A vibrating capsule and a control method thereof

Abstract

The present invention provides a control method for a vibrating capsule and a vibrating capsule, comprising a first motor and a second motor. After determining that the vibrating capsule has entered a working range, the real-time posture of the vibrating capsule is obtained; based on the real-time posture of the vibrating capsule and the target mode of the vibrating capsule within the working range, the first motor and the second motor are controlled to respectively execute corresponding vibration modes; and the vibration control method is repeated until the vibrating capsule leaves the working range. Therefore, based on the physiological structures and excretion characteristics of each section within the vibrating capsule's working range, combined with the real-time posture of the vibrating capsule measured in real time by a vibration sensor, the first motor and the second motor are controlled to respectively execute the target vibration mode of each working range, ensuring that the vibration energy is mainly released in the wall-adhering direction. Compared with the traditional timed fixed vibration mode, the effective utilization of vibration energy can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a vibrating capsule and a control method thereof. Background Art

[0002] The "Chinese Expert Consensus on Chronic Constipation (2019)" indicates that the prevalence of chronic constipation among adults in my country is 4% to 10%, affecting approximately 50 million people. Constipation is characterized by decreased bowel movements, with bowel movements less than three times per week. Constipation is extremely harmful to human health, potentially leading to gastrointestinal dysfunction, cardiovascular and cerebrovascular accidents, and even sudden death, severely impacting the physical and mental well-being of those suffering from constipation. Current treatments for constipation primarily rely on medication, but long-term use can lead to dependence and other side effects.

[0003] Therefore, there is an urgent need to provide a physical solution to relieve and treat the above-mentioned constipation symptoms. Summary of the Invention

[0004] To address the deficiencies of the prior art, the present invention provides a vibrating capsule and a control method thereof.

[0005] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0006] A method for controlling a vibrating capsule includes a first motor and a second motor, and the vibrating capsule is controlled by the following steps:

[0007] Step 100, activating the vibration capsule and recording the continuous operation time t of the vibration capsule;

[0008] Step 200: When the continuous operation time t is not greater than the first preset time T1, it is determined that the vibrating capsule has not entered the working range, and the vibrating capsule is controlled to stop vibrating;

[0009] Step 300: When the continuous operation time t is greater than the first preset time T1, it is determined that the vibrating capsule has entered the working range;

[0010] Step 400, obtaining the real-time posture of the vibrating capsule;

[0011] Step 500 , controlling the first motor and the second motor to respectively execute corresponding vibration modes according to the real-time posture of the vibration capsule and the target mode of the vibration capsule in the working range;

[0012] Steps 200-500 are repeated until the vibrating capsule leaves the working area.

[0013] Preferably, after the step 300, when the continuous operation time t is greater than the first preset time T1, it is determined that the vibration capsule has entered the working range, the method further includes:

[0014] Step 600: When the power level of the vibration capsule is lower than a preset power level, the vibration capsule is controlled to stop vibrating and retain the wireless communication function.

[0015] The "step 300, when the continuous operation time t is greater than the first preset time, determining that the vibration capsule has entered the working range" includes at least one of the following working states:

[0016] When the continuous running time t is less than or equal to the second preset time T2, wherein the second preset time is greater than the first preset time, it is determined that the vibrating capsule is located in the first working interval;

[0017] When the second preset time T2 is less than the continuous operation time t and less than the third preset time T3, wherein the third preset time is greater than the second preset time, it is determined that the vibrating capsule is in the second working range;

[0018] When the third preset time T3 is less than the continuous operation time t and less than the fourth preset time T4, wherein the fourth preset time is greater than the third preset time, it is determined that the vibrating capsule is in the third working range;

[0019] When the fourth preset time T4 is less than the continuous operation time t, it is determined that the vibrating capsule is located in the fourth working interval.

[0020] Preferably, in step 400, "obtaining the real-time posture of the vibrating capsule" includes:

[0021] Step 410: Control the vibrating capsule to stop vibrating, obtain the acceleration sensor value, calculate the horizontal and vertical gravity components of the vibrating capsule, and calculate the ratio of the horizontal and vertical gravity components of the vibrating capsule;

[0022] Step 420 , respectively controlling the first motor and the second motor to vibrate in a short time-sharing manner, and simultaneously collecting the acceleration sensor value;

[0023] Step 430 , determining the real-time posture of the vibrating capsule according to the ratio of the horizontal and vertical gravity components of the vibrating capsule, the lateral vibration amplitude change trend of the acceleration sensor, and the axial vibration amplitude change trend of the acceleration sensor.

[0024] Preferably, the real-time posture of the vibrating capsule includes at least one of the following postures:

[0025] The vibrating capsule lies flat;

[0026] The vibrating capsule tilts horizontally to the left or right;

[0027] The vibrating capsule is vertically offset to the left or right;

[0028] The vibrating capsule is vertical;

[0029] The vibrating capsule adheres to the wall in two directions;

[0030] The vibrating capsule is axially adhered to the wall;

[0031] The vibrating capsule is laterally adhered to the wall;

[0032] The vibrating capsule is not attached to the wall;

[0033] The surface of the vibrating capsule is in contact with the foreign matter;

[0034] The vibrating capsule is peristaltically squeezed into the feces.

[0035] When the vibrating capsule is located in the third working zone, the vibrating capsule is controlled to execute the following steps 510-540:

[0036] Step 520 , determining whether the vibrating capsule is peristaltically squeezed into the excrement, and if so, controlling the vibrating capsule to perform drilling-out vibration (SHK-7) for squeezing into the excrement;

[0037] If not, controlling the vibration capsule to perform bidirectional attitude adjustment vibration (SHK-6);

[0038] Step 530 : The capsule is vibrated in the axial and lateral directions in a time-sharing or simultaneous manner to place the capsule in a near-sighted lying state. In the static state, the axial acceleration amplitude of the acceleration sensor is collected to determine whether the axial acceleration amplitude is less than 0.2G (the preset lying-flat acceleration). If so, the vibrating capsule is controlled to perform axial side vibration (SHK-5).

