Control method and device of low-load household cardiovascular rehabilitation training instrument

Abstract

The invention discloses a control method and device for a low-load household cardiovascular rehabilitation training instrument. The method comprises the steps that a resting heart rate value, a real-time heart rate value and a heart rate variability set of a user are collected; according to the resting heart rate value, an initial safety threshold value is determined; according to the heart rate variability set, determining a fatigue evaluation result for indicating the fatigue degree of the user; according to the heart rate variability set and the fatigue evaluation result, the initial safety threshold is dynamically adjusted, and a target safety threshold is determined; according to the real-time heart rate value and a target safety threshold value, the current load when the user uses the training instrument at the current moment is dynamically adjusted, and the target load when the user uses the training instrument at the next moment is determined; and controlling the training instrument by adopting the target load. The load of the user using the training instrument can be dynamically adjusted according to the fatigue degree of the user, and the effectiveness and safety of the user using the training instrument for heart rehabilitation are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a control method and device of a low-load home cardiovascular rehabilitation training instrument. BACKGROUND

[0002] With the rising incidence of cardiovascular diseases, the demand for home cardiac rehabilitation of postoperative patients (such as after heart bypass surgery and stent implantation) is increasingly urgent. Regular and safe exercise training is the core of cardiac rehabilitation, and the key is to control the training intensity within an effective and safe range to avoid excessive myocardial load due to excessive intensity or cardiovascular accidents caused by sudden changes in intensity.

[0003] Currently, the control methods of the existing cardiovascular rehabilitation training instruments on the market mainly include the following two types: 1. Alarm control based on a static heart rate threshold: a fixed upper limit of heart rate safety is preset, and when the real-time monitoring of the user's heart rate exceeds this threshold, the device will issue an alarm or perform a simple emergency stop or emergency deceleration operation; 2. Closed-loop control based on simple proportional-integral-derivative (PID): when the measured heart rate deviates from the target value, the algorithm will calculate a control amount according to the proportional, integral, or differential mathematical relationship to linearly adjust the load such as resistance or speed of the device in an attempt to "pull back" the heart rate to the target interval.

[0004] However, neither of the above two control methods introduces a heart rate variability index that can reflect the recovery status of the heart, resulting in a lag in intervention when the user's heart condition is not good, and excessive restriction of training intensity when the user's condition is good, ultimately reducing the effectiveness and safety of using the training instrument for cardiac rehabilitation. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a control method and device of a low-load home cardiovascular rehabilitation training instrument, which can effectively improve the effectiveness and safety of using the training instrument for cardiac rehabilitation.

[0006] The present application is implemented according to the following scheme: A control method of a low-load home cardiovascular rehabilitation training instrument is provided, comprising: collecting a resting heart rate value, a real-time heart rate value, and a heart rate variability set of a user; determining an initial safety threshold according to the resting heart rate value; determining a fatigue assessment result for indicating the fatigue degree of the user according to the heart rate variability set; dynamically adjusting the initial safety threshold according to the heart rate variability set and the fatigue assessment result to determine a target safety threshold; According to the real-time heart rate value and the target safety threshold, a current load of the user using the training instrument at a current time is dynamically adjusted, and a target load of the user using the training instrument at a next time is determined. The training instrument is controlled by using the target load.

[0007] Compared with the prior art, the control method of the low-load home cardiovascular rehabilitation training instrument has the following beneficial effects: the heart rate variability index reflecting the recovery state of the heart function is used to determine the fatigue degree of the user using the training instrument, so that the load of the user using the training instrument is dynamically adjusted according to the fatigue degree of the user, and the problems of intervention lag when the user's heart state is not good or excessive limitation of the training intensity when the user's state is good are avoided, and the effectiveness and safety of the user using the training instrument for heart rehabilitation are effectively improved.

[0008] Optionally, the heart rate variability set includes a plurality of historical heart rate variability values and a real-time heart rate variability value; according to the heart rate variability set, a fatigue evaluation result for indicating the fatigue degree of the user is determined, including: a mean value of the plurality of historical heart rate variability values is calculated to determine a heart rate variability reference value; the fatigue evaluation result is determined according to the real-time heart rate variability value and the heart rate variability reference value.

