A control method and device of a low-load home cardiovascular rehabilitation training instrument

Abstract

The application discloses a control method and device of a low-load home cardiovascular rehabilitation training instrument, and 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 evaluation 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 evaluation result to determine a target safety threshold; dynamically adjusting a current load of the user when using the training instrument at a current moment 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 moment; and controlling the training instrument with the target load. The application can dynamically adjust the load of the user when using the training instrument according to the fatigue degree of the user, and effectively improve the effectiveness and safety of the user using the training instrument for heart rehabilitation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a control method and device for a low-load home cardiovascular rehabilitation training device. Background Technology

[0002] With the rising incidence of cardiovascular diseases, the need for home-based cardiac rehabilitation for postoperative patients (such as those after coronary artery bypass grafting or stent implantation) is becoming increasingly urgent. Regular and safe exercise training is the core of cardiac rehabilitation. The key is to control the training intensity within a range that is both effective and safe, avoiding excessive myocardial overload due to excessive intensity or cardiovascular accidents caused by sudden changes in intensity.

[0003] Currently, the control methods of existing cardiovascular rehabilitation training devices on the market mainly fall into the following two categories: 1. Alarm control based on static heart rate threshold: A fixed safe upper limit for heart rate is preset. When the user's heart rate is detected to exceed this threshold in real time, the device will issue an alarm or perform a simple emergency stop or 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 quantity according to the mathematical relationship of proportional, integral or derivative, and make linear adjustments to the load such as equipment resistance or speed in an attempt to "pull" the heart rate back to the target range.

[0004] However, neither of the above two control methods introduces a heart rate variability index that reflects the recovery status of cardiac function, which leads to intervention lag when the user's cardiac condition is poor, and excessive restriction of training intensity when the user's condition is good, ultimately reducing the effectiveness and safety of using the training device for cardiac rehabilitation. Summary of the Invention

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

[0006] This invention is implemented according to the following scheme: A control method for a low-load home cardiovascular rehabilitation training device is provided, including: Collect users' resting heart rate, real-time heart rate, and heart rate variability set; Determine the initial safety threshold based on the resting heart rate value; Based on the heart rate variability set, a fatigue assessment result is determined to indicate the user's level of fatigue; Based on the heart rate variability set and the fatigue assessment results, the initial safety threshold is dynamically adjusted to determine the target safety threshold; Based on the real-time heart rate value and the target safety threshold, the current load of the user when using the training device at the current moment is dynamically adjusted to determine the target load of the user when using the training device at the next moment. The training device is controlled using the target load.

[0007] Compared with the prior art, the beneficial effects of the control method of the low-load home cardiovascular rehabilitation training device of the present invention are as follows: by using the heart rate variability index, which can reflect the recovery status of cardiac function, the user's fatigue level when using the training device can be determined, so as to dynamically adjust the load of the user when using the training device according to the user's fatigue level, avoiding the problem of intervention lag when the user's cardiac condition is poor, or excessive restriction of training intensity when the user's condition is good, effectively improving the effectiveness and safety of the user using the training device for cardiac rehabilitation.

[0008] Optionally, the heart rate variability set includes multiple historical heart rate variability values ​​and real-time heart rate variability values; based on the heart rate variability set, a fatigue assessment result used to indicate the user's fatigue level is determined, including: The mean of multiple historical heart rate variability values ​​is calculated to determine the baseline value for heart rate variability; The fatigue assessment result is determined based on the real-time heart rate variability value and the baseline heart rate variability value.

[0009] Optionally, based on the real-time heart rate variability value and the baseline heart rate variability value, the fatigue assessment result is determined, including: The fatigue threshold is determined based on the aforementioned heart rate variability baseline 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 state of fatigue. 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 state of fatigue.

[0010] Optionally, based on the heart rate variability set and the fatigue assessment results, the initial safety threshold is dynamically adjusted to determine the target safety threshold, including: The user's fatigue factor is determined based on the heart rate variability set; Based on the fatigue assessment results and the fatigue factor, the initial safety threshold is dynamically adjusted to determine the target safety threshold.

[0011] Optionally, based on the fatigue assessment results and the fatigue factor, the initial safety threshold is dynamically adjusted to determine the target safety threshold, including: When the fatigue assessment result indicates that the user is in a state of fatigue, 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 state of fatigue, the initial safety threshold is determined as the target safety threshold.