[0039] Step 540 , determining whether the vibrating capsule is axially attached to the wall, and if so, controlling the vibrating capsule to perform axial therapeutic stimulation vibration (SHK-2);

[0040] Step 550: Repeat steps 520-540 until the vibrating capsule leaves the third working interval.

[0041] Preferably, before executing any one of steps 520-540, step 510 is executed first. When T4-t is less than the maximum tolerance time interval T_In, it is determined whether the power of the vibration capsule has dropped to a preset power level. If so, the vibration capsule is controlled to stop vibrating and retain the wireless communication function; if not, the vibration capsule is controlled to continue executing the corresponding steps.

[0042] Preferably, when the vibrating capsule is located in the fourth working interval, the vibrating capsule is controlled to stop vibrating and retain the wireless communication function.

[0043] Preferably, when the real-time posture of the vibrating capsule is that it is attached to the wall in at least one direction, the vibrating capsule is controlled to vibrate in the direction of attachment to the wall (SHK-2 or SHK-3), and the vibration is stopped in the direction not attached to the wall.

[0044] Preferably, when the real-time posture of the vibrating capsule is not attached to the wall, the vibrating capsule is controlled to perform the wall-attached and edge-to-edge vibration (SHK-4).

[0045] Preferably, when the vibration capsule is located in the first working interval, the real-time posture of the vibration capsule is the working condition where the surface of the vibration capsule is attached to a foreign object, and when T2-t is less than the maximum tolerance time interval T_In, the vibration capsule is controlled to start the control mode of the next adjacent working interval, and the real-time posture of the vibration capsule is re-judged according to the vibration capsule being located in the next adjacent working interval, and the corresponding vibration mode is executed.

[0046] Preferably, when the vibration capsule is located in the second working interval, the real-time posture of the vibration capsule is the condition where the vibration capsule is peristaltically squeezed into the excrement, and when T3-t is less than the maximum tolerance time interval T_In, the vibration capsule is controlled to start the control mode of the next adjacent working interval, and the real-time posture of the vibration capsule is re-judged according to the vibration capsule being located in the next adjacent working interval, and the corresponding vibration mode is executed.

[0047] The present invention also provides a vibration capsule, comprising a first motor, a second motor, a vibration capsule activation module, a working range judgment module, a capsule posture judgment module, a vibration mode execution module, and a communication module, wherein:

[0048] a vibration capsule activation module, used to activate the vibration capsule;

[0049] a working interval determination module, configured to record the continuous working time of the vibrating capsule and determine the working interval in which the vibrating capsule is located;

[0050] A capsule posture acquisition module, used to acquire the real-time posture of the vibrating capsule;

[0051] a vibration mode execution module, configured to control the first motor and the second motor to respectively execute corresponding vibration modes according to the acquired real-time posture of the vibration capsule and the target mode of the vibration capsule within the working range;

[0052] The communication module is used to enable the vibration capsule to communicate with the outside world.

[0053] Furthermore, the present invention also provides a vibration capsule, comprising a memory, a microprocessor, and a computer program stored in the memory and executable on the microprocessor. When the computer program is executed by the microprocessor, the steps in the aforementioned vibration capsule control method are implemented.

[0054] In summary, this patent discloses a vibration capsule structure with two vibration motors (a first motor and a second motor) and a vertical layout of the two motors. In addition to the motors, the vibration capsule also contains a battery, a three-dimensional vibration sensor, and a circuit board with timing and vibration measurement functions. In terms of the control method, the working range of the vibration capsule is divided into "cecum and ascending colon segment", "transverse colon segment", "descending colon segment" and "others (including sigmoid colon and rectum segment)". According to the physiological structure and excretion characteristics of each segment, combined with the real-time posture of the vibration capsule measured by the vibration sensor in real time, the first motor and the second motor are controlled to respectively execute the target vibration mode of each working interval. The details are as follows:

[0055] (1) After the vibration capsule is removed from the package, the vibration capsule is activated and the continuous operation time t of the vibration capsule is recorded;

[0056] (2) When the continuous operation time t is not greater than the first preset time T1, it is determined that the vibrating capsule has not entered the working range (has not entered the cecum segment), and the vibrating capsule is controlled to stop vibrating;

[0057] (3) in the “cecum and ascending colon segment”, “transverse colon segment”, “descending colon segment” and “other (including sigmoid colon and rectum segment)”, the real-time posture of the vibrating capsule is obtained, and according to the real-time posture of the vibrating capsule and the target mode of the vibrating capsule in the working range, the first motor and the second motor are controlled to respectively execute corresponding vibration modes;

[0058] (4) Repeat step (3) until the vibrating capsule leaves the working area.

[0059] The beneficial effects of the present invention are as follows:

[0060] The vibration capsule control method of the present invention is that after swallowing, when it reaches the working range after a preset time, that is, when passing through the intestines, the vibration capsule will perform intermittent comfortable massage for several hours in a set vibration mode, activating the intestinal neural network, awakening intestinal motility, and promoting the colon to resume autonomous peristalsis, thereby alleviating and treating constipation. In addition, this solution is a non-drug method and will not cause dependence.

[0061] Furthermore, the vibrating capsule of the present invention also has a bidirectional vibration function, which can provide multi-directional stimulation to the intestines. Compared with unidirectional stimulation, it can more effectively activate the intestinal neural network and awaken intestinal motility.

[0062] Furthermore, the vibrating capsule of the present invention determines the wall-adhering state of the vibrating capsule through bidirectional time-sharing vibration, and combines the physiological structure and excretion status to ensure that the vibration energy is mainly released in the wall-adhering direction. Compared with the traditional timed fixed vibration mode, it can improve the effective utilization of vibration energy, thereby enhancing the treatment effect.

