Airbag mattress control method and system for active rehabilitation training of semi-disabled users

Abstract

The present invention relates to a control method and system for an airbag mattress for assisting semi-disabled users in active rehabilitation training. First, the internal pressures of each airbag of the airbag mattress before and after the user lies flat are collected, the pressure difference of the airbag is calculated, and an airbag internal pressure difference matrix is obtained; then, the airbag internal pressure difference matrix is converted into a two-dimensional pressure cloud map, and the airbag mattress is partitioned according to the two-dimensional pressure cloud map; finally, the internal pressures of the airbags in each area are monitored in real time. If the difference between the current internal pressure of the airbag in the area and the average internal pressure at the steady state is greater than the active force application determination threshold for the corresponding body part and lasts for a period of time, it indicates that the user is actively pressing the airbag mattress. At this time, the airbag is controlled to deflate, so that the internal pressure of the airbag decreases until it reaches the lower limit value or the user stops pressing the airbag mattress; then the airbag is controlled to inflate until the internal pressure of the airbag returns to the size at the steady state, and the body part of the user being trained is passively reset; and so on in a cycle until the user completes the rehabilitation training. This method realizes the active rehabilitation training of semi-disabled users, reduces the control difficulty and cost, and has a positive incentive effect on users.

Description

Technical Field

[0001] The present invention belongs to the technical field of airbag mattress control, and particularly relates to a control method and system for an airbag mattress for active rehabilitation training of semi-disabled users. Background Art

[0002] With the aggravation of population aging, there are more and more semi-disabled patients who are bedridden for a long time. Long-term bedridden due to long-term inactivity of muscles leads to muscle atrophy and muscle strength attenuation. Therefore, rehabilitation training is an essential part of daily care. The traditional rehabilitation training method mainly relies on nursing staff to assist in rehabilitation training, which is a passive training method, not only increasing the burden on nursing staff, but also aggravating the psychological burden of patients.

[0003] Semi-disabled patients only partially lose their self-care ability in daily life behaviors and need to rely on facilities such as handrails, crutches, wheelchairs, and lifts or the help of others, but their limbs have a certain ability to move. Even semi-disabled patients who are bedridden for a long time have the awareness of active rehabilitation training. Compared with traditional mattresses, airbag mattresses provide the possibility for the active rehabilitation training of semi-disabled patients due to their good deformability and controllability. For the active rehabilitation training of semi-disabled patients, the present application proposes a control method and system for an airbag mattress for active rehabilitation training of semi-disabled users. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a control method and system for an airbag mattress for active rehabilitation training of semi-disabled users.

[0005] The present invention adopts the following technical solutions to solve the above technical problems:

[0006] A control method for an airbag mattress for active rehabilitation training of semi-disabled users, characterized in that the method includes the following contents:

[0007] (1) Collect the internal pressures of each airbag of the airbag mattress before and after the user lies flat, calculate the internal pressure difference of the airbag, and obtain an internal pressure difference matrix of the airbag;

[0008] (2) Convert the internal pressure difference matrix of the airbag into a two-dimensional pressure cloud map and perform smoothing processing; partition the airbag mattress according to the pressure distribution of the two-dimensional pressure cloud map, and divide the area of the airbag mattress in contact with the user into upper torso, arm, hand, hip, and leg areas;

[0009] (3) After the user lies flat on the airbag mattress and reaches a steady state, the internal pressure of the airbags in each area is monitored in real time. If the difference between the current internal pressure of the airbags in the area and the average internal pressure at steady state is greater than the active force application determination threshold for the corresponding body part and lasts for a period of time, it indicates that the user is actively pressing the airbag mattress. At this time, control the airbag to deflate, so that the internal pressure of the airbag decreases until it reaches the lower limit value or the user stops pressing the airbag mattress; then, control the airbag to inflate until the internal pressure of the airbag resumes the size at steady state, and passively reset the body part of the user being trained; repeat this cycle until the user completes the rehabilitation training.

