) to avoid blocking the backflow. In this way, the present invention can accurately determine the current flow rate of the infusion hose according to the flow rate sensing signal FS generated by the flow rate sensor 112, and effectively perform different operations for different current flow rates to maintain the flow rate and avoid blocking the backflow.

[0037] For more information, see Figures 2 to 4 , Figures 2 to 4The following is a schematic diagram of the operation of the infusion height warning and blocking system 10 and the infusion wear ring 12 used in an infusion stand 20 according to an embodiment of the present invention. First, the nursing staff performs infusion injection for the patient according to the general operation method (at this time, the vertical distance between the infusion bottle and the affected part to be infused is about 75 to 90 cm), and completes the necessary flow rate adjustment during infusion. Then, as shown in FIG. Figure 2 As shown, the infusion wear ring 12 is worn on the infusion affected part, and the infusion height warning and blocking device 100 clamps an infusion hose 200. At this time, the infusion hose 200 passes through the infusion blocker 110 and the flow rate sensor 112. At the same time, the flow rate sensor 112 can detect the current flow rate of the infusion hose 200 for the processing unit 108 to set as a basic flow rate. Next, as Figure 3 As shown, after the gravity sensor 104 is removed from the starting position (in other embodiments, the gravity sensor 102 may also be removed), the gravity sensor 104 continuously transmits the sensing signal S2 generated by detecting the acceleration data to the processing unit 108, and when the gravity sensor 104 is set at a use position of the infusion wear ring 12, the processing unit 108 can continuously calculate an infusion height difference between the starting position and the use position according to the sensing signal S2, wherein the infusion height warning and blocking device 100 can charge the gravity sensors 102 and 104, so the gravity sensor 104 can start to continuously transmit the sensing signal S2 when it is removed from the starting position and stops charging.

[0038] In this case, if Figure 4 As shown, if the infusion user moves up and down due to activities or carrying the infusion stand 20, the gravity sensor 104 continuously transmits the sensing signal S2 to the processing unit 108 and the processing unit 108 continuously calculates the infusion height difference between the starting position and the use position. Therefore, when the infusion height difference is less than 75-90 cm, the processing unit 108 can warn the insufficiency of the vertical distance through sound or light signals, so that the infusion user or the nursing staff can increase the height difference to maintain the flow rate. In addition, when the infusion height difference is less than 10 cm or greater than 100 cm, the processing unit 108 can instruct the infusion blocker 110 to block the infusion hose 200 to stop the infusion to avoid blocking the backflow or too fast flow rate. After that, when the condition is eliminated and the infusion height difference is greater than 10 cm or less than 100 cm, the infusion blocker 110 is instructed to stop blocking the infusion hose 200 to restart the infusion.

[0039] On the other hand, the processing unit 108 can warn the infusion speed abnormality through sound or light when the current flow rate in the infusion hose 200 is greater than or less than 25% of the basic flow rate (or other specific ratios), so that the infusion person or the nursing staff can increase or decrease the height difference or adjust the infusion hose 200 (such as unwinding or bending) to maintain the flow rate. In addition, the processing unit 108 can instruct the infusion blocker 110 to block the infusion hose 200 to stop the infusion when the current flow rate is 0 or reverse flow to avoid blocking the backflow or too fast flow rate. It should be noted that when the processing unit 108 does not warn the vertical distance is insufficient or the infusion height difference is not less than 10 cm through sound or light, if the processing unit 108 determines that the current flow rate is 0 or reverse flow, and instructs the infusion blocker 110 to block the infusion hose 200, it means that the current flow rate problem is not caused by insufficient infusion height difference (it may be caused by winding or bending of the infusion hose 200), and the nursing staff needs to check the condition of the infusion hose 200 and eliminate the problem of inability to infuse. Afterwards, after the condition is eliminated and the flow rate is normal, the infusion blocker 110 stops blocking the infusion hose 200 to restart the infusion, and the gravity sensor 104 does not need to return to the starting position to zero.