[0063] Finally, after the vibrating capsule is covered or wrapped by excrement, the vibration mode of the vibrating capsule can be adjusted in time so that the vibrating capsule can get rid of or drill out of the excrement in time, thereby avoiding failure caused by the capsule being wrapped by excrement too early. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is a flow chart of the vibration capsule control method of the present invention;

[0065] Figure 2 This is a flow chart for judging different working intervals of the vibrating capsule of the present invention;

[0066] Figure 3 A flowchart of obtaining a real-time status of the vibration capsule of the present invention;

[0067] Figure 4 This is a logic judgment flow chart of the first working interval of the vibrating capsule according to the second embodiment of the present invention;

[0068] Figure 5 This is a logic judgment flow chart of the second working interval of the vibrating capsule according to the second embodiment of the present invention;

[0069] Figure 6 This is a logic judgment flow chart of the third working interval of the vibrating capsule in the second embodiment of the present invention;

[0070] Figure 7a Schematic diagram of different working states of the vibrating capsule in the colon segment according to the second embodiment of the present invention;

[0071] Figure 7b This is a table showing different working conditions of the vibrating capsule in the colon section according to the second embodiment of the present invention;

[0072] Figure 8 This is a schematic diagram of a vibrating capsule of the present invention;

[0073] Figure 9 Schematic diagram of another vibrating capsule of the present invention. DETAILED DESCRIPTION

[0074] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0075] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0076] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0077] The present invention provides a control method for a vibration capsule. After the vibration capsule is activated, the continuous operation time of the vibration capsule is recorded, and whether the vibration capsule is in a working range is judged based on the continuous operation time of the vibration capsule. After the vibration capsule enters the working range, the real-time posture of the vibration capsule is periodically obtained, and according to the real-time posture of the vibration capsule and the target mode of the vibration capsule in the working range, the first motor and the second motor are controlled to respectively execute corresponding vibration modes.

[0078] The vibrating capsule of the present invention includes a first motor and a second motor, and has a bidirectional vibration function, capable of providing multi-directional stimulation to the intestines. Compared with unidirectional stimulation, it can more effectively activate the intestinal neural network and awaken intestinal motility. Furthermore, the vibrating capsule of the present invention uses bidirectional time-sharing vibration to determine the vibrating capsule's wall adhesion state. Combined with physiological structure and excretion status, it ensures that the vibration energy is mainly released in the wall adhesion direction. Compared with traditional timed fixed vibration modes, it can improve the effective utilization of vibration energy, thereby enhancing the therapeutic effect.

[0079] The control method of the vibrating capsule of the present invention can timely adjust the vibration mode of the vibrating capsule after the vibrating capsule is covered or wrapped by excrement, so that the vibrating capsule can get rid of or drill out of the excrement in time, thereby avoiding failure caused by the capsule being wrapped by excrement too early.

[0080] This invention uses a completely physical method to massage and stimulate the intestines, improving intestinal motility and improving constipation. Furthermore, this solution adopts a two-way independent vibration control mode, which works according to the different positions of the vibrating capsule in the intestine to achieve effective vibration of the vibrating capsule and improve the vibration massage effect of the vibrating capsule.

[0081] Example 1

[0082] Figure 1 The flow chart of the vibration capsule control method of the present invention is shown, including:

[0083] Step S100, activating the vibration capsule and recording the continuous operation time t of the vibration capsule.

[0084] The microcontroller activates the vibrating capsule and controls it to vibrate briefly in both the lateral and axial directions. If the capsule is deemed normal, the built-in timer is reset and the capsule stops vibrating. The timer then starts counting, and the user swallows the capsule.

[0085] Step S200: When the continuous running time t is not greater than the first preset time T1, it is determined that the vibration capsule has not entered the working range, and the vibration capsule is controlled to stop vibrating.

[0086] The main cause of defecation difficulties for users is in the colon. Excrement is retained in the colon for a long time, and the properties of the excrement change, becoming lumpy and hard, which aggravates constipation symptoms. Therefore, it is necessary to make the vibrating capsule mainly implement vibration stimulation in the colon. To this end, in order to reduce the power consumption of the vibrating capsule in the early stage, this solution sets a first preset time T1 based on the general digestion time of constipated people as the basis for judging whether the vibrating capsule has reached the cecum and ascending colon. Before the vibrating capsule reaches the cecum and ascending colon, the vibrating capsule is controlled to stop vibrating.

[0087] Step S300: When the continuous running time t is greater than the first preset time T1, it is determined that the vibrating capsule has entered the working range.

[0088] Preferably, combined Figure 2 , shows the judgment process of different working intervals of the vibration capsule of the present invention, specifically,

[0089] In an embodiment of the present invention, "step 300, when the continuous operation time t is greater than the first preset time, it is determined that the vibration capsule has entered the working range", includes at least one of the following working states:

[0090] When the first preset time T1 is less than the continuous operation time t and less than the second preset time T2, wherein the second preset time is greater than the first preset time, it is determined that the vibration capsule is in the first working range;

[0091] When the second preset time T2 is less than the continuous operation time t and less than the third preset time T3, and the third preset time is greater than the second preset time, it is determined that the vibrating capsule is in the second working range;

[0092] When the third preset time T3 is less than the continuous operation time t and less than the fourth preset time T4, and the fourth preset time is greater than the third preset time, it is determined that the vibrating capsule is in the third working range;

[0093] When the fourth preset time T4 is less than the continuous operation time t, it is determined that the vibration capsule is located in the fourth working interval.

[0094] For general users, the above jump logic can be adopted, but the present invention also provides an exceptional jump logic for users that takes individual differences into consideration: by setting the maximum tolerance time interval T_In, under specific working conditions, when the timing time difference from the next working interval is less than the maximum tolerance time interval T_In, it is allowed to enter the control mode of the next working interval in advance.

[0095] Step S400: obtaining the real-time posture of the vibrating capsule.

