Motion state measurement and control device, method and equipment

Abstract

The invention relates to a motion state measurement and control method, system and device, the motion state measurement and control device comprises a detection unit and a main control unit, the detection unit is configured to detect motion data of a measured and controlled device, the main control unit is configured to receive the motion data and compare the motion data with set data, and the set data is sent to the main control unit. The main control unit is connected with the measured and controlled equipment to judge whether the measured and controlled equipment is in a normal motion state, if the measured and controlled equipment is in the normal motion state, the main control unit does not intervene in normal work of the measured and controlled equipment, and if the measured and controlled equipment is in the abnormal motion state, the main control unit controls the measured and controlled equipment to stop working; according to the motion state measurement and control device, the function of actively detecting the motion state is added, so that the detection unit detects the motion data of the measured and controlled equipment, and the main control unit can judge whether the measured and controlled equipment is in a normal motion state or not according to the detected motion data and make a corresponding response; therefore, the problem that use is affected by an unstable motion state is solved.

Description

Technical Field

[0001] This application relates to the technical field of motion state detection, and particularly to a motion state measurement and control device, method and equipment. Background Art

[0002] Most medical devices such as infusion pumps, dialysis machines, ventilators, and blood pressure monitors need to maintain a stable working state during normal operation. Unstable motion states such as vibration, shaking, tilting, and inversion will affect the performance, safety, and reliability of the devices, and may even cause medical accidents in severe cases.

[0003] Currently, most methods are to maintain the stable working state of the device by adding counterweights, increasing the area of the chassis, setting isolation measures, and trying to avoid shaking or moving the device. However, this method not only increases the cost of the device and the workload of the user, but also cannot detect and control the movement and shaking of the device in a timely manner, and thus cannot truly solve the problem that the unstable motion state of the device affects its use, resulting in limited reliability and safety of the device. Summary of the Invention

[0004] Based on this, in view of the above problem that cannot truly solve the problem that the unstable motion state affects the use, it is necessary to provide a motion state measurement and control method, system and equipment.

[0005] According to one aspect of the present application, there is provided a motion state measurement and control device for detecting the motion state of a device to be measured and controlled and performing control. The motion state measurement and control device includes:

[0006] A detection unit, connected to the device to be measured and controlled, and configured to detect the motion data of the device to be measured and controlled;

[0007] A main control unit, connected to the device to be measured and controlled and the detection unit, and configured to receive the motion data and compare the motion data with set data to determine whether the device to be measured and controlled is in a normal motion state;

[0008] If it is in a normal motion state, the main control unit does not interfere with the normal operation of the device to be measured and controlled;

[0009] If it is in an abnormal motion state, the main control unit controls the device to be measured and controlled to stop working.

[0010] In one embodiment, the motion state measurement and control device further includes an alarm device, which is connected to the main control unit and configured to generate an alarm signal when the device to be measured and controlled is in an abnormal motion state.

[0011] In one embodiment, the detection unit includes an angle detection mechanism, and the motion data includes the tilt angle of the device under control.

[0012] In one embodiment, the main control unit includes a main control module, a data comparison module, and a status evaluation module, and the set data includes first data;

[0013] The data comparison module is connected to the main control module and is configured to compare the tilt angle of the device under control with the first data;

[0014] The status evaluation module is connected to the data comparison module and is configured to determine that the device under control is in a first abnormal motion state when the tilt angle of the device under control is greater than the first data; and,

[0015] When the tilt angle of the device under control is less than or equal to the first data, it is determined that the device under control is in a first normal motion state.

[0016] In one embodiment, the detection unit includes an acceleration sensor, and the motion data includes the accelerations in three basic directions and the resultant acceleration of the device under control in a three-dimensional space.

[0017] In one embodiment, the main control unit includes a main control module, a data comparison module, and a status evaluation module, and the set data includes second data;

[0018] The data comparison module is connected to the main control module and is configured to compare the resultant acceleration of the device under control with the second data;

[0019] The status evaluation module is connected to the data comparison module and is configured to determine that the device under control is in a second abnormal motion state when the resultant acceleration is greater than the second data; and,

[0020] When the resultant acceleration is less than or equal to the second data, it is determined that the device under control is in a second normal motion state.

[0021] In one embodiment, the second data is 6 m / s 2 。

[0022] In one embodiment, the alarm device is further configured to generate an alarm signal when the measurement value of the weighing device and / or the pressure measuring device exceeds the alarm threshold;

[0023] The main control unit further includes a threshold adjustment module, which is connected to the main control module and is configured to relax the alarm threshold within a set time when the device under test is in a normal motion state and the state evaluation module determines that the acceleration in any of the basic directions changes non-periodically.