[0010] Furthermore, the control of airbag deflation is divided into three modes: uniform resistance mode, increasing resistance mode, and explosive force mode; the uniform resistance mode means that the airbag deflates at a uniform speed, so that the resistance that the user needs to overcome when pressing the airbag mattress remains constant; the increasing resistance mode means that as the pressing depth increases, the airbag deflation volume is gradually reduced, so that the resistance that the user needs to overcome when pressing the airbag mattress gradually increases; the explosive force mode means that each time the user is trained, there is only one pressing opportunity, the airbag deflates quickly, and the user quickly presses the airbag mattress.

[0011] Furthermore, during the process of partitioning the airbag mattress, extract the connected area with an area larger than 3×4 times the maximum cross-sectional area of the airbag as the candidate area, calculate the aspect ratio of the candidate area. If the aspect ratio is 1.0 - 1.6, then determine that the candidate area is the upper torso area; extract the connected area with an area greater than 1×3 and less than 1×6 times the maximum cross-sectional area of the airbag as the candidate area, calculate the aspect ratio of the candidate area. If the aspect ratio is greater than 2 and is located on the left side of the upper torso, it is the left arm area, and if it is located on the right side of the upper torso, it is the right arm area; the end of the arm area is the hand area; regard the area of two columns of airbags directly below the upper torso area as the buttocks area; extract the connected area with an area greater than 1×4 and less than 1×6 times the maximum cross-sectional area of the airbag as the candidate area, calculate the aspect ratio of the candidate area. If the aspect ratio is greater than 2 and is located on the left side of the buttocks area, it is the left leg area, and if it is located on the right side of the buttocks area, it is the right leg area.

[0012] Furthermore, the active force application determination thresholds for the upper torso and buttocks are both 18 - 25 hPa, the active force application determination threshold for the arms is 6 - 12 hPa, the active force application determination threshold for the legs is 10 - 15 hPa, and the active force application determination threshold for the hands is 4 - 7 hPa.

[0013] Furthermore, during the process of controlling the airbag to inflate / deflate, compensate for the internal pressure of the airbag at the end of inflation / deflation. Compensate 10 - 15% for the internal pressure of the airbag at the end of inflation, and compensate 5 - 10% for the internal pressure of the airbag at the end of deflation.

[0014] An airbag mattress control system includes a host computer, an internal pressure acquisition module, and an airbag mattress; the airbag mattress is formed by arranging multiple airbags in an array, each airbag is connected to a proportional solenoid valve and an air pump through an air pipe, each airbag is connected to a pressure sensor, the pressure sensor is connected to the internal pressure acquisition module, and the internal pressure acquisition module is connected to the host computer.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. Semi-disabled users can achieve the purpose of active rehabilitation training by pressing the airbags. During the process of the user pressing the airbag mattress, the airbag is controlled to deflate and cooperate with the user's pressing action; after the pressing is completed, the body part to be trained is passively reset by inflating the airbag, and this cycle is used to assist the user to complete active rehabilitation training and restore muscle function. During the training process, the user can perceive the change of the internal pressure of the airbag through subjective feeling, which can play a positive incentive role.

[0017] 2. In order to train different body parts, the contact area between the user and the airbag mattress is partitioned according to the body parts, and the airbags in each area are controlled separately to accurately train the corresponding body parts, while reducing the control difficulty and cost. The position of the user lying flat on the airbag mattress and the size of the contact area are not restricted, and it is applicable to users of different heights and body types.