[0009] Optionally, the fatigue evaluation result is determined according to the real-time heart rate variability value and the heart rate variability reference value, including: a fatigue threshold is determined according to the heart rate variability reference value; when the real-time heart rate variability value is less than the fatigue threshold, the fatigue evaluation result is that the user is in a fatigue state; when the real-time heart rate variability value is greater than or equal to the fatigue threshold, the fatigue evaluation result is that the user is not in a fatigue state.

[0010] Optionally, the initial safety threshold is dynamically adjusted to determine a target safety threshold according to the heart rate variability set and the fatigue evaluation result, including: a fatigue factor of the user is determined according to the heart rate variability set; the initial safety threshold is dynamically adjusted to determine the target safety threshold according to the fatigue evaluation result and the fatigue factor.

[0011] Optionally, the initial safety threshold is dynamically adjusted to determine the target safety threshold according to the fatigue evaluation result and the fatigue factor, including: when the fatigue evaluation result is that the user is in a fatigue state, dynamically adjusting the initial safety threshold according to the fatigue factor to determine the target safety threshold; when the fatigue evaluation result is that the user is not in a fatigue state, determining the initial safety threshold as the target safety threshold.

[0012] Optionally, dynamically adjusting a current load of the user using the training instrument at the current time according to the real-time heart rate value and the target safety threshold to determine a target load of the user using the training instrument at a next time, comprising: when the real-time heart rate value is greater than the target safety threshold, determining a duration that the real-time heart rate value is greater than the target safety threshold; when the duration is greater than a preset time, dynamically adjusting the current load according to the real-time heart rate value and the target safety threshold to determine the target load.

[0013] Optionally, when the duration is greater than the preset time, dynamically adjusting the current load according to the real-time heart rate value and the target safety threshold to determine the target load, comprising: determining a heart rate difference value according to the real-time heart rate value and the target safety threshold; determining an adjusted load amount according to the heart rate difference value; determining the target load according to the current load and the adjusted load amount.

[0014] Optionally, further comprising: determining a recovery threshold according to the target safety threshold; dynamically adjusting the current load of the user using the training instrument at the current time according to the real-time heart rate value and the recovery threshold to determine the target load of the user using the training instrument at the next time.

[0015] Optionally, dynamically adjusting the current load of the user using the training instrument at the current time according to the real-time heart rate value and the recovery threshold to determine the target load of the user using the training instrument at the next time, comprising: when the real-time heart rate value is less than the recovery threshold, determining a duration that the real-time heart rate value is greater than the recovery threshold; when the duration is greater than a preset time, dynamically adjusting the current load according to a preset load amount to determine the target load.

[0016] A control device of a low-load home cardiovascular rehabilitation training instrument is also provided, which is applied to the control method of the low-load home cardiovascular rehabilitation training instrument, and comprises: a data collection module, configured to collect a resting heart rate value, a real-time heart rate value and a heart rate variability set of the user; a data processing module, configured to: determine an initial safety threshold according to the resting heart rate value; determine a fatigue assessment result indicating a fatigue degree of the user according to the heart rate variability set; dynamically adjust the initial safety threshold according to the heart rate variability set and the fatigue assessment result to determine a target safety threshold; dynamically adjust a current load of the user using the training instrument at a current time according to the real-time heart rate value and the target safety threshold to determine a target load of the user using the training instrument at a next time; a control module, configured to control the training instrument with the target load. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 a flow chart of the control method of the present application. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0019] In the following description, like numbers refer to like objects throughout the drawings. The following description is not intended to represent all embodiments in accordance with the present application. Rather, they merely represent some of the embodiments in accordance with the present application as detailed in the appended claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are merely used to distinguish similar objects, and do not necessarily indicate a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0020] Referring to Figure 1 As shown in the drawings, the present application is a control method of a low-load home cardiovascular rehabilitation training instrument, wherein the rehabilitation training instrument is a motion device with an execution mechanism (such as a servo motor, a stepper motor, an electromagnetic brake, etc.) capable of receiving control instructions and changing the motion resistance / speed, including but not limited to a power bicycle capable of adjusting the pedal load through electromagnetic resistance, an electric treadmill capable of adjusting the speed of the running belt through a frequency converter and the slope through a slope motor, an elliptical machine capable of adjusting the magnetic control resistance of the flywheel, and a rowing machine capable of adjusting the wind resistance or magnetic resistance damping.

