Limb hydrotherapy equipment and control method thereof

Abstract

The invention relates to limb hydrotherapy equipment and a control method thereof, the equipment comprises an HMI terminal, a sensor system, a main body and a connecting part, the HMI terminal comprises an interactive interface, and the HMI terminal communicates with a main control board in the main body; the sensor system is used for monitoring water pressure, temperature and historical movement of a user; the main body comprises a lithium battery; the main control board is arranged at the top of the lithium battery; the driving board is arranged at the top of the main control board; the heating plate is arranged at the top of the water pump system; the water tank is arranged at the top of the heating plate, the water tank is communicated with the input end and the output end of the water pump system, and liquid medicine is contained in the water tank; the connecting part comprises a pipeline and a water sleeve bag; one end of the pipeline is communicated with the output end of the water pump system; the water sleeve bag is used for sleeving the limb of a user. According to the equipment and the control method thereof, through intelligent control, the technical level of limb hydrotherapy products is improved, and rehabilitation treatment is improved to a new level.

Description

Technical Field

[0001] The present application relates to the technical field of hydrotherapy equipment, and in particular to a limb hydrotherapy equipment and a control method thereof. Background Art

[0002] Hydrotherapy is a method of using water of different temperatures, pressures and solute contents to act on the human body in different ways to prevent and cure diseases. Existing hydrotherapy equipment is mostly bathtubs that require the patient to enter the whole body, which cannot treat the limbs in a targeted manner and is not easy to carry.

[0003] In addition, existing hydrotherapy equipment mostly uses constant temperature technology for treatment, and is not combined with other treatment methods for synchronous treatment. It cannot provide users with a comprehensive rehabilitation experience and ultimate convenience of use, and has not achieved the ideal treatment effect. Summary of the invention

[0004] Based on this, it is necessary to provide a limb hydrotherapy device, including:

[0005] HMI terminal, sensor system, main body, connection part,

[0006] The HMI terminal includes an interactive interface, and the HMI terminal communicates with a main control board in the main body for allowing a user to set treatment parameters;

[0007] The sensor system is used to monitor water pressure, temperature and user's historical movement;

[0008] The main body includes: a lithium battery; a main control board arranged on the top of the lithium battery, used to analyze the sensor signal and give a control signal in combination with the treatment parameters; a driving board arranged on the top of the main control board, used to drive the water pump system to form a shock wave and circulate water and / or drive the heating plate to heat the water temperature according to the control signal; the water pump system is arranged on the top of the lithium battery, and the heating plate is arranged on the top of the water pump system; a water tank arranged on the top of the heating plate, the water tank is connected with the input end and the output end of the water pump system, and there is liquid medicine in the water tank;

[0009] The connecting part includes: a pipeline and a water sleeve bag; one end of the pipeline is connected to the output end of the water pump system, and the other end passes through the water sleeve bag to transport the medicine liquid to the water sleeve bag to wrap the limb; the water sleeve bag is used to be put on the user's limb.

[0010] The present invention also provides a control method for the limb hydrotherapy device, comprising:

[0011] S1: Obtain the water temperature set by the user, treatment time, and real-time water pressure, real-time water temperature, motion data sequence of the user's daily activities and historical activities, and electromyographic signal sequence of the user's historical activities;

[0012] S2: Based on the motion data sequence of the user's historical activities and the electromyographic signal sequence of the user's historical activities, training the neural network until the maximum number of iterations is reached;

[0013] S3: Input the motion data sequence of the user's activities on that day into the trained neural network to predict the electromyographic signal sequence of that day;

[0014] S4: determining muscle fatigue status according to the electromyographic signal sequence of the day, wherein the muscle fatigue status includes fatigue / no fatigue;

[0015] S5: determining the shock wave control intensity according to the muscle fatigue condition, wherein the shock wave control intensity is strong when the muscle fatigue condition is fatigue, otherwise the shock wave control intensity is weak;

[0016] Using the preset shock wave frequency as the shock wave control frequency;

[0017] Based on the real-time water temperature and the water temperature set by the user, the PID algorithm is used to feedback the temperature rise signal in real time;

[0018] S6: During the treatment time set by the user,

[0019] Based on the shock wave control intensity, the PWM wave of the shock wave control frequency and the real-time water pressure, the driver board adjusts the power of the water pump system in real time to push the liquid medicine into the water sleeve bag and form a shock wave, while circulating water;

[0020] Based on the real-time temperature rise signal, the driver board drives the heating plate to heat up to the water temperature set by the user in real time.