[0024] According to another aspect of the present application, there is provided a method for measuring and controlling the motion state, which is used for the motion state measurement and control device described in any of the above embodiments. The method for measuring and controlling the motion state includes:

[0025] Obtain the motion data of the device under test;

[0026] Compare the motion data with the set data to determine whether the device under test is in a normal motion state;

[0027] Stop the operation of the device under test when the motion state of the device under test is an abnormal motion state;

[0028] Continue the operation of the device under test when the motion state of the device under test is a normal motion state.

[0029] According to still another aspect of the present application, there is provided a device, which includes a device under test and the motion state measurement and control device described in any of the above embodiments, and the motion state measurement and control device is arranged inside the device under test.

[0030] The above-mentioned motion state measurement and control device, method and device can solve the problem that the unstable motion state affects the use, and improve the safety and reliability of the device by adding the function of actively detecting the motion state, enabling the detection unit to detect the motion data of the device under test, and enabling the main control unit to judge whether the device under test is in a normal motion state according to the detected motion data and make corresponding responses. Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of the motion state measurement and control device according to some embodiments of the present application.

[0032] Figure 2 It is a schematic structural diagram of the device according to some embodiments of the present application.

[0033] Figure 3 It is a demonstration schematic diagram of detecting the tilt angle of the device under test according to some embodiments of the present application.

[0034] Figure 4 It is a three-dimensional external view of the acceleration sensor in the motion state measurement and control device according to some embodiments of the present application.

[0035] Reference Signs:

[0036] 1. Device under test control; 11. Weighing device; 12. Pressure measuring device;

[0037] 2. Detection unit;

[0038] 3. Main control unit; 31. Main control module; 32. Data comparison module; 33. Status evaluation module; 34. Reading compensation module; 35. Threshold adjustment module;

[0039] 4. Alarm device. Detailed implementation mode

[0040] In order to make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation mode of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein. Those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0041] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0042] In addition, if there are terms such as "first" and "second", these terms are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if there is a term "plurality", the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0043] In this application, unless otherwise clearly defined and limited, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In this application, unless otherwise clearly defined and limited, if there is a description such as a first feature being "on" or "under" a second feature, its meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0045] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0046] Refer to Figure 1 and Figure 2 As shown in [relevant figure], an embodiment of this application provides a motion state measurement and control device for detecting the motion state of the device to be measured and controlled 1 and performing management and control. Among them, the device to be measured and controlled 1 is a device that needs to maintain a stable motion state during normal operation. In some embodiments, the device to be measured and controlled 1 may be provided with a weighing device 11 and / or a pressure measuring device 12, and the device to be measured and controlled 1 realizes the weighing and / or pressure measuring functions through the weighing device 11 and / or the pressure measuring device 12. It can be understood that the device to be measured and controlled 1 can be a medical liquid pressure gauge, an airbag pressure gauge, a medical gas pressure alarm, a medical digital pressure gauge, an infusion pump, a dialysis machine, a ventilator, a blood pressure monitor, etc., which have weighing and / or pressure measuring functions and need to maintain a stable motion state during normal operation.

[0047] The motion state measurement and control device includes a detection unit 2 and a main control unit 3, and both the detection unit 2 and the main control unit 3 can be disposed inside the device to be measured and controlled 1.

[0048] During specific settings, the detection unit 2 is connected to the device 1 to be measured and controlled, and is configured to detect the motion data of the device 1 to be measured and controlled. The main control unit 3 is connected to the device 1 to be measured and controlled and the detection unit 2, and is configured to receive the motion data, compare the motion data with the set data, so as to judge whether the device 1 to be measured and controlled is in a normal motion state, and make corresponding responses, so as to solve the problem that the unstable motion state affects the normal use of the device 1 to be measured and controlled.

[0049] Specifically, if it is judged that the device 1 to be measured and controlled is in a normal motion state, the main control unit 3 does not interfere with the normal operation of the device 1 to be measured and controlled. It can be understood that the normal motion state is within the motion state with the lowest stability requirement. In this state, the device 1 to be measured and controlled can maintain a stable working state.

[0050] If it is judged that the device 1 to be measured and controlled is in an abnormal motion state, the main control unit 3 controls the device 1 to be measured and controlled to stop working. It can be understood that the abnormal motion state is the motion state that does not meet the lowest stability requirement. In this state, the device 1 to be measured and controlled cannot maintain a stable working state.

[0051] In summary, one of the motion state measurement and control devices provided by this application, by adding the function of actively detecting the motion state, enables the detection unit 2 to detect the motion data of the device 1 to be measured and controlled, enables the main control unit 3 to judge whether the device 1 to be measured and controlled is in a normal motion state according to the detected motion data, and make corresponding responses, thereby solving the problem that the unstable motion state affects the use, and improving the safety and reliability of the device.