[0040] It is worth noting that the above embodiment mainly determines the infusion height difference between the starting position and the use position according to the sensing signals S1 and S2 generated by the gravity sensors 102 and 104, and effectively performs different operations for different infusion height differences to maintain the flow rate and avoid backflow or too fast flow rate. Those with ordinary knowledge in this field can make modifications or changes accordingly, but are not limited to this. For example, in the above embodiment, since the infusion stand 20 has the function of adjusting the height up and down, the starting position is adjustable. At this time, although the infusion recipient does not move and the use position is fixed, the gravity sensor 102 set at the starting position will move with the up and down adjustment of the infusion stand 20, so it will also report the sensing signal S1 of the relevant acceleration information to the processing unit 108, and the height of the infusion stand 20 after the up and down adjustment is added to the vertical distance between the original infusion bottle and the infused affected part to calculate the infusion height difference between the starting position and the use position. In other embodiments, when the height of the infusion stand 20 is not adjusted and the starting position is fixed, since the gravity sensor 104 is first set at the starting position and then at the use position, the processing unit 108 can also calculate the infusion height difference between the starting position and the use position only based on the sensing signal S2 (that is, only the gravity sensor 104 needs to be configured, but in practice the infusion stand 20 is often adjusted in height and the gravity sensors 102 and 104 are often used alternately and charged through the infusion height warning and blocking device 100, so two gravity sensors 102 and 104 are usually configured).

[0041] In addition, please refer to Figure 5 , Figure 5 The gravity sensor 104 of the embodiment of the present invention is Figure 3The processing unit 108 calculates the height difference of the infusion under the operation shown in FIG. Figure 5 As shown, after the gravity sensor 104 is removed from the starting position, the gravity sensor 104 will continue to be stressed and transmit the sensing signal S2 generated by the detected acceleration data to the processing unit 108. The processing unit 108 then calculates the infusion height difference according to the vertical acceleration of the gravity sensor 104 during the movement indicated by the sensing signal S2 (in other embodiments, if the position of the gravity sensor 102 changes, the vertical acceleration indicated by the sensing signal S1 must also be considered). For example, when the gravity sensor 104 is stressed from the initial axial X, Y, Z to the axial X', Y', Z', the gravity sensor 104 can detect an acceleration A and the acceleration A has an angle θ with the vertical direction to the ground, so the vertical acceleration is A cosθ, and the processing unit 108 then calculates the vertical acceleration by The vertical displacement during the acceleration A is obtained by the relationship between the vertical displacement during the acceleration A. Similarly, the processing unit 108 can sum up the vertical displacements of the vertical accelerations during the movement to obtain the infusion height difference.

[0042] In this case, please also refer to Figure 4 and Figure 5 After the gravity sensor 104 is set at the position where the infusion user wears the ring 12, such as the wrist, since the adult arm is about 1 meter (meter, m) long, the infusion user's activity causes the position of the ring 12 to be Figure 4 When moving up and down as shown, it can be regarded as moving in an arc with the arm as the radius. For example, the arm is moved from being flat to being raised to the highest point and then back to being flat (i.e., moving back and forth in a 90-degree arc) with a moving distance of 2×2×3.14×1 / 4=3.14 meters. If the frequency of the above-mentioned 90-degree arc is 60 times per minute (i.e., 1 time per second), then it moves 3.14 meters per second. In this way, when the interval between each data of the sensing signal S2 generated by the gravity sensor 104 is 1ms, the gravity sensor 104 will generate a data of the sensing signal S2 for every 3.14mm of equivalent movement. In the application of the IV stand 20, the processing unit 108 has enough data to determine the movement status of the gravity sensor 104, and can be used as follows. Figure 4 When the infusion patient moves up and down, the vertical displacement is summed up to obtain the infusion height difference. Similarly, the processing unit 108 also has enough data to be used in the following example. Figure 5When the gravity sensor 104 is removed from the starting position and then set in the use position, the vertical displacement is summed to obtain the infusion height difference. In some embodiments, the sampling frequency of the sensing signal S2 can be adjusted according to the requirements of the calculation amount and the sensing sensitivity. For example, the interval of each data of the sensing signal S2 generated by the gravity sensor 104 is changed to 4ms to achieve the purpose of reducing the calculation amount of the processing unit 108; or, the interval of each data of the sensing signal S2 generated by the gravity sensor 104 is changed to 0.25ms to improve the sensing sensitivity.