[0021] A control method of a low-load home cardiovascular rehabilitation training instrument, comprising: S1: collect a resting heart rate value, a real-time heart rate value and a heart rate variability set of a user; wherein the resting heart rate value is collected in a relaxed state of the user without exercise, emotional fluctuation and disease influence, to reflect the heart rate value of the user in the relaxed state; the real-time heart rate value is real-time data collected when the user uses the training instrument, to reflect the heart rate change of the user in the exercise state of using the training instrument, so as to intervene when the heart state of the user is poor, and avoid that the user overuses the training instrument beyond the exercise degree that the user can bear.

[0022] S2: determine an initial safety threshold according to the resting heart rate value, and the calculation formula is as follows: Threshold_Safety_Initial=RHR+30bpm Wherein, Threshold_Safety_Initial is the initial safety threshold, RHR is the resting heart rate value, and the value of 30bpm is set based on the Karvonen Formula or the HRR in the cardiovascular rehabilitation medicine; if the value is set too high (more than 30bpm), for the user with insufficient cardiac reserve after operation, the training instrument may not respond to load adjustment in time to induce safety problems such as myocardial ischemia or arrhythmia; if the value is set too low (less than 15bpm), the normal heart rate fluctuation caused by the user when using the training instrument may also trigger the load adjustment of the training instrument, and then the load adjustment of the training instrument is too frequent, which is not conducive to the continuity of the user using the training instrument for rehabilitation.

[0023] S3: determine a fatigue evaluation result for indicating the fatigue degree of the user according to the heart rate variability set; wherein the heart rate variability set includes a plurality of historical heart rate variability values and a real-time heart rate variability value.

[0024] In an embodiment of the present application, the fatigue evaluation result for indicating the fatigue degree of the user is determined according to the heart rate variability set, comprising: performing mean value calculation on the plurality of historical heart rate variability values to determine a heart rate variability reference value; and determining the fatigue evaluation result according to the real-time heart rate variability value and the heart rate variability reference value.

[0025] In an embodiment of the present application, the fatigue evaluation result is determined according to the real-time heart rate variability value and the heart rate variability reference value, comprising: determining a fatigue threshold according to the heart rate variability reference value; when the real-time heart rate variability value is less than the fatigue threshold, the fatigue evaluation result is that the user is in a fatigue state; and when the real-time heart rate variability value is greater than or equal to the fatigue threshold, the fatigue evaluation result is that the user is not in a fatigue state.

[0026] In one embodiment of the present invention, determining a fatigue threshold based on a heart rate variability baseline value includes: using 70% of the heart rate variability baseline value as the fatigue threshold, and identifying a fatigued state when the real-time heart rate variability value is 30% lower than the user's average level. The present invention can reflect the user's overall heart rate variability level through multiple historical heart rate variability values, so as to determine the degree of fatigue when using the training device based on each user's usual heart rate level. For example, the heart rate variability value of the elderly is lower than that of the younger people. If a fixed threshold is used to judge the fatigue level of different users at the same time, the accuracy of the fatigue assessment results will decrease.

[0027] S4: Based on the heart rate variability set and fatigue assessment results, dynamically adjust the initial safety threshold to determine the target safety threshold, including: determining the user's fatigue factor based on the heart rate variability set; and dynamically adjusting the initial safety threshold based on the fatigue assessment results and fatigue factor to determine the target safety threshold.