[0052] In one embodiment, the motion state measurement and control device further includes an alarm device 4. The alarm device 4 is connected to the main control unit 3 and is configured to generate an alarm signal when the device 1 to be measured and controlled is in an abnormal motion state, so as to notify the medical staff and enable the medical staff to timely master the motion state of the device 1 to be measured and controlled. Among them, the alarm device 4 is fixedly connected to the device 1 to be measured and controlled.

[0053] Specifically, the alarm device 4 can be an audible and visual alarm, which emits two kinds of alarm signals, sound and light, at the same time to better give an alarm, so that the device 1 to be measured and controlled can be timely discovered by the medical staff when it is in an abnormal motion state.

[0054] Among them, in one embodiment of this application, the abnormal motion state includes a first abnormal state and / or a second abnormal state. It can be understood that the first abnormal state is the tilted or inverted state of the device 1 to be measured and controlled, and the second abnormal state is the dropped or violently shaken state of the device 1 to be measured and controlled.

[0055] That is, during the use of the device under test and control, situations such as tilting, inversion, dropping, or severe shaking may occur, and these situations will all affect the normal use of the medical device and may even cause medical accidents. Therefore, in this application, the alarm device 4 can emit an alarm signal when the device under test and control 1 is in the first abnormal state (tilting or inversion state) or the second abnormal state (dropping or severe shaking state), so that medical staff can timely grasp the motion state of the device under test and control 1 and make corresponding adjustments to the device under test and control 1 to enable the device under test and control 1 to be used normally.

[0056] In one embodiment, the detection unit 2 includes an angle detection mechanism, and the motion data includes the tilting angle of the device under test and control 1. It can be understood that in the embodiments of this application, the detection unit 2 is connected to the device under test and control 1 and is configured to detect the tilting angle of the device under test and control 1 to determine whether the device under test and control 1 is in the first abnormal state (tilting or inversion state).

[0057] Further, referring to Figure 1 and Figure 2 , the main control unit 3 includes a main control module 31, a data comparison module 32, and a state evaluation module 33. The data comparison module 32 is connected to the main control module 31 and is configured to compare the tilting angle of the device under test and control 1 with the first data of the set data. Among them, the device under test and control 1 has a measurement reference plane perpendicular to the geoid, the tilting angle of the device under test and control 1 is the tilting angle of its measurement reference plane relative to the gravity direction, the gravity direction is perpendicular to the geoid, and the first data of the set data can be 15°. Specifically, referring to Figure 3 , when the measurement reference plane is parallel to the gravity direction, the tilting angle of the device under test and control 1 is 0°.

[0058] The state evaluation module 33 is connected to the data comparison module 32 and is configured to determine that the device under test and control 1 is in the first abnormal state when the tilting angle of the device under test and control 1 is greater than the first data, and to determine that the device under test and control 1 is in the first normal motion state when the tilting angle of the device under test and control 1 is less than or equal to the first data.

[0059] That is, the main control module 31 can receive the tilting angle information of the device under test and control 1 from the detection unit 2 and send the information to the data comparison module 32 for comparison. Subsequently, the comparison module sends the comparison result to the state evaluation module 33 for judgment. When the tilting angle of the device under test and control 1 is greater than the first data, the state evaluation module 33 determines that the device under test and control 1 is in the first abnormal state (tilting or inversion state). When the tilting angle of the device under test and control 1 is less than or equal to the first data, the state evaluation module 33 determines that the device under test and control 1 is in the first normal motion state (non-tilting or non-inversion state). The judgment result can be sent back to the main control module 31 so that the main control module 31 controls the device under test and control 1 to work normally or stop according to the result.

[0060] Among them, the main control module 31, the data comparison module 32, and the status evaluation module 33 can be either independent hardware modules, or different functional modules integrated on a chip of the main control unit 3, or different program modules in the main control unit 3. The specific implementation method depends on the design requirements and application scenarios of the system.

[0061] In one embodiment, the angle detection mechanism includes an acceleration sensor, an inclination sensor, or a tilt switch. Among them, when the angle detection mechanism is an acceleration sensor, the acceleration sensor calculates the tilt angle by measuring the acceleration values in three directions, and then determines whether the device under control 1 is tilted or inverted. When the angle detection mechanism is an inclination sensor, both the inclination sensor and the tilt switch determine whether the device under control 1 is tilted or inverted by measuring the tilt angle of the object relative to the direction of gravity. When the angle detection mechanism is a tilt switch, the tilt switch determines whether the device under control 1 is tilted or inverted by measuring the tilt angle of the object relative to the direction of gravity.