[0043] In addition, please refer to Figure 6 , Figure 6 FIG. 6 is a schematic diagram of an infusion height warning and blocking process 60 according to an embodiment of the present invention. Figure 6 As shown, the nursing staff completes the adjustment and starts the infusion (step 600), and turns on the infusion height warning and blocking system 10 (step 602). At this time, it is first detected whether the gravity sensors 102 and 104 are charged in the starting position (step 604). If not, it warns that the gravity sensors 102 and 104 are not returned to their positions (step 606). If so, the current flow rate is set as the basic flow rate (step 608), and then the infusion height warning and blocking system 10 starts detection (step 610). In terms of height detection, the gravity sensor 104 is removed and set at the use position next to the infusion injection position (step 612), and the gravity sensors 102 and 104 report the sensing signals S1 and S2 of the acceleration information to the processing unit 108 for operation (step 614) to determine whether the infusion height difference is greater than 75 to 90 cm (step 616). If so, the infusion blocker 110 opens the infusion hose (step 618), if not, then warns of insufficient vertical distance (step 620). Afterwards, it is determined whether the infusion height difference is less than 10 cm (step 622). If not, then continue to warn of insufficient vertical distance (step 620), if so, then the infusion blocker 110 blocks the infusion hose (step 624).

[0044] In terms of flow rate detection, the flow rate sensor 112 continuously detects the current flow rate of the infusion hose 200 (step 626), and the processing unit 108 determines whether the current flow rate is greater than or less than 25% of the basic flow rate (step 628). If not, the current flow rate of the infusion hose 200 is continuously detected (step 626). If so, an abnormal infusion speed is warned (step 630). In addition, the processing unit 108 determines whether the current flow rate is 0 or reverse flow (step 632). If not, the current flow rate of the infusion hose 200 is continuously detected (step 626). If so, the infusion blocker 110 blocks the infusion hose (step 624). For details of the infusion height warning and blocking process 60, please refer to the previous related description, which will not be repeated here for brevity.

[0045] In addition, the infusion height warning and blocking device 100 may further include a storage unit. The processing unit 108 may be a microprocessor or an application-specific integrated circuit (ASIC). The storage unit may be any data storage device for storing a program code, and the processing unit 108 reads and executes the program code to complete the steps of the infusion height warning and blocking process 60 with the above functions. The storage unit may be a subscriber identity module (SIM), a read-only memory (ROM), a random-access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc., but is not limited thereto.

[0046] In summary, the present invention can accurately determine the infusion height difference between the starting position and the use position according to the sensing signal generated by the gravity sensor, and effectively perform different operations for different infusion height differences to maintain the flow rate and avoid backflow or excessive flow rate.

[0047] The above descriptions are only preferred embodiments of the present invention. All equivalent changes and modifications made according to the claims of the present invention should fall within the scope of the present invention.

Claims

1. An infusion height warning and blocking device, used for an infusion stand, characterized in that: The infusion height warning and blocking device includes: A communication module, used for receiving at least one sensing signal generated by at least one gravity sensor; and The processing unit is used to calculate the infusion height difference between the starting position and the use position according to the at least one sensing signal, and generate at least one height indication signal according to the infusion height difference and at least one height difference threshold value. The starting position is fixed to the height of the infusion bottle, and the use position is fixed to the height of the infusion affected part. The starting position is adjustable, the first gravity sensor and the second gravity sensor of the at least one gravity sensor are respectively set at the starting position, and then at least one of the first gravity sensor and the second gravity sensor is set at the use position, and the processing unit calculates the infusion height difference between the starting position and the use position according to the first sensing signal and the second sensing signal generated by the first gravity sensor and the second gravity sensor.

2. The infusion height warning and blocking device as described in claim 1, wherein the processing unit generates a first height indication signal among the at least one height indication signal for warning when the infusion height difference is less than a first height difference threshold value among the at least one height difference threshold value.

3. The infusion height warning and blocking device as described in claim 2 further includes an infusion blocker, and the processing unit generates a second height indication signal among the at least one height indication signal to indicate that the infusion blocker blocks the infusion hose when the infusion height difference is less than the second height difference threshold value among the at least one height difference threshold value or greater than the third height difference threshold value among the at least one height difference threshold value.

4. The infusion height warning and blocking device as described in claim 1 further includes a flow rate sensor for detecting the current flow rate of the infusion hose to generate a flow rate sensing signal, and the processing unit generates at least one flow rate indication signal based on the flow rate sensing signal and at least one flow rate threshold value.

5. An infusion height warning and blocking device as described in claim 4, wherein the processing unit generates a first flow rate indication signal among the at least one flow rate indication signals for warning when the current flow rate is greater than or less than a specific ratio of the first flow rate threshold value among the at least one flow rate threshold value.