[0096] Preferably, Figure 3 As shown, a flowchart of obtaining the real-time posture of the vibration capsule is shown. In an embodiment of the present invention, in step 400, "obtaining the real-time posture of the vibration capsule" includes:

[0097] Step 410: Control the vibrating capsule to stop vibrating, obtain the acceleration sensor value, calculate the horizontal and vertical gravity components of the vibrating capsule, and calculate the ratio of the horizontal and vertical gravity components of the vibrating capsule;

[0098] Step 420 , respectively controlling the first motor and the second motor to vibrate in a short time-sharing manner, and simultaneously collecting acceleration sensor values;

[0099] Step 430 , determining the real-time posture of the vibrating capsule based on the ratio of the horizontal and vertical gravity components of the vibrating capsule, the lateral vibration amplitude change trend of the acceleration sensor, and the axial vibration amplitude change trend of the acceleration sensor.

[0100] Further preferably, in an embodiment of the present invention, the real-time posture of the vibrating capsule includes at least one of the following postures:

[0101] The vibrating capsule lies flat;

[0102] The vibrating capsule tilts horizontally to the left or right;

[0103] The vibrating capsule deviates vertically to the left or right;

[0104] The vibrating capsule is vertical;

[0105] The vibrating capsule adheres to the wall in both directions;

[0106] The vibrating capsule adheres to the wall axially;

[0107] The vibrating capsule adheres laterally to the wall;

[0108] The vibrating capsule did not adhere to the wall;

[0109] The surface of the vibrating capsule is against foreign matter;

[0110] The vibrating capsule is squeezed into the feces by peristalsis.

[0111] When the vibrating capsule starts posture judgment, it controls the vibrating capsule to stop vibrating and determines whether the vibrating capsule is in a vertical or horizontal posture based on the ratio R (H / V) of the gravity components of the vibrating capsule in the horizontal direction (H direction) and the vertical direction (V direction). By controlling the first motor and the second motor to respectively execute the short-time measurement vibration mode (SHK-1), the vibrating capsule's wall-attached posture is determined based on the amplitude change trends in the vibrating capsule in the horizontal direction (H direction) and the vertical direction (V direction).

[0112] Preferably, when the vibrating capsule stops vibrating and the absolute value abs(H / V) of the ratio of the gravity components of the vibrating capsule in the horizontal direction (H) to the vertical direction (V direction) is in the range of 0<abs(H / V)<0.1, the vibrating capsule is judged to be in a horizontal state; when the absolute value abs(H / V) of the ratio of the gravity components of the vibrating capsule in the horizontal direction (H) to the vertical direction (V direction) is in the range of 0.1≤abs(H / V)<0.5, the vibrating capsule is judged to be in a horizontally tilted left or right state; when the absolute value abs(H / V) of the ratio of the gravity components of the vibrating capsule in the horizontal direction (H) to the vertical direction (V direction) is in the range of 0.5≤abs(H / V)<10, the vibrating capsule is judged to be in a vertically tilted left or right state; when the absolute value abs(H / V) of the ratio R(H / V) of the gravity components of the vibrating capsule in the horizontal direction (H) to the vertical direction (V direction) is in the range of abs(H / V)≥10, the vibrating capsule is judged to be in a vertical state.

[0113] Preferably, the short-time measurement vibration mode (SHK-1) ​​is, within 2s~4s, using unidirectional short pulse width vibration with an amplitude of 30%~60% to control the first motor / second motor to perform lateral / axial vibration respectively. For example, the short-time measurement vibration mode (SHK-1) ​​is, within 3s, using unidirectional short pulse width vibration with an amplitude of 50% to control the first motor / second motor to perform lateral / axial vibration respectively.

[0114] Further preferably, when the short-time measurement vibration mode (SHK-1) ​​is executed multiple times in succession to detect the posture of the vibrating capsule, if the amplitude of the vibrating capsule in a single direction decreases in multiple measurements of the time-sharing vibration, and the amplitude of the time-sharing vibration in both directions decreases by a first preset ratio in multiple measurements, it is determined that the surface of the vibrating capsule is in contact with a foreign object; preferably, the first preset ratio is in a range of 30% to 80%, further preferably, the first preset ratio is in a range of 30% to 50%, and further preferably, the first preset ratio is 30%;

[0115] Preferably, when the short-time measurement vibration mode (SHK-1) ​​is executed multiple times in succession to detect the posture of the vibrating capsule, when the amplitude of the vibrating capsule in one direction decreases in multiple measurements of the time-sharing vibration, and the amplitude of the time-sharing vibration in both directions decreases by a second preset ratio at the same time, it is judged that the vibrating capsule is peristaltically squeezed into the excrement; preferably, the second preset ratio has a value range of 80% to 100%, and further preferably, the second preset ratio is 80%.

[0116] Preferably, the second preset ratio is greater than the first preset ratio.

[0117] Step S500, controlling the first motor and the second motor to respectively execute corresponding vibration modes according to the real-time posture of the vibration capsule and the target mode of the vibration capsule within the working range;

[0118] The corresponding vibration mode is achieved by controlling the vibration time, vibration amplitude and vibration direction of the first motor and / or the second motor.

[0119] Figure 4-6 The control flow chart of the vibrating capsule of the present invention in the first, second and third working intervals is shown.

[0120] like Figure 4-5 As shown, when the vibrating capsule's real-time posture is at least one direction adhering to the wall, the capsule is controlled to vibrate in the adhering direction (SHK-2 or SHK-3), and vibration is stopped in the direction not adhering to the wall. The vibration mode (SHK-2 or SHK-3) for the vibrating capsule in the adhering direction is: short pulse width 80%-100% amplitude vibration for 3-6 seconds in the adhering direction, long pulse width 80%-100% amplitude vibration for 3-6 seconds in the adhering direction, and three to five cycles of vibration. For example, the vibration mode (SHK-2 or SHK-3) for the vibrating capsule in the adhering direction is: short pulse width 100% amplitude vibration for 5 seconds in the adhering direction, long pulse width 100% amplitude vibration for 5 seconds in the adhering direction, and three cycles of vibration.