[0018] 3. The active training mode is divided into three types: uniform resistance mode, increasing resistance mode, and explosive power mode, which can provide targeted training to meet different needs. The deformation of the airbag has flexibility, and it also plays a buffering role during the user's pressing process. The pressure is controllable and will not cause secondary injuries, and the training can be stopped at any time. Therefore, through controlling the airbag mattress to conduct rehabilitation training on the user, it is safer and more comfortable. Description of the Drawings

[0019] Figure 1 is the overall flowchart of the present invention;

[0020] Figure 2 is the two-dimensional pressure cloud map in the lying flat state;

[0021] Figure 3 is the two-dimensional pressure cloud map in the side-lying state;

[0022] Figure 4 is the curve of the average internal pressure change of the airbag in the uniform resistance mode;

[0023] Figure 5 is the curve of the average internal pressure change of the airbag in the increasing resistance mode;

[0024] Figure 6 is the curve of the average internal pressure change of the airbag in the explosive power mode;

[0025] Figure 7It is the average internal pressure change curve of the airbag when the user stops pressing the airbag mattress during the training process;

[0026] Figure 8 It is the average internal pressure change curve of the airbag during the left leg training process;

[0027] Figure 9 It is the internal pressure change curve of the airbag during the inflation process;

[0028] Figure 10 It is the internal pressure change curve of the airbag during the deflation process. Specific implementation manners

[0029] The following provides specific embodiments in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present invention in detail and do not limit the protection scope of this application.

[0030] On the one hand, the present invention provides an airbag mattress control system, including an internal pressure acquisition module, a host computer, and an airbag mattress; the airbag mattress is formed by a plurality of airbags arrayed, and the airbags completely cover various body parts such as the arms, torso, and legs when the human body lies flat; each airbag is provided with an independent proportional solenoid valve and a relay, and is connected to the proportional solenoid valve and the air pump through a trachea, and can realize rapid inflation and deflation control; each airbag is connected to a pressure sensor, which can monitor the internal pressure of the airbag in real time; the pressure sensor is connected to the internal pressure acquisition module, and the internal pressure acquisition module is connected to the host computer.

[0031] On the other hand, the present invention also provides an airbag mattress control method for cooperating with the active rehabilitation training of semi-disabled users, including the following content:

[0032] (1) Collect the internal pressures of each airbag of the airbag mattress before and after the user lies flat, calculate the internal pressure differences of each airbag before and after the user lies flat, and obtain the airbag internal pressure difference matrix D; d ij =b ij -a ij ∈D represents the internal pressure difference of the airbag in the i-th row and j-th column, b ij is the internal pressure of the airbag in the i-th row and j-th column after the user lies flat, and a ij is the internal pressure of the airbag in the i-th row and j-th column before the user lies flat; in order to avoid the influence of air leakage on the internal pressure of the airbag, an internal pressure difference threshold of 0.1 - 0.3 hPa is set, and if the internal pressure difference is less than the internal pressure difference threshold, it is taken as 0.

[0033] (2) Convert the airbag internal pressure difference matrix into a two-dimensional pressure cloud map, smooth the two-dimensional pressure cloud map to remove image noise; identify the user's body parts according to the pressure distribution of the two-dimensional pressure cloud map, and divide the area where the airbag mattress contacts the user into the upper torso, arm, hand, buttocks, and leg areas; for the two-dimensional pressure cloud map of the user in the lying flat state, see Figure 2, if the two-dimensional pressure cloud map shows that there is only an arm on one side of the upper torso, it indicates that the user is lying on their side. For the two-dimensional pressure cloud map in the side-lying state, refer to Figure 3 .