[0012] Optionally, based on the real-time heart rate value and the target safety threshold, the current load of the user using the training device at the current moment is dynamically adjusted to determine the target load of the user using the training device at the next moment, including: When the real-time heart rate value is greater than the target safety threshold, the duration for which the real-time heart rate value is greater than the target safety threshold is determined; When the duration exceeds a preset time, the current load is dynamically adjusted based on the real-time heart rate value and the target safety threshold to determine the target load.

[0013] Optionally, when the duration exceeds a preset time, the current load is dynamically adjusted based on the real-time heart rate value and the target safety threshold to determine the target load, including: The heart rate difference is determined based on the real-time heart rate value and the target safety threshold. Based on the heart rate difference, determine the workload to be adjusted; The target load is determined based on the current load and the load to be adjusted.

[0014] Optional, also includes: Determine the recovery threshold based on the target security threshold; Based on the real-time heart rate value and the recovery threshold, the current load of the user when using the training device at the current moment is dynamically adjusted to determine the target load of the user when using the training device at the next moment.

[0015] Optionally, based on the real-time heart rate value and the recovery threshold, the current load of the user using the training device at the current moment is dynamically adjusted to determine the target load of the user using the training device at the next moment, including: When the real-time heart rate value is less than the recovery threshold, the duration for which the real-time heart rate value is greater than the recovery threshold is determined; When the duration exceeds a preset time, the current load is dynamically adjusted according to the preset load amount to determine the target load.

[0016] A control device for a low-load home cardiovascular rehabilitation training device is also provided, which is applied to the control method of the aforementioned low-load home cardiovascular rehabilitation training device, including: The data acquisition module is used to collect the user's resting heart rate, real-time heart rate, and heart rate variability set; The data processing module is used for: Determine the initial safety threshold based on the resting heart rate value; Based on the heart rate variability set, a fatigue assessment result is determined to indicate the user's level of fatigue; Based on the heart rate variability set and the fatigue assessment results, the initial safety threshold is dynamically adjusted to determine the target safety threshold; Based on the real-time heart rate value and the target safety threshold, the current load of the user when using the training device at the current moment is dynamically adjusted to determine the target load of the user when using the training device at the next moment. The control module is used to control the training instrument using the target load. Attached Figure Description

[0017] Figure 1 This is a flowchart of the control method of the present invention. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. In the description of this application, it should be understood that the terms "first," "second," "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0020] See Figure 1 As shown, the present invention discloses a control method for a low-load home cardiovascular rehabilitation training device. The rehabilitation training device is a sports device equipped with an actuator (such as a servo motor, stepper motor, electromagnetic brake, etc.) that receives control commands and changes the resistance / speed of the exercise. It includes, but is not limited to, a power bicycle whose pedal load can be adjusted by electromagnetic resistance, an electric treadmill whose running belt speed can be adjusted by a frequency converter and whose incline can be adjusted by an incline motor, an elliptical machine whose flywheel magnetic resistance can be adjusted, and a rowing machine whose wind resistance or magnetic resistance damping can be adjusted.

[0021] A control method for a low-load home cardiovascular rehabilitation training device includes: S1: Collects the user's resting heart rate, real-time heart rate, and heart rate variability set; among which, the resting heart rate is collected when the user is in a relaxed state without exercise, emotional fluctuations, or disease influences, to reflect the user's heart rate value in a relaxed state; the real-time heart rate is data collected in real time when the user is using the training device, used to reflect the user's heart rate changes during exercise while using the training device, so as to intervene when the user's cardiac condition is not good, and to prevent the user from overusing the training device beyond their tolerance for exercise.

[0022] S2: Determine the initial safety threshold based on the resting heart rate value. The calculation formula is as follows: Threshold_Safety_Initial=RHR+30bpm Among them, Threshold_Safety_Initial is the initial safety threshold, and RHR is the resting heart rate value. The value of 30 bpm is based on the Karvonen Formula or Heart Rate Reserve (HRR) method in cardiovascular rehabilitation medicine. If this value is set too high (greater than 30 bpm), for users with insufficient cardiac reserve after surgery, it may induce myocardial ischemia or arrhythmia before the training device has time to respond to the load adjustment. If this value is set too low (less than 15 bpm), normal heart rate fluctuations caused by the user's use of the training device may also trigger the load adjustment of the training device, resulting in the training device adjusting the load too frequently, which is not conducive to the continuity of the user's rehabilitation.

[0023] S3: Based on the heart rate variability set, determine the fatigue assessment result used to indicate the user's fatigue level; wherein, the heart rate variability set includes multiple historical heart rate variability values ​​and real-time heart rate variability values.