[0121] When the vibrating capsule's real-time posture is not adhered to the wall, it is controlled to perform wall-adapting vibration (SHK-4). The vibration mode of wall-adapting vibration is as follows: if the vibrating capsule is detected to be in a relatively flat position, a short axial pulse width of 1s-2s and an amplitude of 30%-50% is used to approach the intestinal wall. If the vibrating capsule is in a relatively vertical position, a short tangential pulse width of 1s-2s and an amplitude of 30%-50% is used to approach the intestinal wall. For example, the vibration mode of wall-adapting vibration is as follows: if the vibrating capsule is detected to be in a relatively flat position, a short axial pulse width of 1s and an amplitude of 50% is used to approach the intestinal wall. If the vibrating capsule is in a relatively vertical position, a short tangential pulse width of 1s and an amplitude of 50% is used to approach the intestinal wall.

[0122] When the vibrating capsule's real-time posture indicates that its surface is in contact with a foreign object, the device is controlled to execute the Foreign Object Escape Vibration Mode (SHK-5). This mode involves simultaneous bidirectional short pulses at 80% to 100% amplitude for 3 to 5 seconds. For example, the SHK-5 mode involves simultaneous bidirectional short pulses at 100% amplitude for 5 seconds.

[0123] When the real-time posture of the vibrating capsule is that the vibrating capsule is peristaltically squeezed into excrement, the vibrating capsule is controlled to perform the drilling-out vibration (SHK-7) for squeezing into excrement. The vibration mode of the drilling-out vibration (SHK-7) for squeezing into excrement is a bidirectional short pulse width of 80% to 100% amplitude, which is simultaneously excited for 3s to 5s. For example, the vibration mode of the drilling-out vibration (SHK-7) for squeezing into excrement is a bidirectional short pulse width of 100% amplitude, which is simultaneously excited for 5s. Further preferably, when grooves are provided on the surface of the vibrating capsule, the vibration mode of the drilling-out vibration (SHK-7) for squeezing into excrement is a tangential vibration of 100% amplitude, which is continuous for 5 seconds to cause the capsule to drill out the excrement.

[0124] The vibration capsule control method of the present invention determines the working interval of the vibration capsule according to the continuous operation time of the vibration capsule, and repeatedly executes steps 400 to 500 in the corresponding working interval until the vibration capsule leaves the corresponding working interval, enters the next adjacent working interval, and is finally discharged with the excrement.

[0125] Preferably, considering individual differences, the vibration capsule control method of the present invention also allows the control logic of entering the next adjacent working interval in advance. Specifically, Figure 4As shown, when the vibration capsule is located in the first working interval and the real-time posture of the vibration capsule is the working condition where the surface of the vibration capsule is against a foreign object, and when T2-t is less than the maximum tolerance time interval T_In, the vibration capsule is controlled to start the control mode of the next adjacent working interval, and according to the vibration capsule being located in the next adjacent working interval, step S400 is re-executed to determine the real-time posture of the vibration capsule, and step S500 is executed to control the first motor and the second motor to respectively execute corresponding vibration modes according to the real-time posture of the vibration capsule and the target mode of the vibration capsule in the working interval.

[0126] like Figure 5 As shown, when the vibration capsule is located in the second working interval, the real-time posture of the vibration capsule is the working condition where the vibration capsule is peristaltically squeezed into the excrement, and when T3-t is less than the maximum tolerance time interval T_In, the vibration capsule is controlled to start the control mode of the next adjacent working interval, and according to the vibration capsule being located in the next adjacent working interval, step S400 is re-executed to determine the real-time posture of the vibration capsule, and step S500 is executed to control the first motor and the second motor to respectively execute the corresponding vibration modes according to the real-time posture of the vibration capsule and the target mode of the vibration capsule in the working interval.

[0127] like Figure 6 As shown, when the vibrating capsule is located in the third working interval, the stimulating vibration is performed only when the vibrating capsule is lying flat, and the vibrating capsule is controlled to perform the following steps 510-540:

[0128] Step 520 , determining whether the vibrating capsule is peristaltically squeezed into the excrement, and if so, controlling the vibrating capsule to perform drilling vibration (SHK-7) to squeeze into the excrement;

[0129] Further preferably, when a spiral groove is designed on the vibrating capsule, the capsule is vibrated continuously for 5 seconds with a tangential amplitude of 100% to cause the capsule to drill out the excrement. If the capsule is still wrapped during the next detection, the above operation is repeated until the excrement is drilled out.

[0130] If not, the vibration capsule is controlled to perform bidirectional attitude adjustment vibration (SHK-6);

[0131] Bidirectional posture adjustment vibration (SHK-6) is a therapeutic stimulation vibration only when the vibrating capsule is in a supine position, using bidirectional 20%~35% amplitude short pulse width excitation for 1s~2s to adjust the posture. For example, bidirectional posture adjustment vibration (SHK-6) is a therapeutic stimulation vibration only when the vibrating capsule is in a supine position, using bidirectional 25% amplitude short pulse width excitation for 1s to adjust the posture.

[0132] Step 530: collect the axial vibration amplitude of the acceleration sensor and determine whether the axial vibration amplitude is less than the preset lying acceleration value. If so, control the vibrating capsule to perform axial side vibration (SHK-4). Preferably, the preset lying acceleration value is 0.2G.

[0133] Step 540 , determining whether the vibrating capsule is axially attached to the wall, and if so, controlling the vibrating capsule to perform axial therapeutic stimulation vibration (SHK-2);

[0134] Step 550: Repeat steps 520-540 until the vibrating capsule leaves the third working interval.

[0135] Preferably, before executing any of steps 520-540, step 510 is executed first. When T4-t is less than the maximum tolerance time interval T_In, it is determined whether the power of the vibration capsule has dropped to a preset power level. If so, the vibration capsule is controlled to stop vibrating and retain the wireless communication function; if not, the vibration capsule is controlled to continue executing the corresponding steps.

[0136] When the vibrating capsule is located in the fourth working interval, the vibrating capsule is controlled to stop vibrating and retain the wireless communication function.

[0137] Steps S200-S500 are repeated until the vibrating capsule leaves the working area.