[0021] Beneficial effects: This device and its control method not only overcome the defects of existing hydrotherapy equipment, but also improve the technical level of limb hydrotherapy products through intelligent control, and also bring rehabilitation treatment to a new level; through real-time feedback adjustment, comprehensive rehabilitation management, and continuous learning optimization, this device will provide users with a smarter, more humane, and more futuristic rehabilitation experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the limb hydrotherapy equipment according to an embodiment of the present application.

[0024] Figure 2This is a schematic diagram of the main structure of the limb hydrotherapy equipment according to an embodiment of the present application.

[0025] Figure 3 This is a schematic diagram of the internal structure of the water sleeve bag according to an embodiment of the present application.

[0026] Figure 4 This is a control flow chart of the limb hydrotherapy device according to an embodiment of the present application.

[0027] Description of reference numerals:

[0028] 1-main body; 2-lithium battery; 3-main control board; 4-driving board; 5-water pump system; 6-heating plate; 7-water tank; 8-pipeline; 9-water sleeve bag; 10-outer shell; 11-top cover. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] like Figure 1 , Figure 2 As shown, this embodiment provides a limb hydrotherapy device, comprising:

[0032] HMI terminal, sensor system, main body 1, connection part.

[0033] The compact design of the device also takes into account the convenience of storage and maintenance. Users can easily put it in a handbag, backpack or special storage bag without taking up too much space. The design that is easy to clean and maintain also makes daily care simple and convenient. Overall, the design of portability reflects a deep understanding and careful consideration of the needs of modern life. Through the integrated lithium battery, split design and lightweight and compact appearance, it not only provides users with a seamless rehabilitation treatment experience, but also meets the needs of mobile, flexible and convenient life.

[0034] The HMI terminal includes an interactive interface, which communicates with the STM32 F407 main control through a serial port (UART) to achieve intuitive real-time parameter display and system control. In addition, physical switches will be added, including a power self-locking switch (16A250VAC SPST switch), an emergency stop button (10A / 600V, with NC (normally closed) and NO (normally open) contacts), and the HMI terminal communicates with the main control board in the main body for users to set treatment parameters. In this embodiment, the treatment parameters include water temperature and treatment time.

[0035] The sensor system is used to monitor water pressure, temperature, and user movement history.

[0036] In this embodiment, the sensor system includes a water pressure sensor, a temperature sensor, a motion sensor, and a surface electromyography sensor; the water pressure sensor is integrated in the water pump system 5 to monitor the water pressure; the temperature sensor is arranged on the inner wall of the water sleeve bag 9 to monitor the temperature of the medicine solution, and the water temperature signal is converted into a digital signal by the sensor transmitter (driven by a common 3.7V voltage and converted into an I2C or UART signal specification) and transmitted to the main control board 3; the motion sensor includes an accelerometer and a gyroscope, which are built into a smart device to monitor the motion data sequence of the user's daily activities and historical activities. The motion data sequence of the user's daily activities and historical activities is shared with the HMI terminal through the smart device, and then transmitted to the main control board 3; the surface electromyography sensor is arranged on the limbs to monitor the muscle state of the user's historical activities. The electromyography signal sequence is transmitted to the smart device wirelessly, and the smart device is shared with the HMI terminal, and then transmitted to the main control board 3.