[0062] Specifically, in the embodiment of the present application, the angle detection mechanism includes an acceleration sensor. The acceleration sensor measures the acceleration values in three basic directions in three-dimensional space and combines the formula: vertical angle (vertical): vertical = arctan(az / sqrt(ax 2 + ay 2 )) to calculate the tilt angle (since calculating the tilt angle through an acceleration sensor is a common technical means in the art, the specific detection principle thereof will not be elaborated herein).

[0063] More specifically, the basic function of an acceleration sensor is to detect acceleration. However, with the development of technology, many modern acceleration sensors have integrated more functions, including calculation and judgment functions. In the embodiment of the present application, the angle detection mechanism can select an acceleration sensor integrated with a microprocessor or an application-specific integrated circuit (ASIC) that can perform real-time calculation and processing on the detected acceleration data. In some embodiments, the detection function, calculation function, and judgment function of the acceleration sensor can also be separately arranged on different hardware for separate independent control. The present application does not impose any restrictions on whether the detection, calculation, and judgment functions are integrated on the same hardware, and corresponding setting selections can be made according to needs during actual implementation.

[0064] In one embodiment, the detection unit 2 includes an acceleration sensor, and the motion data includes the magnitude and direction of the acceleration of the device under control 1 in three-dimensional space. It can be understood that in the embodiments of the present application, the detection unit 2 is connected to the device under control 1 and is configured to detect the magnitude and direction of the acceleration of the device under control 1 in three-dimensional space to determine the motion state of the device under control 1.

[0065] Specifically, in the embodiments of the present application, the acceleration sensor measures the acceleration values in three basic directions in three-dimensional space and calculates the resultant acceleration a = sqrt(ax 2 + ay 2 +(az - g) 2 ). Where g is the acceleration due to gravity, which is used to remove the influence of the acceleration due to gravity.

[0066] Further, the main control unit 3 includes a main control module 31, a data comparison module 32, and a state evaluation module 33. The data comparison module 32 is connected to the main control module 31 and is configured to compare the resultant acceleration on the device under control 1 with a second data of the set data. Among them, the second data of the set data can be 6 m / s 2 .

[0067] The state evaluation module 33 is connected to the data comparison module 32 and is configured to determine that the device under control 1 is in a second abnormal state when the resultant acceleration is greater than the second data. And to determine that the device under control 1 is in a second normal motion state when the resultant acceleration is less than or equal to the second data.

[0068] That is, referring to Figure 4 , the main control module 31 can receive the magnitude of the resultant acceleration of the device under control 1 in three-dimensional space from the detection unit 2 and send the information to the data comparison module 32 for comparison. The comparison module will then send the comparison result to the state evaluation module 33 for judgment.

[0069] When the resultant acceleration of the device under control 1 is greater than the second data, the state evaluation module 33 determines that the device under control 1 is in a second abnormal state (for example: a falling or violently shaking state). Among them, when the acceleration of the device under control 1 in the downward direction is greater than the second data, the state evaluation module 33 can determine that the device under control 1 is in a falling state.

[0070] When the combined acceleration of the device under test 1 is less than or equal to the second data, the state evaluation module 33 determines that the device under test 1 is in the second normal motion state (non-drop or severe shaking state). The judgment result can be sent back to the main control module 31, enabling the main control module 31 to control the normal or stop operation of the device under test 1 according to the result. That is, when the state evaluation module 33 determines that the device under test 1 is in the second abnormal state (e.g., drop or severe shaking state), the main control module 31 can control the device under test 1 to stop working according to this result. When the state evaluation module 33 determines that the device under test 1 is in the second normal motion state (non-drop or severe shaking state), the main control module 31 can refrain from interfering with the normal operation of the device under test 1 based on this result.

[0071] In addition, since the acceleration of free fall is 9.8 m / s 2 (acceleration due to gravity), that is, when the device is in a free fall state, its acceleration value will be close to or equal to 9.8 m / s 2 . Therefore, in the embodiments of the present application, the acceleration calculation will remove the influence of the acceleration due to gravity, and the second data is selected as 6 m / s which is close to two-thirds of the acceleration of free fall 2 , to avoid misjudgment in practical applications. Specifically, during the movement of the device, it may be affected by other external forces, resulting in a short-term fluctuation in the acceleration value. The threshold of 6 m / s 2 can filter out these interferences in non-drop states to a certain extent. In addition, during severe shaking, the acceleration value may reach a relatively high level in a short period of time, but generally will not reach 9.8 m / s of free fall 2 . Therefore, the threshold of 6 m / s 2 can not only detect drop events but also effectively capture severe shaking situations.