[0138] Preferably, Figure 2 As shown, the control method of the present invention further includes step S600, when the power level of the vibration capsule is lower than a preset power level, controlling the vibration capsule to stop vibrating and retaining the wireless communication function.

[0139] By periodically detecting the real-time posture of the vibrating capsule within a working range, the capsule's posture is promptly adjusted or a corresponding effective vibration stimulation mode is executed based on the real-time posture and the corresponding target mode within the corresponding working range. In the present invention, the vibrating capsule includes a first motor and a second motor that can independently apply vibration. The independent arrangement of the two motors enables bidirectional independent vibration control of the vibrating capsule, reduces control difficulty, realizes multiple vibration modes, improves vibration effects, and saves power.

[0140] Example 2

[0141] As can be seen from Figure 7, the human colon is mainly divided into the following: the first working interval: the ascending colon segment; the second working interval: the transverse colon segment; the third working interval: the descending colon segment; and the fourth working interval: the sigmoid colon segment. In the ascending colon segment, the patient's stool is generally in a liquid state and is not easy to adhere to the vibrating capsule. This part mainly relies on the friction between the capsule and the intestinal wall during intestinal peristalsis to bring the capsule from the cecum to the top of the ascending colon. In the transverse colon, the first half is in a paste-like state, and the excrement is easier to adhere to the vibrating capsule. At this stage, the capsule will be at the bottom of the intestine under the action of gravity and can move forward by relying on intestinal peristalsis; in the second half, lumpy excrement may appear, and the capsule cannot enter the lumpy excrement. Once it enters, it is difficult to drill out of the excrement. In the descending colon, the stool is generally dispersed and lumpy, becoming increasingly smaller towards the posterior end. During this stage, the vibrating capsule is only axially vibrated when it is not engulfed by feces and is approximately horizontal, preventing the capsule from being drawn into the lumps. Once inside, the capsule uses its own energy to gradually emerge, then adjusts to a nearly horizontal position before axially vibrating. Upon entering the sigmoid colon, the lumps essentially converge, and the capsule shuts down and is expelled along with them. Figure 7b The possible operating conditions and target modes in each working range (phase) are shown as examples.

[0142] The following will be based on Figure 2-6 , combined with the introduction of specific vibration control methods of the vibrating capsule in various sections of the colon.

[0143] When the first preset time T1 is less than the continuous operation time t and less than the second preset time T2, wherein the second preset time is greater than the first preset time, it is determined that the vibration capsule is in the first working range;

[0144] When the second preset time T2 is less than the continuous operation time t and less than the third preset time T3, and the third preset time is greater than the second preset time, it is determined that the vibrating capsule is in the second working range;

[0145] When the third preset time T3 is less than the continuous operation time t and less than the fourth preset time T4, and the fourth preset time is greater than the third preset time, it is determined that the vibrating capsule is in the third working range;

[0146] When the fourth preset time T4 is less than the continuous operation time t, it is determined that the vibration capsule is located in the fourth working interval.

[0147] For general users, the above jump logic can be used. However, the present invention also provides exceptional jump logic for users taking individual differences into consideration. Specifically:

[0148] (1) If the time is less than T1, it is directly considered that it has not yet entered the cecum and ascending colon;

[0149] (2) When the first preset time T1 is less than the continuous operation time t and less than the second preset time T2, under normal circumstances, this should be in the ascending colon segment. However, considering individual differences, if the excrement is sticky and has touched the capsule once, and the time difference from T2 is not large, the transverse colon mode can be entered in advance.

[0150] (3) When the second preset time T2 is less than the continuous operation time t and less than the third preset time T3, under normal circumstances, this should be in the transverse colon segment. However, considering individual differences, if the capsule is squeezed into the excrement by peristalsis, it will enter the descending colon segment mode in advance.

[0151] (4) When the third preset time T3 is less than the continuous operation time t and less than the fourth preset time T4, under normal circumstances, this should be in the descending colon mode. However, considering individual differences, if the power is less than a certain amount, it enters the discharge mode.

[0152] When the fourth preset time T4 is less than the continuous operation time t, it is determined that the vibrating capsule enters the discharge mode.

[0153] Among them, the logic of each judgment unit is:

[0154] (1) Cecum and ascending colon logic judgment unit 1: If the axial / lateral direction is in SHK-1 mode, and the "vibration sensor measured change amplitude" is equal to the "excitation input", it is determined that the vibrating capsule is currently immersed in the liquid of the ascending colon and is not attached to the wall. At this time, SHK-4 should be released according to the capsule posture to make the capsule attach to the wall as soon as possible. When the "vibration sensor measured change amplitude" is reduced by more than 15% in one direction, it is determined that the vibrating capsule is attached to the wall in the vibration reduction direction, and the unidirectional treatment stimulation vibration mode SHK-2 is released in this direction. If both directions are reduced by more than 15%, it is determined that the vibrating capsule is attached to the wall in both directions, and the treatment stimulation vibration mode SHK-3 is released in both directions.

[0155] (2) Transverse colon logic judgment unit 2: Adherence to the wall, non-adherence to the wall, and corresponding vibration modes are consistent with the ascending colon. When the bidirectional vibration decreases by 30% for multiple consecutive times, SHK-5 is activated to break free from the excrement on the surface. If the bidirectional vibration decreases by more than 80% for two consecutive times, it is suspected that the capsule is wrapped in excrement.

[0156] (3) Descending colon logic judgment unit 3: If the capsule is wrapped by excrement, SHK-7 is used to drill it out as much as possible. If the capsule is not wrapped, SHK-6 is used to adjust the capsule posture. When the capsule is in a nearly flat position, axial vibration SHK-2 is started.