[0028] In one embodiment of the present invention, the initial safety threshold is dynamically adjusted based on the fatigue assessment result and fatigue factor to determine the target safety threshold, including: when the fatigue assessment result indicates that the user is in a fatigued state, the initial safety threshold is dynamically adjusted based on the fatigue factor to determine the target safety threshold; when the fatigue assessment result indicates that the user is not in a fatigued state, the initial safety threshold is determined as the target safety threshold.

[0029] In one embodiment of the present invention, the formula for calculating the target security threshold is as follows: Threshold_Safety(t)=(Threshold_Safety_Initial+ΔS)*(1-F_fatigue_factor) Where Threshold_Safety(t) is the target safety threshold; Threshold_Safety_Initial is the initial safety threshold; ΔS is the initial safety reserve increment, which represents the maximum extent by which the real-time heart rate value is allowed to exceed the resting heart rate value (RHR) when the user is not in a fatigued state; F_fatigue_factor is the fatigue factor, which is used to quantify the degree to which fatigue reduces the initial safety threshold.

[0030] In one embodiment of the present invention, determining a user's fatigue factor based on a heart rate variability set includes: determining a baseline heart rate variability value based on the heart rate variability set; determining a heart rate variability decrease rate based on the baseline heart rate variability value and the real-time heart rate variability value; and determining the fatigue factor based on the heart rate variability decrease rate, specifically: If the heart rate variability reduction rate D is less than 10%, it indicates that the user is in good condition, and the fatigue factor F_fatigue_factor is 0; if the heart rate variability reduction rate D is greater than or equal to 10% and less than 50%, it indicates that the user is in light or moderate fatigue, and the fatigue factor F_fatigue_factor is k*(D-0.1), k is a linear mapping coefficient, so that the fatigue factor increases linearly; if the heart rate variability reduction rate D is greater than or equal to 50%, it indicates that the user is in severe fatigue, and the fatigue factor F_fatigue_factor is Max_F_fatigue_factor, Max_F_fatigue_factor is a preset maximum fatigue factor, which limits the maximum reduction range of the initial safety threshold to avoid the target safety threshold being too low to cause the user to be unable to exercise normally; the more fatigue the user is, the larger the value of the fatigue factor is, and the lower the target safety threshold calculated is, so as to adjust the load of the training instrument when the user is tired.

[0031] S5: dynamically adjusting the current load of the user using the training instrument at the current time according to the real-time heart rate value and the target safety threshold, and determining the target load of the user using the training instrument at the next time, including: when the real-time heart rate value is greater than the target safety threshold, determining the duration that the real-time heart rate value is greater than the target safety threshold; when the duration is greater than a preset time, dynamically adjusting the current load according to the real-time heart rate value and the target safety threshold, and determining the target load.

[0032] In an embodiment of the present application, when the duration is greater than the preset time, the target load is determined by dynamically adjusting the current load according to the real-time heart rate value and the target safety threshold, including: determining a heart rate difference according to the real-time heart rate value and the target safety threshold; determining an adjusted load amount according to the heart rate difference; and determining the target load according to the current load and the adjusted load amount.

[0033] In an embodiment of the present application, the calculation formula of the adjusted load amount according to the heart rate difference is as follows: f(ΔHR)=k1*ΔHR+k2*(ΔHR) 2 Wherein, f(ΔHR) is the adjusted load amount, k1 and k2 are adjustment parameters, and ΔHR is the heart rate difference; the load of the training instrument is adjusted non-linearly, so that when the heart rate difference is small and slightly exceeds the standard, the load of the training instrument is slowly adjusted to ensure that the training instrument is gently reduced; when the heart rate difference is large and seriously exceeds the standard, the load of the training instrument is quickly adjusted to ensure that the training instrument is quickly reduced to the range that the user can bear.