[0072] It should be noted that in the embodiments of the present application, the detection unit 2 is an acceleration sensor that can detect the acceleration of the device under test 1 in any direction in three-dimensional space and can also detect the acceleration of the tilt angle of the device under test 1. By making the detection unit 2 an acceleration sensor, the main control unit 3 can simultaneously judge the first abnormal state and the second abnormal state of the device under test 1, and when it is determined that the device under test 1 is neither in the first abnormal state nor in the second abnormal state, it will not interfere with the normal operation of the device under test 1.

[0073] Specifically, the acceleration sensor detects the accelerations of the device under control 1 in three basic directions (X-direction, Y-direction, Z-direction) in the three-dimensional space, and calculates the tilt angle of the device under control 1 based on the acceleration values in the three basic directions (X-direction, Y-direction, Z-direction). The main control unit 3 determines the motion state of the device under control 1 by comparing the tilt angle of the device under control 1 and the first data of the set data, as well as the combined acceleration of the device under control 1 and the second data of the set data, and controls the device under control 1 to work normally or stop working.

[0074] Exemplarily, when the combined acceleration detected by the acceleration sensor of the device under control 1 is greater than 6 m / s 2 ², the main control unit 3 determines that the device under control 1 is in the second abnormal state (falling or severe shaking state), and controls the device under control 1 to stop working. Specifically, when the acceleration of the device under control 1 in the downward direction is greater than 6 m / s 2 ², the main control unit 3 can determine that the device under control 1 is in the falling state, and when the acceleration of the device under control 1 in other directions than the downward direction is greater than 6 m / s 2 ², the main control unit 3 can determine that the device under control 1 is in the severe shaking state.

[0075] Referring to Figure 1 and Figure 2 , in one embodiment, the main control unit 3 further includes a reading compensation module 34. The reading compensation module 34 is connected to the main control module 31 and is configured to compensate the weighing reading of the weighing device 11 when the device under control 1 is in the normal motion state and the state evaluation module 33 determines that the accelerations in the six basic directions are all periodically changing, so as to solve the problem of inaccurate reading caused by the shaking of the device under control 1.

[0076] It can be understood that the acceleration sensor can measure the acceleration changes in three basic directions (X, Y, Z directions), so as to judge the shaking direction and amplitude of the device under control 1. When the device under control 1 shakes regularly, these data will show obvious periodic changes. By analyzing the periodicity and amplitude of the acceleration data, it can be judged whether the shaking of the device under control 1 is regular.

[0077] When the state evaluation module 33 determines that the magnitude and direction of the combined acceleration are periodically changing, it can be judged that the shaking of the weighing device 11 is regular, and the device under control 1 is in the regular shaking state in the normal motion state. At this time, the main control module 31 can perform filtering processing on the collected acceleration data to remove noise and high-frequency interference. Then, it calculates the influence of the shaking on the weighing scale reading according to the acceleration data, and adjusts the reading of the weighing scale according to the calculation result to compensate for the error caused by the shaking.

[0078] Among them, a dynamic filtering algorithm (such as Kalman filtering) can be adopted to process the readings of the weighing scale, so as to adjust the filtering parameters in real time to adapt to the shaking degree of the weighing device 11, thereby reducing the influence of shaking on the readings. The specific implementation steps may include: establishing a model: establishing a dynamic model of the weighing scale, including the influence of shaking on the readings. Real-time update: updating the filtering parameters in real time according to the data of the acceleration sensor. Outputting compensated readings: outputting the compensated weighing readings through the filtering algorithm.

[0079] Refer to Figure 1 and Figure 2 , in one embodiment, the alarm device 4 is further configured to generate an alarm signal when the measured values of the weighing device 11 and / or the pressure measuring device 12 exceed the alarm threshold.

[0080] It can be understood that when the measured value (such as liquid weight or pressure) exceeds the preset alarm threshold, the alarm signal emitted by the alarm device 4 can quickly remind the medical staff so that they can take timely measures to avoid potential harm to the patient. In the embodiments of the present application, the measured value is the change rate of the weighing value or the change rate of the pressure value. It can be understood that during the infusion process, if the change speed of the liquid weight or the change speed of the pressure exceeds the set range, it may mean that the infusion speed is too fast or too slow, which may have an adverse impact on the patient's health.

[0081] In addition, the measured value exceeding the alarm threshold may also indicate abnormal operation of the device. For example, too high pressure may cause damage to the device. The alarm signal can prompt the medical staff to check and maintain the device in time, avoid the device being in an abnormal state for a long time, and thus extend the service life of the device.

[0082] The main control unit 3 further includes a threshold adjustment module 35. The threshold adjustment module 35 is connected to the main control module 31 and is configured to relax the alarm threshold within a set time when the device under control 1 is in a normal motion state and the state evaluation module 33 determines that the magnitude and direction of the combined acceleration change non-periodically, so as to avoid the alarm device 4 from frequently emitting alarms.