[0157] In this embodiment, the vibration parameters are defined as follows:

[0158] (1) SHK-1: Short-term vibration measurement mode, axial / lateral unidirectional short pulse width vibration with an amplitude of about 50% within 3 seconds. If the acceleration sensor detects that the unidirectional vibration is reduced, it is judged that the direction is attached to the wall;

[0159] (2) SHK-2: Unidirectional therapeutic stimulation vibration mode, unidirectional short pulse width 100% amplitude vibration for 5 seconds, unidirectional long pulse width 100% amplitude vibration for 5 seconds, and cyclic vibration 3 times;

[0160] (3) SHK-3: Bidirectional therapeutic stimulation vibration mode, bidirectional short pulse width 100% amplitude vibration for 5 seconds, bidirectional long pulse width 100% amplitude vibration for 5 seconds, and cycle vibration 3 times;

[0161] (4) SHK-4: Adherent to the wall vibration mode. If the capsule is detected to be in a relatively flat position, the axial short pulse width of 1s and 50% amplitude will be used to approach the intestinal wall. If the capsule is in a relatively vertical position, the tangential short pulse width of 1s and 50% amplitude will be used to approach the intestinal wall.

[0162] (5) SHK-5: Foreign body escape vibration mode. If the vibration measurement is performed using SHK-1 and the amplitude is found to be reduced by more than 30% in both directions for multiple consecutive times, it is determined that there is excrement adhering to the outer wall of the capsule. A short pulse width of 100% amplitude in both directions is excited simultaneously for 5 seconds.

[0163] (6) SHK-6: Capsule posture adjustment mode, when entering the descending colon segment, the treatment stimulation vibration is only performed when the capsule is in a flat position, and the bidirectional 25% amplitude short pulse width excitation 1s adjusts the posture;

[0164] (7) SHK-7: The vibrating capsule is designed with spiral grooves. When the capsule is wrapped with excrement, it is vibrated continuously for 5 seconds with a tangential amplitude of 100%. If the capsule is still wrapped in excrement during the next test, the above operation is repeated until the excrement is drilled out.

[0165] Example 3

[0166] Figure 8 The present invention shows a vibration capsule, comprising a first motor, a second motor, a vibration capsule activation module, a working range judgment module, a capsule posture judgment module, a vibration mode execution module, and a communication module, wherein:

[0167] A vibration capsule activation module, used to activate the vibration capsule;

[0168] A working interval determination module is used to record the continuous working time of the vibration capsule and determine the working interval in which the vibration capsule is located;

[0169] Capsule posture acquisition module, used to obtain the real-time posture of the vibrating capsule;

[0170] a vibration mode execution module, configured to control the first motor and the second motor to respectively execute corresponding vibration modes according to the acquired real-time posture of the vibration capsule and the target mode of the vibration capsule within the working range;

[0171] The communication module is used for the vibration capsule to communicate with the outside world. Preferably, the communication module includes Bluetooth.

[0172] Example 4

[0173] Figure 9 A vibration capsule of the present invention is shown, including a memory 101, a microprocessor 102 and a computer program stored in the memory and executable on the microprocessor. When the computer program is executed by the microprocessor, the steps in the control method of the vibration capsule in Examples 1-3 are implemented.

[0174] The microprocessor 102 will Figure 1 In the step of loading one or more instructions corresponding to the process of the application into the memory 101, the processor 102 runs the application stored in the first memory 101, thereby achieving the following Figure 1 Various functions in the vibration capsule control method.

[0175] Optionally, the processor 102 uses a low-power Bluetooth chip (which includes functions such as a counter, analog-to-digital conversion, SPI and I2C), and the vibration control chip uses a low-power three-axis vibration sensor, which has a vibration wake-up function, that is, the capsule starts working when the vibration acceleration is greater than a specified threshold.

[0176] In summary, the vibration capsule and its control method of the present invention, after activating the vibration capsule through the microcontroller, records the continuous running time of the vibration capsule, and determines whether the vibration capsule is in the working range based on the continuous running time of the vibration capsule, and after the vibration capsule enters the working range, periodically obtains the real-time posture of the vibration capsule, and controls the first motor and the second motor to respectively execute corresponding vibration modes based on the real-time posture of the vibration capsule and the target mode of the vibration capsule in the working range. The present invention massages and stimulates the intestines in a completely physical way, improves the efficiency of intestinal peristalsis, and achieves the effect of improving constipation. Furthermore, this solution adopts a two-way independent vibration control mode, and realizes effective vibration of the vibration capsule according to the working mode of the vibration capsule at different positions in the intestine, thereby improving the vibration massage effect of the vibration capsule.

[0177] The above are only preferred implementation methods of the present invention. As long as the technical solutions of the present invention are achieved by substantially the same means, they all fall within the protection scope of the present invention.

Claims

1. A method for controlling a vibrating capsule, wherein the vibrating capsule comprises a first motor and a second motor, wherein: Step 100, activating the vibration capsule and recording the continuous operation time t of the vibration capsule; Step 200: When the continuous operation time t is not greater than the first preset time T1, it is determined that the vibrating capsule has not entered the working range, and the vibrating capsule is controlled to stop vibrating; Step 300: When the continuous operation time t is greater than the first preset time T1, it is determined that the vibrating capsule has entered the working range; Step 400, obtaining the real-time posture of the vibrating capsule; Step 500 , controlling the first motor and the second motor to respectively execute corresponding vibration modes according to the real-time posture of the vibration capsule and the target mode of the vibration capsule in the working range; Repeat steps 200-500 until the vibrating capsule leaves the working range. The vibrating capsule includes an acceleration sensor, and is characterized in that, in step 400, "obtaining the real-time posture of the vibrating capsule" includes: Step 410: Control the vibrating capsule to stop vibrating, obtain the acceleration sensor value, calculate the horizontal and vertical gravity components of the vibrating capsule, and calculate the ratio of the horizontal and vertical gravity components of the vibrating capsule; Step 420 , respectively controlling the first motor and the second motor to vibrate in a short time-sharing manner, and simultaneously collecting the acceleration sensor value; Step 430 , determining the real-time posture of the vibrating capsule according to the ratio of the horizontal and vertical gravity components of the vibrating capsule, the lateral vibration amplitude change trend of the acceleration sensor, and the axial vibration amplitude change trend of the acceleration sensor.