6. The infusion height warning and blocking device as described in claim 5 further includes an infusion blocker, and when the current flow rate is less than the second flow rate threshold value among the at least one flow rate threshold value, the processing unit generates a second flow rate indication signal among the at least one flow rate indication signal to indicate that the infusion blocker blocks the infusion hose.

7. An infusion height warning and blocking device, used for an infusion stand, characterized in that: The infusion height warning and blocking device includes: A communication module, used for receiving at least one sensing signal generated by at least one gravity sensor; and The processing unit is used to calculate the infusion height difference between the starting position and the use position according to the at least one sensing signal, and generate at least one height indication signal according to the infusion height difference and at least one height difference threshold value. The starting position is fixed to the height of the infusion bottle, and the use position is fixed to the height of the infusion affected part. The starting position is fixed, and the second gravity sensor of the at least one gravity sensor is first set at the starting position and then at the use position. The processing unit calculates the infusion height difference between the starting position and the use position based on the second sensing signal generated by the second gravity sensor.

8. The infusion height warning and blocking device as described in claim 1 or 7, wherein the processing unit calculates the infusion height difference between the starting position and the use position according to at least one vertical acceleration indicated by the at least one sensing signal.

9. The infusion height warning and blocking device as described in claim 1 or 7, wherein the at least one gravity sensor is charged at the starting position.

10. An infusion height warning and blocking method, used for an infusion stand, the infusion height warning and blocking method comprising: generating at least one sensing signal by at least one gravity sensor; Calculating the infusion height difference between the start position and the use position according to the at least one sensing signal; and generating at least one height indication signal according to the infusion height difference and at least one height difference threshold value, The starting position is fixed to the height of the infusion bottle, and the use position is fixed to the height of the infusion affected part. The starting position is adjustable, a first gravity sensor and a second gravity sensor of the at least one gravity sensor are respectively set at the starting position, and then at least one of the first gravity sensor and the second gravity sensor is set at the use position. The infusion height warning and blocking method further includes: The infusion height difference between the starting position and the use position is calculated according to the first sensing signal and the second sensing signal generated by the first gravity sensor and the second gravity sensor.

11. The infusion height warning and blocking method according to claim 10, further comprising: When the infusion height difference is less than a first height difference threshold value among the at least one height difference threshold value, a first height indication signal among the at least one height indication signal is generated for warning.

12. The infusion height warning and blocking method according to claim 11, further comprising: When the infusion height difference is smaller than the second height difference threshold value among the at least one height difference threshold value or larger than the third height difference threshold value among the at least one height difference threshold value, a second height indication signal among the at least one height indication signal is generated to indicate blocking the infusion hose.

13. The infusion height warning and blocking method according to claim 10, further comprising: Detecting a current flow rate of an infusion hose to generate a flow rate sensing signal; and At least one flow rate indication signal is generated according to the flow rate sensing signal and at least one flow rate threshold value.

14. The infusion height warning and blocking method according to claim 13, further comprising: When the current flow rate is greater than or less than a specific ratio of a first flow rate threshold value among the at least one flow rate threshold value, a first flow rate indication signal among the at least one flow rate indication signal is generated for warning.

15. The infusion height warning and blocking method according to claim 14, further comprising: When the current flow rate is less than a second flow rate threshold value among the at least one flow rate threshold value, a second flow rate indication signal among the at least one flow rate indication signal is generated to indicate blocking the infusion hose.

16. An infusion height warning and blocking method, used for an infusion stand, the infusion height warning and blocking method comprising: generating at least one sensing signal by at least one gravity sensor; Calculating the infusion height difference between the start position and the use position according to the at least one sensing signal; and generating at least one height indication signal according to the infusion height difference and at least one height difference threshold value. The starting position is fixed to the height of the infusion bottle, and the use position is fixed to the height of the infusion affected part. The starting position is fixed, the second gravity sensor of the at least one gravity sensor is first set at the starting position and then set at the use position, and the infusion height warning and blocking method further includes: The infusion height difference between the starting position and the use position is calculated according to the second sensing signal generated by the second gravity sensor.

17. The infusion height warning and blocking method according to claim 10 or 16, further comprising: The infusion height difference between the starting position and the use position is calculated according to at least one vertical acceleration indicated by the at least one sensing signal.

18. The infusion height warning and blocking method as described in claim 10 or 16, wherein the at least one gravity sensor is charged at the starting position.

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