[0034] The contact area between the upper torso and the airbag mattress is relatively large, and the pressure distribution shows a horizontally extended form. According to the pressure distribution in the two-dimensional pressure cloud map, a connected region with an area larger than 3×4 times the maximum cross-sectional area of the airbag is extracted as a candidate region, and the aspect ratio of the candidate region is calculated. If the aspect ratio is 1.0 - 1.6, then the candidate region is determined to be the upper torso region; the contact areas of the left and right arms with the airbag mattress are relatively small, and the pressure distribution shows an elongated form. A connected region with an area larger than 1×3 and smaller than 1×6 times the maximum cross-sectional area of the airbag is extracted as a candidate region, and the aspect ratio of the candidate region is calculated. If the aspect ratio of the candidate region is greater than 2 and it is located on the left side of the upper torso, it is the left arm region, and if it is located on the right side of the upper torso, it is the right arm region; the end of the arm region is the hand region; the region of two columns of airbags directly below the upper torso region is regarded as the buttocks region; the contact area between the legs and the airbag mattress is relatively small, and the pressure distribution shows an elongated form. A connected region with an area larger than 1×4 and smaller than 1×6 times the maximum cross-sectional area of the airbag is extracted as a candidate region, and the aspect ratio of the candidate region is calculated. If the aspect ratio of the candidate region is greater than 2 and it is located on the left side of the buttocks region, it is the left leg region, and if it is located on the right side of the buttocks region, it is the right leg region.

[0035] (3) After the user lies flat on the airbag mattress and reaches a steady state, the pressure sensors in each region continuously monitor the internal pressure of each airbag. If the difference between the current internal pressure of the airbag in the region and the average internal pressure at steady state is greater than the active force application determination threshold for the corresponding body part and remains for a certain period of time, it is determined that the user is actively applying pressure and there is an intention of active training. At this time, the system activates the active training mode;

[0036] Taking arm muscle training as an example, the internal pressure of the airbag is set to 20.0 hPa before the user lies flat; after the user lies flat, the internal pressure of the airbag increases. The average internal pressure b0 of the airbags in the left / right arm region when the airbag reaches a steady state, and the average internal pressure b of the airbags in the left / right arm region at the current moment. Calculate the difference Δb = b - b0 between the current internal pressure of the airbags in the left / right arm region and the average internal pressure at steady state. If Δb is greater than the active force application determination threshold of 6 - 12 hPa for the arm and remains for more than 30 s, it is determined that the user is pressing the airbag with their left / right arm and actively applying pressure, indicating that the user has an intention of active training. The active force application determination threshold for each body part is different. The active force application determination threshold for the leg is 10 - 15 hPa, the active force application determination thresholds for the upper torso and the buttocks are both 18 - 25 hPa, and the active force application determination threshold for the hand is 4 - 7 hPa.

[0037] The active training mode is divided into three types: constant resistance mode, increasing resistance mode, and explosive force mode, to provide targeted training to meet different needs. In the constant resistance mode, the airbag deflates at a constant speed to provide a stable and controllable pressing resistance for the user until the internal pressure of the airbag drops to the lower limit value (5 hPa) and the deflation stops, making the internal pressure of the airbag decrease evenly and providing a fixed pressing resistance for the user. The average internal pressure change curve of the airbag in this mode is shown in Figure 4 . The increasing resistance mode means that as the pressing depth increases, the airbag deflation volume is gradually reduced. For example, the opening degree of the solenoid valve gradually decreases from 0.6 to 0.1 until the internal pressure of the airbag drops to the lower limit value and the deflation stops, so that the resistance that the user needs to overcome when pressing the airbag mattress gradually increases, to improve the training difficulty and achieve the purpose of counter training. The average internal pressure change curve of the airbag in this mode is shown in Figure 5 . The explosive force mode only provides one pressing opportunity for the user each time, that is, the airbag deflates quickly, and the user exerts a greater force to quickly press the airbag mattress until the internal pressure of the airbag drops to the lower limit value and the deflation stops. The average internal pressure change curve of the airbag in this mode is shown in Figure 6 . In each mode, if the decrease in the internal pressure of the airbag within a short time (1 second) exceeds the threshold value of 15 hPa, it indicates that the user has stopped pressing the airbag mattress, and the deflation should be stopped at this time. The average internal pressure change curve of the airbag in this situation is shown in Figure 7 , and point A in the figure indicates that the user has stopped pressing the airbag mattress. During the training process, the deflation of the airbag is coordinated with the user's active rehabilitation training, that is, pressing the airbag mattress. When the active training is completed, that is, when the internal pressure of the airbag reaches the lower limit value, the airbag is inflated until the internal pressure returns to the steady state value, so that the user's body part is passively reset, that is, the user does not apply force during the reset process.