[0037] like Figure 1 , 2 As shown, the main body 1 includes: a lithium battery 2; a main control board 3 arranged on the top of the lithium battery 2, used to analyze the sensor signal and give a control signal in combination with the treatment parameters; a driving board 4 arranged on the top of the main control board 3, used to drive the water pump system 5 to form a shock wave and circulate water and / or drive the heating plate 6 to heat the water temperature according to the control signal; the water pump system 5 is arranged on the top of the lithium battery 1, and the heating plate 6 is arranged on the top of the water pump system 5; a water tank 7 is arranged on the top of the heating plate 6, the water tank 7 is connected to the input end and the output end of the water pump system 5, and there is liquid medicine in the water tank 7; the above components are all arranged in the outer shell 10; the main body 1 also includes a top cover 11 adapted to the outer shell 10, and the top cover 11 is provided with a through hole for the pipeline 8 to pass through.

[0038] The parameters of the above hardware are shown in Table 1, which is a hardware parameter table;

[0039]

[0040] In this embodiment, a 4.3-inch LCD touch screen is provided in front of the main body 1 for displaying various information and control parameters, and the user can set or adjust various functions through simple touch operations. The touch screen is made of scratch-resistant and anti-explosion technology to ensure that it can operate reliably in various environments.

[0041] In this embodiment, the lithium battery area is located at the bottom of the overall body, and high-strength polycarbonate plastic is used as the battery bracket. The embedded structure is designed with appropriate shock-proof foam and fixing straps to resist accidental impacts and reduce battery shaking. For increased safety, overcharge and over-discharge protection circuits and thermal protection sensors are also added to this area to automatically disconnect the power supply when the battery overheats.

[0042] In this embodiment, the main control board 3 is an STM32-F407 main control board, and the control signal includes a temperature increase signal and a PWM wave based on the shock wave control intensity and the shock wave control frequency.

[0043] In this embodiment, the water pump system 5 includes a single water pump or a water pump array in which multiple water pumps are arranged in a linear array; in the water pump array, multiple water pumps share a water inlet pipe to form the input end of the water pump array, and the output end of each water pump serves as the output end of the water pump array, and each output end is connected to a different pipeline. Due to the different number of connected limb cleaning pipelines, the pressure of the water pump needs to be dynamically adjusted according to the number of connections.

[0044] In this embodiment, the drive circuit (main control board 3, drive board 4, water pump system 5) located above the battery uses an aluminum alloy base plate to fix the circuit board to provide superior heat dissipation performance and structural stability. Aluminum alloy also has low electromagnetic interference, which helps to maintain circuit stability. In addition, an RFI / EMI shielding cover is set in this area to isolate it from the control circuit above, further reducing the possibility of electromagnetic interference.

[0045] In this embodiment, the top surface of the heating plate 6 is the heating surface, and the bottom surface includes a cooling part; the water tank is arranged on the heating surface; the cooling part faces the driving board 4 and the main control board 3, and the cooling surface dissipates heat inside the main body 1 through a silent fan.

[0046] The heating plate 6 realizes the two requirements of water temperature constant temperature and internal component heat dissipation in one module. However, the system will go through a conduction between heating and temperature measurement, that is, from the host to the sleeve. Therefore, how to quickly reach the constant temperature and reduce the temperature fluctuation after reaching it requires experiments based on the actual situation and finding the best PID parameters.

[0047] In this embodiment, the heating plate 6 uses a high-purity copper sheet as a heat conductor, which is in contact with the water tank above to achieve fast and efficient heat conduction. The heater is controlled by a precise PID control algorithm to ensure that the water temperature is maintained within a stable preset range. At the same time, a layer of thermally conductive ceramic is set under the copper sheet to further improve the heat dissipation effect and prevent the circuit from overheating.

[0048] In this embodiment, the water tank 7 is made of food grade 304 stainless steel, which has extremely high anti-corrosion and corrosion resistance. Its internal design is arc-shaped, which not only helps the circulation of the liquid medicine, but also facilitates cleaning and maintenance. The edge of the water tank is provided with an anti-overflow design to prevent the liquid medicine from overflowing due to improper operation.