[0083] It can be understood that slight shaking may cause short-term fluctuations in the measured values of the device, and these fluctuations usually do not have a substantial impact on the health of the patient. By appropriately relaxing the alarm threshold, false alarms caused by these short-term fluctuations can be reduced. It can be understood that the alarm threshold is the critical value used to judge whether a monitored parameter reaches the need to emit an alarm in the monitoring system. It is a preset value used to distinguish the normal state and the abnormal state, and is usually set according to the actual requirements and safety standards of the system. When the monitored parameter exceeds or is lower than this set alarm threshold, the system will trigger an alarm to remind the user or automatically execute corresponding processing measures.

[0084] This application measures the acceleration changes in three basic directions (X, Y, and Z directions) through an acceleration sensor, so as to judge the shaking direction and amplitude of the device 1 to be measured and controlled. When the device 1 to be measured and controlled has regular shaking, these data will show obvious periodic changes. By analyzing the periodicity and amplitude of the acceleration data, it can be judged whether the shaking of the device 1 to be measured and controlled is regular.

[0085] When the state evaluation module 33 judges that the magnitude and direction of the acceleration change aperiodically, it can be judged that the shaking of the device 1 to be measured and controlled is not regular. And since the device 1 to be measured and controlled is in a normal motion state, it can be judged that the device 1 to be measured and controlled is in a slightly shaking state of non-continuity in the normal motion state. At this time, the threshold adjustment module 35 relaxes the alarm threshold within the set time to reduce unnecessary alarms, enabling medical staff to focus more on real emergencies.

[0086] Exemplarily, in the embodiment of this application, when the change amount of the weighing value set by the weighing device 11 per minute is 1000 g, the alarm threshold is 900 g - 1100 g, and when the range is exceeded, the alarm device 4 generates an alarm signal. When the state evaluation module 33 judges that the device 1 to be measured and controlled is in a slightly shaking state of non-continuity in the normal motion state, the threshold adjustment module 35 can relax the alarm threshold to 700 g - 1300 g within the set time to reduce the alarm frequency.

[0087] The alarm threshold of the pressure measuring device 12 is -200 mmHg to 50 mmHg, and when the range is exceeded, the alarm device 4 issues an alarm signal. When the state evaluation module 33 judges that the device 1 to be measured and controlled is in a slightly shaking state of non-continuity in the normal motion state, the threshold adjustment module 35 can relax the alarm threshold to -300 mmHg to 150 mmHg within the set time to reduce the alarm frequency. The above set time can be set according to objective laws and the specific type of the device to be measured and controlled.

[0088] In one of the embodiments, the device 1 to be measured and controlled includes a first component, a second component, and a locking component. The first component and the second component are rotationally or slidably connected. The locking component is connected to the main control unit 3 and is configured to lock the first component and the second component when the device 1 to be measured and controlled is in a second abnormal state, so as to reduce safety accidents caused by misoperation and meet the safety management requirements of medical devices.

[0089] It can be understood that in some embodiments, the device 1 to be measured and controlled is a medical robot, the first component and the second component are respectively two robot arms connected by rotation, and the locking component is a motor for driving one of the robot arms to rotate, or a component that can be inserted through the two robot arms simultaneously for locking. When the device 1 to be measured and controlled is in the second abnormal state, the locking component can lock the two robot arms to prevent accidental operation caused by accidentally touching the robot arms, avoid harm to patients or operators, and ensure device safety.

[0090] In some other embodiments, the device 1 to be measured and controlled is a device with a door that can be opened and closed, the first component and the second component are respectively the outer shell and the door body, and the locking component is a motor for driving the door body to rotate, or a component that can be inserted through the outer shell and the door body simultaneously for locking. When the device 1 to be measured and controlled is in the second abnormal state, the locking component can lock the outer shell and the door body to prevent accidental operation caused by accidentally touching the door body, avoid harm to patients or operators, and ensure device safety.

[0091] In summary, when the motion state measurement and control device of the present application is in use, the detection unit 2 can detect the motion data of the device 1 to be measured and controlled (the tilt angle of the device 1 to be measured and controlled, the resultant acceleration of the device 1 to be measured and controlled in three-dimensional space), and the main control unit 3 can compare the tilt angle of the device 1 to be measured and controlled with the first data of the set data, and compare the resultant acceleration of the device 1 to be measured and controlled with the second data of the set data. When it is determined that the tilt angle of the device 1 to be measured and controlled is greater than the first data, it is determined that the device 1 to be measured and controlled is in the first abnormal state (tilted or inverted state), and the alarm device 4 is made to send an alarm signal. When the resultant acceleration is greater than the second data, it is determined that the device 1 to be measured and controlled is in the second abnormal state (falling or violently shaking state), and the alarm device 4 is made to send an alarm signal. When the tilt angle of the device 1 to be measured and controlled is less than or equal to the first data, and the resultant acceleration of the device 1 to be measured and controlled is less than or equal to 6m / s 2 , it is determined that the device 1 to be measured and controlled is in a normal motion state.