[0038] All three modes are achieved by controlling the deflation rate of the airbag, and the opening degree of the proportional solenoid valve determines the deflation rate of the airbag. The opening degree range of the proportional solenoid valve is 0 - 1. The larger the opening degree, the greater the deflation rate, and the smaller the resistance felt by the user. Conversely, the smaller the deflation rate, the greater the resistance felt by the user. Each training task includes multiple cycle trainings, and the airbag is controlled in different areas to achieve the purpose of training different muscle groups. When training a certain body part of the user, the internal pressure of the airbag in the remaining areas remains unchanged, and the airbag mattress is accurately controlled in different areas to perform rehabilitation training on the local muscles of the body, while the remaining parts are not affected, ensuring the use comfort of the remaining areas.

[0039] Taking the left leg training as an example, the deflation of the airbag is coordinated with the active training of the left leg, and the left leg is passively reset by inflating the airbag, and this cycle is repeated to achieve the purpose of training the left leg. Each training duration is about 90 seconds, and the training process is divided into five stages: preparation, rapid deflation, relaxation, slow deflation, and reset; during the training process, the average internal pressure change curve of the airbag in the left leg area is shown in Figure 8 .

[0040] Preparation stage (AC segment): Among them, in the AB segment, the user places the left leg on the airbag mattress, and the airbag mattress reaches a steady state at point B; in the BC segment, the left leg gradually applies force to press the airbag mattress and maintains it for a period of time. The airbag does not deflate during the preparation stage;

[0041] Rapid deflation stage (CD segment): The user quickly presses the airbag mattress to control the rapid deflation of the airbag within the left leg area, and the deflation flow rate is 2.4 L / min to cooperate with the user's pressing force;

[0042] Relaxation stage (DE segment): The left leg relaxes and lies flat on the airbag mattress. At this time, the airbag does not deflate;

[0043] Slow deflation stage (EF segment): The user continues to press the airbag mattress to control the slow deflation of the airbag, and the airbag stops deflating at point F. The deflation flow rate is 0.4 L / min, which increases the resistance of the user to press the airbag mattress to increase the training difficulty and achieve the purpose of resistance training;

[0044] Reset stage (FG segment): The airbag inflates to passively lift the left leg to the initial position, and the internal pressure quickly returns to the value at the steady state.

[0045] Figure 9 and 10 are the curves of the change in the internal pressure of the airbag during the inflation and deflation processes respectively. It can be seen from the figure that the change in the internal pressure of the airbag has hysteresis, that is, after the airbag stops inflating, the internal pressure will drop instantaneously and stabilize at the reduced value. The same is true for deflation. In order to avoid the frequent startup of the control system caused by the hysteresis of the change in the internal pressure of the airbag, the internal pressure of the airbag at the end of inflation / deflation is compensated. The internal pressure of the airbag at the end of inflation is compensated by 10 - 15%, and the internal pressure of the airbag at the end of deflation is compensated by 5 - 10%.

[0046] Matters not described in the present invention apply to the prior art.