[0049] In this embodiment, the housing 10 is made of engineering-grade ABS white hard plastic and is frosted without painting, so that it has a good touch and appearance. The interior is reinforced with reinforcing ribs to provide additional structural stability. To increase user-friendliness, a plurality of easy-to-operate control buttons and indicator lights are also installed on the outside of the body.

[0050] In this embodiment, the top cover 11 is made of high-strength, high-transparency acrylic, which is not only strong but also highly transparent, making it easy to observe the state of the internal liquid medicine. The edge of the top cover 11 is made of a rubber sealing strip to ensure that the top cover 11 fits tightly with the water tank 7 to prevent liquid medicine from leaking.

[0051] The connecting part includes: a pipe 8 and a water sleeve bag 9; one end of the pipe 8 is connected to the output end of the water pump system 5, and the other end passes through the water sleeve bag 9, which is used to transport the medicine into the water sleeve bag 9 to wrap the limb; the water sleeve bag 9 is used to be put on the user's limb.

[0052] In this embodiment, two configuration schemes of pipeline 8 and water pump are provided.

[0053] Solution 1: The water pump under the sink is led out through multiple pipes 8 (medical grade silicone tubes) to treat multiple limbs as needed. These pipes are heat resistant, corrosion resistant and easy to clean. The water pump itself is also made of corrosion resistant materials and has overload protection.

[0054] Solution 2: The inlet and outlet pipes are divided into two independent parts. The inlet pipe is placed at a relatively high altitude position such as the arm of the water sleeve, so that the water can fill the water sleeve according to gravity after entering the water. The outlet pipe is connected to a relatively low altitude position such as the hand, so that the water can flow out after the hydrotherapy. The pipe material is PP, which has excellent chemical resistance and heat resistance, and can be disinfected and sterilized at a temperature above 100°C.

[0055] The details of the above structural components are shown in Table 2, which is a detailed list of the structural components;

[0056]

[0057] In this embodiment, the internal structure of the water sleeve bag 9 is as follows: Figure 3 As shown, the internal structure of the water sleeve bag 9 includes a stretch rubber ring, hydrogel and a PVC film; the PVC film wraps a plurality of stretch rubber rings arranged at intervals to form a hollow column structure as a whole, and a cavity is formed at each interval, and the hydrogel is filled in each cavity.

[0058] First, the close-fitting design ensures that the device can fit the user's limbs perfectly by using adjustable, highly elastic materials and ergonomic principles. This precise fit not only makes treatment more precise and efficient, but also reduces unnecessary pressure and friction, enhancing the user's comfort. Through feedback from smart sensors, the device can also adjust the fit strength and position in real time to adapt to the muscle structure and rehabilitation needs of different users.

[0059] The waterproof design uses advanced sealing technology and special materials to ensure that the equipment will not leak during the hydrotherapy process. This not only ensures the purity and safety of the liquid medicine and water, but also avoids the risk of skin sensitivity or equipment damage. In addition, this design also makes the equipment easier to clean and maintain, further improving its service life and reliability.

[0060] The application of close-fitting waterproof design provides users with a more humane and professional treatment plan. Through precise fit, safe waterproofing, and convenient cleaning, it provides patients and rehabilitators with a new, efficient, and comfortable hydrotherapy experience.

[0061] like Figure 4 As shown, this embodiment also provides a control method for the limb hydrotherapy device, the method comprising:

[0062] S1: Obtain the water temperature set by the user, treatment time, and real-time water pressure, real-time water temperature, motion data sequence of the user's daily activities and historical activities, and electromyographic signal sequence of the user's historical activities;

[0063] S2: Based on the motion data sequence of the user's historical activities and the electromyographic signal sequence of the user's historical activities, training the neural network until the maximum number of iterations is reached;

[0064] S3: Input the motion data sequence of the user's activities on that day into the trained neural network to predict the electromyographic signal sequence of that day;

[0065] S4: determining muscle fatigue status according to the electromyographic signal sequence of the day, wherein the muscle fatigue status includes fatigue / no fatigue;