[0092] In addition, when the device 1 to be measured and controlled is in a normal motion state, and the acceleration changes periodically in both magnitude and direction, the main control unit 3 determines that the device 1 to be measured and controlled is in a regular shaking state during normal motion, and compensates the weighing reading of the weighing device 11 to solve the problem of inaccurate reading caused by the shaking of the device 1 to be measured and controlled. When the device 1 to be measured and controlled is in a normal motion state, and the state evaluation module 33 determines that the magnitude and direction of the resultant acceleration change non-periodically, it is determined that the device 1 to be measured and controlled is in a non-continuous slight shaking state during normal motion, and the alarm threshold is relaxed within a set time to avoid the alarm device 4 from frequently sending alarms.

[0093] An embodiment of the present application further provides a method for measuring and controlling a motion state, which is used for the motion state measurement and control detection and management device described in any one of the above embodiments. The method includes:

[0094] Obtain the motion data of the device 1 to be measured and controlled, and judge the motion state of the device 1 to be measured and controlled according to the motion data.

[0095] Specifically, obtain the tilt angle of the device 1 to be measured and controlled, as well as the direction and magnitude of the acceleration of the device 1 to be measured and controlled in three-dimensional space, and when the tilt angle of the device to be measured and controlled is greater than the first data, judge that the device to be measured and controlled is in the first abnormal state (tilted or inverted state).

[0096] When the combined acceleration is greater than the second data, judge that the device to be measured and controlled is in the second abnormal state (falling or severe shaking state).

[0097] When the tilt angle of the device to be measured and controlled is less than or equal to the first data, and the combined acceleration of the device to be measured and controlled is less than or equal to 6 m / s 2 judge that the device to be measured and controlled is in a normal motion state.

[0098] Control the main control unit 3 to stop the operation of the device 1 to be measured and controlled when the motion state of the device 1 to be measured and controlled is an abnormal motion state. At the same time, control the alarm device 4 to send out an alarm signal.

[0099] Control the main control unit 3 to continue the operation of the device 1 to be measured and controlled when the motion state of the device 1 to be measured and controlled is a normal motion state.

[0100] Specifically, when the device 1 to be measured and controlled is in a normal motion state, and the magnitude and direction of the combined acceleration change periodically, the main control unit 3 judges that the device 1 to be measured and controlled is in a regular shaking state during normal motion, and compensates the weighing reading of the weighing device 11 to solve the problem of inaccurate reading caused by the shaking of the device to be measured and controlled.

[0101] When the device 1 to be measured and controlled is in a normal motion state, and the magnitude and direction of the combined acceleration change non-periodically, the main control unit 3 judges that the device 1 to be measured and controlled is in a non-continuous slight shaking state during normal motion, and relaxes the alarm threshold within a set time to avoid the alarm device 4 from frequently sending out alarms.

[0102] In summary, the motion state detection and management method of the present application actively detects the motion state of the device 1 to be measured and controlled, so that the main control unit 3 can judge whether the device 1 to be measured and controlled is in a normal motion state according to the detected motion data, and make corresponding responses, thereby solving the problem that the unstable motion state affects the use, and improving the safety and reliability of the device. Refer to Figure 1 and Figure 2, embodiments of the present application also provide a device, including a device to be measured and controlled and a motion state measurement and control device as described in any of the above embodiments. The motion state measurement and control device is disposed on the device to be measured and controlled 1 to determine in real time whether the device to be measured and controlled 1 is in a normal motion state and make corresponding responses, thereby solving the problem that the unstable motion state affects the use and improving the safety and reliability of the device.

[0103] Specifically, the detection unit 2 is connected to the device to be measured and controlled 1 and is configured to detect the motion data of the device to be measured and controlled 1. The main control unit 3 is connected to the device to be measured and controlled 1 and the detection unit 2 and is configured to receive the motion data and compare the motion data with the set data to determine whether the device to be measured and controlled 1 is in a normal motion state and make corresponding responses to solve the problem that the unstable motion state affects the use.

[0104] Specifically, if it is determined that the device to be measured and controlled 1 is in a normal motion state, the main control unit 3 controls the device to be measured and controlled 1 to work normally. It can be understood that the normal motion state can be regarded as a motion state that does not exceed the lowest stability requirement. In this state, the device to be measured and controlled 1 can maintain a stable working state.