Claims

1. A control method for an airbag mattress to cooperate with the active rehabilitation training of semi-disabled users, characterized in that, The method includes the following steps: (1) Collect the internal pressures of each airbag of the airbag mattress before and after the user lies flat, calculate the internal pressure difference of the airbag, and obtain the internal pressure difference matrix of the airbag; (2) Convert the internal pressure difference matrix of the airbag into a two-dimensional pressure cloud map, and smooth the two-dimensional pressure cloud map; partition the airbag mattress according to the pressure distribution of the two-dimensional pressure cloud map, and divide the area of the airbag mattress in contact with the user into upper torso, arm, hand, hip, and leg areas; (3) After the user lies flat on the airbag mattress and reaches a steady state, monitor the internal pressure of the airbag in each area in real time. If the difference between the internal pressure of the airbag at the current moment in the area and the average internal pressure at the steady state is greater than the active force application determination threshold of the corresponding body part and lasts for a period of time, it indicates that the user is actively pressing the airbag mattress. At this time, control the airbag to deflate until the internal pressure of the airbag decreases to the lower limit value or the user stops pressing the airbag mattress; then, control the airbag to inflate until the internal pressure of the airbag resumes the size at the steady state, and passively reset the trained body part of the user; repeat this cycle until the user completes the rehabilitation training.

2. The control method of the airbag mattress for assisting semi-disabled users in active rehabilitation training according to claim 1, characterized in that Controlling the airbag to deflate is divided into three modes: uniform resistance mode, increasing resistance mode, and explosive force mode; the uniform resistance mode means that the airbag deflates at a uniform speed, so that the resistance that the user needs to overcome to press the airbag mattress remains constant; the increasing resistance mode means that as the pressing depth increases, the airbag deflation volume is gradually reduced, so that the resistance that the user needs to overcome to press the airbag mattress gradually increases; the explosive force mode means that each time the user is trained, there is only one pressing opportunity, the airbag deflates quickly, and the user quickly presses the airbag mattress.

3. The airbag mattress control method for active rehabilitation training in cooperation with semi-disabled users according to claim 1 or 2, characterized in that During the process of partitioning the airbag mattress, extract the connected area with an area greater than 3×4 times the maximum cross-sectional area of the airbag as the candidate area, calculate the aspect ratio of the candidate area. If the aspect ratio is 1.0 - 1.6, then determine that the candidate area is the upper torso area; extract the connected area with an area greater than 1×3 and less than 1×6 times the maximum cross-sectional area of the airbag as the candidate area, calculate the aspect ratio of the candidate area. If the aspect ratio is greater than 2 and is located on the left side of the upper torso, it is the left arm area, and if it is located on the right side of the upper torso, it is the right arm area; the end of the arm area is the hand area; regard the area of two columns of airbags directly below the upper torso area as the hip area; extract the connected area with an area greater than 1×4 and less than 1×6 times the maximum cross-sectional area of the airbag as the candidate area, calculate the aspect ratio of the candidate area. If the aspect ratio is greater than 2 and is located on the left side of the hip area, it is the left leg area, and if it is located on the right side of the hip area, it is the right leg area; the maximum cross-sectional area of the airbag refers to the cross-sectional area on the central plane of the airbag perpendicular to the height direction.

4. The airbag mattress control method for active rehabilitation training in cooperation with semi-disabled users according to claim 1, characterized in that, The active force application determination thresholds for the upper torso and hip are both 18 - 25 hPa, the active force application determination threshold for the arm is 6 - 12 hPa, the active force application determination threshold for the leg is 10 - 15 hPa, and the active force application determination threshold for the hand is 4 - 7 hPa.

5. The air mattress control method for actively rehabilitating semi-disabled users according to claim 1 or 4, characterized in that, During the process of controlling the airbag to inflate / deflate, compensate for the internal pressure of the airbag at the end of inflation / deflation. Compensate 10 - 15% of the internal pressure of the airbag at the end of inflation, and compensate 5 - 10% of the internal pressure of the airbag at the end of deflation.

6. An airbag mattress control system, which uses the method described in claim 1 to control the airbag mattress, is characterized in that The system includes a host computer, an internal pressure acquisition module, and an airbag mattress; the airbag mattress is formed by multiple airbags arranged in an array, each airbag is connected to a proportional solenoid valve and an air pump through a trachea, each airbag is connected to a pressure sensor, the pressure sensor is connected to the internal pressure acquisition module, and the internal pressure acquisition module is connected to the host computer.

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