[0066] S5: determining the shock wave control intensity according to the muscle fatigue condition, wherein the shock wave control intensity is strong when the muscle fatigue condition is fatigue, otherwise the shock wave control intensity is weak;

[0067] Using the preset shock wave frequency as the shock wave control frequency;

[0068] Based on the real-time water temperature and the water temperature set by the user, the PID algorithm is used to feedback the temperature rise signal in real time;

[0069] In this embodiment, when the shock wave control intensity is strong, the shock wave intensity is 2.4-4.0 bar; when the shock wave control intensity is weak, the shock wave intensity is 1.6-2.4 bar; the preset shock wave frequency is 8-10 Hz.

[0070] S6: During the treatment time set by the user,

[0071] The driving board 4 adjusts the power of the water pump system 5 in real time based on the shock wave control intensity, the PWM wave of the shock wave control frequency and the real-time water pressure to push the liquid medicine into the water sleeve bag 9 and form a shock wave, while performing water circulation;

[0072] Based on the real-time temperature increase signal, the driving plate 4 drives the heating plate 6 to increase the temperature to the water temperature set by the user in real time.

[0073] Compared with traditional massage and physical therapy, shock waves can stimulate muscles more deeply without causing trauma to surface tissues. By combining with intelligent systems, the device can analyze the user's physical condition and rehabilitation needs, and provide a customized shock wave therapy plan for each person.

[0074] The combination with constant temperature technology is also a major innovation in the application of shock wave technology. By precisely adjusting the synergy of temperature and shock wave parameters, the device can provide a comprehensive rehabilitation experience that can achieve the ideal treatment effect while ensuring the comfort and safety of the process.

[0075] In addition, shockwave technology is highly flexible and portable. With its compact design and easy-to-use interface, users can easily perform self-rehabilitation at home or in the office, integrating professional-level rehabilitation therapy into their daily lives.

[0076] In general, the integration of shock wave technology and constant temperature technology provides users with a new rehabilitation option with its deep muscle stimulation, personalized treatment plan, comprehensive rehabilitation experience and ultimate convenience.

[0077] Furthermore, the training process of step 2 includes:

[0078] Eliminate the non-motion state data in the motion data sequence of the user's historical activities, and eliminate the electromyographic signals collected under non-muscle contraction conditions in the electromyographic signal sequence of the user's historical activities;

[0079] With the denoised motion data sequence of the user's historical activities as input and the denoised electromyographic signal sequence of the user's historical activities as output, the neural network is trained until the maximum number of iterations is reached.

[0080] Furthermore, the step 4 of determining muscle fatigue according to the electromyographic signal sequence of the day includes:

[0081] Step 1: The myoelectric signal sequence of the day is organized into a set of m-dimensional vectors in a serial order, from X(1) to X(N-m+1); where X(i) = [u(i), u(i+1), ... u(i+m-1)] (i = 1, 2, ... N-m+1); u(i) is the i-th myoelectric signal in the myoelectric signal sequence of the day arranged according to the time point; N is the number of samples of the myoelectric signal;

[0082] Step 2: Count the ratio of the number of vectors X(i) and X(j) whose distance is less than a preset threshold to the total number of distances N-m+1, recorded as Cimi(r)=sum{d[X(i),X(j)]<r} / (N-m+1), i=1,2,…N-m+1; where the distance d[X(i),X(j)] between vectors X(i) and X(j) is the one with the largest difference between the corresponding elements of the two vectors, d[X(i),X(j)]=max(u(i+k)-u(j+k)); r>0;

[0083] Step 3: Increase the dimension to m+1 and repeat steps 1-2;

[0084] The approximate entropy of the electromyographic signal sequence of the day is calculated as: ApEn(m,r)=lim[φm(r)-φm+1(r)]; where φm(r)=mean(log(Cimi(r))), i=1,2,…N-m+1, log() is the natural logarithm function, and mean() is the average function;

[0085] Step 4: Based on a nonlinear dynamics method, determine the change trend of the approximate entropy in multiple consecutive time periods, and determine the muscle fatigue condition according to the change trend.