[0105] If it is determined that the device to be measured and controlled 1 is in an abnormal motion state, the main control unit 3 controls the device to be measured and controlled 1 to stop working. It can be understood that the abnormal motion state can be regarded as a motion state that exceeds the lowest stability requirement. In this state, the device to be measured and controlled 1 cannot maintain a stable working state.

[0106] In summary, the device of the present application, by adding the function of actively detecting the motion state, enables the detection unit 2 to detect the motion data of the device to be measured and controlled 1, enables the main control unit 3 to determine whether the device to be measured and controlled 1 is in a normal motion state according to the detected motion data, and make corresponding responses, thereby solving the problem that the unstable motion state affects the use and improving the safety and reliability of the device.

[0107] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0108] The above embodiments only express several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A motion state measurement and control device, the motion state measurement and control device being fixedly connected to the device to be measured and controlled, characterized in that, The motion state measurement and control device includes: A detection unit (2), connected to the device under measurement and control (1), and configured to detect the motion data of the device under measurement and control (1); A main control unit (3), connected to the device under measurement and control (1) and the detection unit (2), and configured to receive the motion data, and compare the motion data with set data to determine whether the device under measurement and control (1) is in a normal motion state; If it is in a normal motion state, the main control unit (3) does not interfere with the normal operation of the device under measurement and control (1); If it is in an abnormal motion state, the main control unit (3) controls the device under measurement and control (1) to stop working.

2. The motion state measurement and control device according to claim 1, wherein The motion state measurement and control device further includes an alarm device (4), and the alarm device (4) is connected to the main control unit (3) and is configured to generate an alarm signal when the device under measurement and control (1) is in an abnormal motion state.

3. The motion state measurement and control device according to claim 1, characterized in that, The detection unit (2) includes an angle detection mechanism, and the motion data includes the tilt angle of the device under measurement and control (1).

4. The motion state measurement and control device according to claim 3, characterized in that, The main control unit (3) includes a main control module (31), a data comparison module (32) and a state evaluation module (33), and the set data includes first data; The data comparison module (32) is connected to the main control module (31) and is configured to compare the tilt angle of the device under measurement and control (1) with the first data; The state evaluation module (33) is connected to the data comparison module (32) and is configured to determine that the device under measurement and control (1) is in a first abnormal motion state when the tilt angle of the device under measurement and control (1) is greater than the first data; and, When the tilt angle of the device under measurement and control (1) is less than or equal to the first data, it is determined that the device under measurement and control (1) is in a first normal motion state.

5. The motion state measurement and control device according to claim 2, characterized in that, The detection unit (2) includes an acceleration sensor, and the motion data includes the accelerations of the device under measurement and control (1) in three basic directions in a three-dimensional space and the resultant acceleration.

6. The motion state measurement and control device according to claim 5, characterized in that The main control unit (3) includes a main control module (31), a data comparison module (32) and a state evaluation module (33), and the set data includes second data; The data comparison module (32) is connected to the main control module (31) and is configured to compare the resultant acceleration of the device under measurement and control (1) with the second data; The state evaluation module (33) is connected to the data comparison module (32) and is configured to determine that the device under measurement and control (1) is in a second abnormal motion state when the resultant acceleration is greater than the second data; And, When the resultant acceleration is less than or equal to the second data, it is determined that the device under measurement and control (1) is in a second normal motion state.

7. The motion state measurement and control device according to claim 6, characterized in that, The second data is 6 m / s 2 .

8. The motion state measurement and control device according to claim 6, wherein The alarm device (4) is further configured to generate an alarm signal when the measured value of the weighing device (11) and / or the pressure measuring device (12) exceeds the alarm threshold; The main control unit (3) further includes a threshold adjustment module (35). The threshold adjustment module (35) is connected to the main control module (31) and is configured to relax the alarm threshold within a set time when the device under test and control (1) is in a normal motion state and the state evaluation module (33) determines that the acceleration in any of the basic directions changes non-periodically.

9. A method for measuring and controlling a motion state, characterized in that, For the motion state measurement and control device according to any one of claims 1-8, the motion state detection and control method includes: Obtaining the motion data of the device under test and control (1); Comparing the motion data with the set data to determine whether the device under test and control (1) is in a normal motion state; Stopping the operation of the device under test and control (1) when the motion state of the device under test and control (1) is an abnormal motion state; Continuing the operation of the device under test and control (1) when the motion state of the device under test and control (1) is a normal motion state.

10. A device, characterized in that, Comprising a device under test and control (1) and a motion state measurement and control device according to any one of claims 1-8, the motion state measurement and control device being disposed within the device under test and control (1).

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