2. The control method of the vibrating capsule according to claim 1, characterized in that: After the step 300, when the continuous operation time t is greater than the first preset time T1, it is determined that the vibration capsule has entered the working range, the method further includes: Step 600: When the power level of the vibration capsule is lower than a preset power level, the vibration capsule is controlled to stop vibrating and retain the wireless communication function.

3. The control method of the vibrating capsule according to claim 1, characterized in that: The "step 300, when the continuous operation time t is greater than the first preset time, determining that the vibrating capsule has entered the working range" includes at least one of the following working states: When the continuous running time t is less than or equal to the second preset time T2, wherein the second preset time is greater than the first preset time, it is determined that the vibrating capsule is located in the first working interval; When the second preset time T2 is less than the continuous operation time t and less than the third preset time T3, wherein the third preset time is greater than the second preset time, it is determined that the vibrating capsule is in the second working range; When the third preset time T3 is less than the continuous operation time t and less than the fourth preset time T4, wherein the fourth preset time is greater than the third preset time, it is determined that the vibrating capsule is in the third working range; When the fourth preset time T4 is less than the continuous operation time t, it is determined that the vibrating capsule is located in the fourth working interval.

4. The control method of the vibrating capsule according to claim 1, characterized in that: The real-time posture of the vibrating capsule includes at least one of the following postures: The vibrating capsule lies flat; The vibrating capsule tilts horizontally to the left or right; The vibrating capsule is vertically offset to the left or right; The vibrating capsule is vertical; The vibrating capsule adheres to the wall in two directions; The vibrating capsule is axially adhered to the wall; The vibrating capsule is laterally adhered to the wall; The vibrating capsule is not attached to the wall; The surface of the vibrating capsule is in contact with the foreign matter; The vibrating capsule is peristaltically squeezed into the feces.

5. The control method of the vibrating capsule according to claim 3, characterized in that: When the vibrating capsule is located in the third working zone, the vibrating capsule is controlled to execute the following steps 510-540: Step 520, determining whether the vibrating capsule is peristaltically squeezed into the excrement, and if so, controlling the vibrating capsule to perform drilling vibration to squeeze into the excrement, with a vibration parameter of SHK-7; If not, the vibrating capsule is controlled to perform bidirectional posture adjustment vibration with a vibration parameter of SHK-6; Step 530, The capsule is placed in a near-lying state by vibrating the axial and lateral modes in a time-sharing or simultaneous manner. In the static state, the axial acceleration amplitude of the acceleration sensor is collected to determine whether the axial acceleration amplitude is less than 0.2G, which is the preset lying acceleration. If so, the vibrating capsule is controlled to perform axial side vibration with a vibration parameter of SHK-5. Step 540, determining whether the vibrating capsule is axially attached to the wall, and if so, controlling the vibrating capsule to perform axial therapeutic stimulation vibration, with a vibration parameter of SHK-2; Step 550: Repeat steps 520-540 until the vibrating capsule leaves the third working interval.

6. The method for controlling a vibrating capsule according to claim 5, wherein: Before executing any of steps 520-540, first execute step 510, when T4-t is less than the maximum tolerance time interval T_In, determine whether the power of the vibration capsule has dropped to a preset power level, and if so, control the vibration capsule to stop vibrating and retain the wireless communication function; If not, the vibrating capsule is controlled to continue executing corresponding steps.

7. The method for controlling a vibrating capsule according to claim 3, wherein: When the vibrating capsule is located in the fourth working interval, the vibrating capsule is controlled to stop vibrating and retain the wireless communication function.

8. The method for controlling a vibrating capsule according to any one of claims 1 to 3, characterized in that: When the real-time posture of the vibrating capsule is that at least one direction is attached to the wall, the vibrating capsule is controlled to vibrate in the direction of the wall, and the vibration parameter is SHK-2 or SHK-3, and the vibration is stopped in the direction not attached to the wall.

9. The method for controlling a vibrating capsule according to any one of claims 1 to 3, wherein: When the real-time posture of the vibrating capsule is not attached to the wall, the vibrating capsule is controlled to perform the wall-attached vibration, and the vibration parameter is SHK-4.

10. The control method of the vibrating capsule according to claim 3, characterized in that: When the vibration capsule is located in the first working interval, the real-time posture of the vibration capsule is the condition where the surface of the vibration capsule is attached to a foreign object, and when T2-t is less than the maximum tolerance time interval T_In, the vibration capsule is controlled to start the control mode of the next adjacent working interval, and the real-time posture of the vibration capsule is re-judged according to the vibration capsule being located in the next adjacent working interval, and the corresponding vibration mode is executed.

11. The method for controlling a vibrating capsule according to claim 3, wherein: When the vibrating capsule is located in the second working interval, the real-time posture of the vibrating capsule is the condition where the vibrating capsule is peristaltically squeezed into the excrement, and when T3-t is less than the maximum tolerance time interval T_In, the vibrating capsule is controlled to start the control mode of the next adjacent working interval, and the real-time posture of the vibrating capsule is re-judged according to the vibrating capsule being located in the next adjacent working interval, and the corresponding vibration mode is executed.

12. A vibrating capsule according to claim 1, comprising a first motor, a second motor, a vibrating capsule activation module, a working range determination module, a capsule posture determination module, a vibration mode execution module, and a communication module, characterized in that: a vibration capsule activation module, used to activate the vibration capsule; a working interval determination module, configured to record the continuous working time of the vibrating capsule and determine the working interval in which the vibrating capsule is located; A capsule posture acquisition module, used to acquire the real-time posture of the vibrating capsule; a vibration mode execution module, configured to control the first motor and the second motor to respectively execute corresponding vibration modes according to the acquired real-time posture of the vibration capsule and the target mode of the vibration capsule in the working range; The communication module is used to enable the vibration capsule to communicate with the outside world.

13. A vibrating capsule comprising a memory, a microprocessor, and a computer program stored in the memory and executable on the microprocessor, wherein: When the computer program is executed by the microprocessor, the steps of the method for controlling a vibrating capsule according to any one of claims 1 to 11 are implemented.

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