[0086] As fatigue develops, the approximate entropy value remains at a relatively high level overall; in the early stages of muscle fatigue, the approximate entropy value increases due to the increased excitability of neuromuscular fibers and the increased complexity of electromyographic signals; however, as fatigue deepens, the approximate entropy value gradually decreases, reflecting the change in the state of muscle activity from active to fatigue.

[0087] This device and its control method not only overcome the defects of existing hydrotherapy equipment, but also improve the technical level of limb hydrotherapy products through intelligent control, and also bring rehabilitation treatment to a new level; through real-time feedback adjustment, comprehensive rehabilitation management, and continuous learning optimization, this device will provide users with a smarter, more humane, and more futuristic rehabilitation experience.

[0088] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A limb hydrotherapy device, comprising an HMI terminal, a sensor system, a main body (1), and a connecting part, characterized in that: The HMI terminal includes an interactive interface, and the HMI terminal communicates with a main control board in the main body for allowing a user to set treatment parameters; The sensor system is used to monitor water pressure, temperature and user's historical movement; The main body (1) comprises: a lithium battery (2); a main control board (3) arranged on the top of the lithium battery (2), used for analyzing the sensor signal and providing a control signal in combination with the treatment parameters; a driving board (4) arranged on the top of the main control board (3), used for driving the water pump system (5) to form a shock wave and perform water circulation and / or driving the heating plate (6) to heat the water temperature according to the control signal; the water pump system (5) is arranged on the top of the lithium battery (1), and the heating plate (6) is arranged on the top of the water pump system (5); a water tank (7) arranged on the top of the heating plate (6), the water tank (7) being connected to the input end and the output end of the water pump system (5), and there is liquid medicine in the water tank (7); The connecting part comprises: a pipeline (8) and a water sleeve bag (9); one end of the pipeline (8) is connected to the output end of the water pump system (5), and the other end passes through the water sleeve bag (9) to transport the medicine liquid to the water sleeve bag (9) to wrap the limb; the water sleeve bag (9) is used to be put on the user's limb.

2. The limb hydrotherapy device according to claim 1, characterized in that: The treatment parameters include water temperature and treatment time.

3. The limb hydrotherapy device according to claim 2, characterized in that: The sensor system comprises a water pressure sensor, a temperature sensor, a motion sensor, and a surface electromyography sensor; the water pressure sensor is integrated in the water pump system (5) and is used to monitor the water pressure; the temperature sensor is arranged on the inner wall of the water sleeve bag (9) and is used to monitor the temperature of the medicine liquid, and the water temperature signal is converted into a digital signal by a sensor transmitter and transmitted to the main control board (3); the motion sensor comprises an accelerometer and a gyroscope, which are built into an intelligent device and are used to monitor the motion data sequence of the user's current day activities and historical activities, and the motion data sequence of the user's current day activities and historical activities is shared with the HMI terminal through the intelligent device and then transmitted to the main control board (3); the surface electromyography sensor is arranged on a limb and is used to monitor the muscle state of the user's historical activities, and the electromyography signal sequence is transmitted to the intelligent device by wireless, and the intelligent device is shared with the HMI terminal and then transmitted to the main control board (3).

4. The limb hydrotherapy device according to claim 3, characterized in that: The main control board (3) is an STM32-F407 main control board, and the control signal includes a temperature rise signal and a PWM wave based on the shock wave control intensity and the shock wave control frequency.

5. The limb hydrotherapy device according to claim 4, characterized in that: The water pump system (5) comprises a single water pump or a water pump array in which multiple water pumps are arranged in a linear array; in the water pump array, multiple water pumps share a water inlet pipe to form the input end of the water pump array, and the output end of each water pump serves as the output end of the water pump array, and each output end is connected to a different pipeline.

6. The control method of the limb hydrotherapy equipment according to claim 4, characterized in that: The top surface of the heating plate (6) is a heating surface, and the bottom surface includes a cooling part; the water tank is arranged on the heating surface; the cooling part faces the drive board (4) and the main control board (3), and the cooling surface dissipates heat inside the main body (1) through a silent fan.