[0034] In an embodiment of the present application, the target load is determined according to the current load and the load adjustment amount, including: taking the difference between the current load and the load adjustment amount as the target load, so as to adjust the load of the training instrument after monitoring that the user enters the fatigue state, realize the load reduction of the training instrument, and dynamically adjust the load reduction speed of the training instrument according to the fatigue degree of the user, so that the load of the training instrument can be dynamically adjusted according to the individuality of the user, and the rehabilitation needs of different users can be adapted by avoiding the use of a unified adjustment method.

[0035] In an embodiment of the present application, after the user alleviates the fatigue and recovers to the state of normal movement, the control method further includes: determining a recovery threshold according to the target safety threshold; and dynamically adjusting the current load of the user using the training instrument at the current time according to the real-time heart rate value and the recovery threshold, to determine the target load of the user using the training instrument at the next time.

[0036] In an embodiment of the present application, the recovery threshold is determined according to the target safety threshold, including: taking the difference between the target safety threshold and a preset hysteresis margin as the recovery threshold, the preset hysteresis margin being used to prevent the signal fluctuation of the sensor for collecting the heart rate value caused by the noise tolerance, or the user being affected by the respiratory sinus arrhythmia, so as to cause no judgment that the user has recovered to the state of normal movement, and therefore the preset hysteresis margin is set to the upper limit of the sum of the sensor noise and the physiological fluctuation.

[0037] In an embodiment of the present application, the target load of the user using the training instrument at the next time is determined by dynamically adjusting the current load of the user using the training instrument at the current time according to the real-time heart rate value and the recovery threshold, including: when the real-time heart rate value is less than the recovery threshold, determining the duration that the real-time heart rate value is greater than the recovery threshold; and when the duration is greater than a preset time, dynamically adjusting the current load according to a preset load amount to determine the target load.

[0038] The present application dynamically adjusts the initial safety threshold to obtain the target safety threshold, and then triggers the load adjustment of the training instrument based on the target safety threshold, so as to realize the adjustment of the movement intensity of the user using the training instrument through two closed loops, avoid the intervention lag when the user's heart state is not good, or the problem of excessive limitation of the training intensity when the user's state is good, and effectively improve the effectiveness and safety of the user using the training instrument for heart rehabilitation.

[0039] S6: control the training instrument with the target load.

[0040] The control device of the low-load home cardiovascular rehabilitation training instrument of the present application is applied to the control method of the low-load home cardiovascular rehabilitation training instrument, and includes: The data acquisition module is configured to acquire a resting heart rate value, a real-time heart rate value and a heart rate variability set of the user. The data processing module is configured to: determine an initial safety threshold according to the resting heart rate value; determine a fatigue evaluation result for indicating a fatigue degree of the user according to the heart rate variability set; dynamically adjust the initial safety threshold according to the heart rate variability set and the fatigue evaluation result to determine a target safety threshold; dynamically adjust a current load of the user when using the training instrument at a current time according to the real-time heart rate value and the target safety threshold to determine a target load of the user when using the training instrument at a next time; The control module is configured to control the training instrument to adopt the target load.

[0041] The heart rate variability index can reflect the recovery state of the heart function, the fatigue degree of the user when using the training instrument is determined, the load of the user when using the training instrument is dynamically adjusted according to the fatigue degree of the user, the problem that intervention lag occurs when the heart state of the user is not good or the training intensity is excessively limited when the state of the user is good is avoided, and the effectiveness and safety of the user using the training instrument for heart rehabilitation are effectively improved.

[0042] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A control method of a low-load home cardiovascular rehabilitation training instrument, characterized in that, The method comprises the following steps: Collecting a resting heart rate value, a real-time heart rate value and a heart rate variability set of a user; Determining an initial safety threshold according to the resting heart rate value; Determining a fatigue assessment result for indicating a fatigue degree of the user according to the heart rate variability set; Dynamically adjusting the initial safety threshold according to the heart rate variability set and the fatigue assessment result to determine a target safety threshold; Dynamically adjusting a current load of the user using the training instrument at a current time according to the real-time heart rate value and the target safety threshold to determine a target load of the user using the training instrument at a next time; Controlling the training instrument with the target load.

2. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 1, characterized in that, The heart rate variability set comprises a plurality of historical heart rate variability values and a real-time heart rate variability value; Determining a fatigue assessment result for indicating a fatigue degree of the user according to the heart rate variability set comprises: Performing mean value calculation on the plurality of historical heart rate variability values to determine a heart rate variability reference value; Determining the fatigue assessment result according to the real-time heart rate variability value and the heart rate variability reference value.

3. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 2, characterized in that, Determining the fatigue assessment result according to the real-time heart rate variability value and the heart rate variability reference value comprises: Determining a fatigue threshold according to the heart rate variability reference value; When the real-time heart rate variability value is less than the fatigue threshold, the fatigue assessment result is that the user is in a fatigue state; When the real-time heart rate variability value is greater than or equal to the fatigue threshold, the fatigue assessment result is that the user is not in a fatigue state.

4. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 1, characterized in that, Dynamically adjusting the initial safety threshold according to the heart rate variability set and the fatigue assessment result to determine a target safety threshold comprises: Determining a fatigue factor of the user according to the heart rate variability set; Dynamically adjusting the initial safety threshold according to the fatigue assessment result and the fatigue factor to determine the target safety threshold.

5. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 4, characterized in that, Dynamically adjusting the initial safety threshold according to the fatigue assessment result and the fatigue factor to determine the target safety threshold comprises: When the fatigue assessment result is that the user is in a fatigue state, dynamically adjusting the initial safety threshold according to the fatigue factor to determine the target safety threshold; When the fatigue assessment result is that the user is not in a fatigue state, determining the initial safety threshold as the target safety threshold.

6. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 1, characterized in that, Dynamically adjusting a current load of the user using the training instrument at a current time according to the real-time heart rate value and the target safety threshold to determine a target load of the user using the training instrument at a next time comprises: When the real-time heart rate value is greater than the target safety threshold, determining a duration that the real-time heart rate value is greater than the target safety threshold; When the duration is greater than a preset time, dynamically adjusting the current load according to the real-time heart rate value and the target safety threshold to determine the target load.

7. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 6, characterized in that, When the duration is greater than a preset time, dynamically adjusting the current load according to the real-time heart rate value and the target safety threshold to determine the target load comprises: According to the real-time heart rate value and the target safety threshold, a heart rate difference value is determined; According to the heart rate difference value, an adjusted load amount is determined; According to the current load and the adjusted load amount, the target load is determined.

8. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 1, characterized in that, Further comprising: According to the target safety threshold, a recovery threshold is determined; According to the real-time heart rate value and the recovery threshold, a current load of the user using the training instrument at the current time is dynamically adjusted, and a target load of the user using the training instrument at the next time is determined.

9. The control method of a low-load home-based cardiovascular rehabilitation training apparatus according to claim 8, characterized in that, According to the real-time heart rate value and the recovery threshold, a current load of the user using the training instrument at the current time is dynamically adjusted, and a target load of the user using the training instrument at the next time is determined, comprising: When the real-time heart rate value is less than the recovery threshold, a duration that the real-time heart rate value is greater than the recovery threshold is determined; When the duration is greater than a preset time, the current load is dynamically adjusted according to a preset load amount, and the target load is determined.

10. The control device of a low-load home cardiovascular rehabilitation training instrument, applied to the control method of the low-load home cardiovascular rehabilitation training instrument in any one of claims 1-9, characterized in that, Comprising: A data acquisition module is configured to acquire a resting heart rate value, a real-time heart rate value and a heart rate variability set of a user; A data processing module is configured to: According to the resting heart rate value, an initial safety threshold is determined; According to the heart rate variability set, a fatigue evaluation result indicating a fatigue degree of the user is determined; According to the heart rate variability set and the fatigue evaluation result, the initial safety threshold is dynamically adjusted, and a target safety threshold is determined; According to the real-time heart rate value and the target safety threshold, a current load of the user using the training instrument at the current time is dynamically adjusted, and a target load of the user using the training instrument at the next time is determined; A control module is configured to control the training instrument to adopt the target load.

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