7. The control method of the limb hydrotherapy equipment according to claim 6, characterized in that: The internal structure of the water sleeve bag (9) comprises a stretchable rubber ring, hydrogel and a PVC film; the PVC film wraps a plurality of stretchable rubber rings arranged at intervals, so that the whole forms a hollow column structure, each interval forms a cavity, and the hydrogel is filled in each cavity.

8. A control method for a limb hydrotherapy device as claimed in claim 6, characterized in that: include: S1: Obtain the water temperature set by the user, treatment time, and real-time water pressure, real-time water temperature, motion data sequence of the user's daily activities and historical activities, and electromyographic signal sequence of the user's historical activities; S2: Based on the motion data sequence of the user's historical activities and the electromyographic signal sequence of the user's historical activities, training the neural network until the maximum number of iterations is reached; S3: Input the motion data sequence of the user's activities on that day into the trained neural network to predict the electromyographic signal sequence of that day; S4: determining muscle fatigue status according to the electromyographic signal sequence of the day, wherein the muscle fatigue status includes fatigue / no fatigue; S5: determining the shock wave control intensity according to the muscle fatigue condition, wherein the shock wave control intensity is strong when the muscle fatigue condition is fatigue, otherwise the shock wave control intensity is weak; Using the preset shock wave frequency as the shock wave control frequency; Based on the real-time water temperature and the water temperature set by the user, the PID algorithm is used to feedback the temperature rise signal in real time; S6: During the treatment time set by the user, The driving board (4) adjusts the power of the water pump system (5) in real time based on the shock wave control intensity, the PWM wave of the shock wave control frequency and the real-time water pressure to push the liquid medicine into the water sleeve bag (9) and form a shock wave, while performing water circulation; The driving plate (4) drives the heating plate (6) to increase the temperature to the water temperature set by the user in real time based on the real-time temperature increase signal.

9. The control method of the limb hydrotherapy equipment according to claim 8, characterized in that: The training process includes: Eliminate the non-motion state data in the motion data sequence of the user's historical activities, and eliminate the electromyographic signals collected under non-muscle contraction conditions in the electromyographic signal sequence of the user's historical activities; With the denoised motion data sequence of the user's historical activities as input and the denoised electromyographic signal sequence of the user's historical activities as output, the neural network is trained until the maximum number of iterations is reached.

10. The control method of the limb hydrotherapy equipment according to claim 8, characterized in that: Determining the muscle fatigue condition according to the electromyographic signal sequence of the day includes: Step 1: The myoelectric signal sequence of the day is organized into a set of m-dimensional vectors in a serial order, from X(1) to X(N-m+1); where X(i) = [u(i), u(i+1), ... u(i+m-1)] (i = 1, 2, ... N-m+1); u(i) is the i-th myoelectric signal in the myoelectric signal sequence of the day arranged according to the time point; N is the number of samples of the myoelectric signal; Step 2: Count the ratio of the number of vectors X(i) and X(j) whose distance is less than a preset threshold to the total number of distances N-m+1, recorded as Cimi(r)=sum{d[X(i),X(j)]<r} / (N-m+1), i=1,2,…N-m+1; where the distance d[X(i),X(j)] between vectors X(i) and X(j) is the one with the largest difference between the corresponding elements of the two vectors, d[X(i),X(j)]=max(u(i+k)-u(j+k)); r>0; Step 3: Increase the dimension to m+1 and repeat steps 1-2; The approximate entropy of the electromyographic signal sequence of the day is calculated as: ApEn(m,r)=lim[φm(r)-φm+1(r)]; where φm(r)=mean(log(Cimi(r))), i=1,2,…N-m+1, log() is the natural logarithm function, and mean() is the average function; Step 4: Based on a nonlinear dynamics method, determine the change trend of the approximate entropy in multiple consecutive time periods, and determine the muscle fatigue condition according to the change trend.

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