[0024] In one embodiment of the present invention, determining a fatigue assessment result for indicating the user's fatigue level based on a set of heart rate variability includes: calculating the mean of multiple historical heart rate variability values ​​to determine a baseline heart rate variability value; and determining the fatigue assessment result based on the real-time heart rate variability value and the baseline heart rate variability value.

[0025] In one embodiment of the present invention, determining the fatigue assessment result based on the real-time heart rate variability value and the heart rate variability benchmark value includes: determining a fatigue threshold based on the heart rate variability benchmark 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 fatigued 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 fatigued 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 decrease rate D < 10%, it indicates that the user is in good condition, and the fatigue factor F_fatigue_factor = 0. If 10% ≤ heart rate variability decrease rate D < 50%, it indicates that the user is mild to moderately fatigued, and the fatigue factor F_fatigue_factor = k * (D - 0.1), where k is a linear mapping coefficient to make the fatigue factor increase linearly. If the heart rate variability decrease rate D ≥ 50%, it indicates that the user is severely fatigued, and the fatigue factor F_fatigue_factor = Max_F_fatigue_factor, where Max_F_fatigue_factor is a preset maximum fatigue factor. By limiting the maximum reduction of the initial safety threshold, it avoids the target safety threshold being too low, which would prevent the user from exercising normally. The more fatigued the user, the larger the value of the fatigue factor, and the lower the calculated target safety threshold, so as to adjust the load of the training device even when the user is fatigued.

[0031] S5: Based on the real-time heart rate value and the target safety threshold, dynamically adjust the current load of the user when using the training device at the current moment, and determine the target load of the user when using the training device at the next moment, including: when the real-time heart rate value is greater than the target safety threshold, determine the duration for which the real-time heart rate value is greater than the target safety threshold; when the duration is greater than a preset time, dynamically adjust the current load based on the real-time heart rate value and the target safety threshold, and determine the target load.

[0032] In one embodiment of the present invention, when the duration is greater than a preset time, the current load is dynamically adjusted based on the real-time heart rate value and the target safety threshold to determine the target load, including: determining the heart rate difference based on the real-time heart rate value and the target safety threshold; determining the load to be adjusted based on the heart rate difference; and determining the target load based on the current load and the load to be adjusted.

[0033] In one embodiment of the present invention, the calculation formula for determining the load to be adjusted based on the heart rate difference is as follows: f(ΔHR) = k1*ΔHR + k2*(ΔHR) 2 Where f(ΔHR) is the load to be adjusted, k1 and k2 are adjustment parameters, and ΔHR is the heart rate difference; by non-linearly adjusting the load of the training device, when the heart rate difference is small and slightly excessive, the load of the training device is adjusted slowly to ensure a gentle de-load speed; when the heart rate difference is large and severely excessive, the load of the training device is adjusted quickly to ensure that the training device is quickly de-loaded to the user's tolerable range.

[0034] In one embodiment of the present invention, determining the target load based on the current load and the load to be adjusted includes: using the difference between the current load and the load to be adjusted as the target load, so as to adjust the load of the training device after detecting that the user has entered a state of fatigue, thereby reducing the load on the training device, and dynamically adjusting the rate of load reduction of the training device according to the user's fatigue level. The present invention can dynamically adjust the load of the training device according to the user's individual needs, avoiding the inability of a uniform adjustment method to adapt to the rehabilitation needs of different users.

[0035] In one embodiment of the present invention, after the user relieves fatigue and returns to a state where he / she can exercise normally, the control method further includes: determining a recovery threshold based on a target safety threshold; dynamically adjusting the current load of the user when using the training device at the current moment based on the real-time heart rate value and the recovery threshold, and determining the target load of the user when using the training device at the next moment.

[0036] In one embodiment of the present invention, determining the recovery threshold based on the target safety threshold includes: using the difference between the target safety threshold and a preset hysteresis margin as the recovery threshold. The preset hysteresis margin is used to prevent the sensor that collects heart rate values ​​from signal fluctuations caused by noise tolerance, or the user from being affected by respiratory sinus arrhythmia, resulting in the inability to determine whether the user has recovered to a state where they can exercise normally. Therefore, the preset hysteresis margin is set as the upper limit of the sum of sensor noise and physiological fluctuations.

[0037] In one embodiment of the present invention, the current load of a user using the training device at the current moment is dynamically adjusted based on the real-time heart rate value and the recovery threshold, and the target load of the user using the training device at the next moment is determined, including: when the real-time heart rate value is less than the recovery threshold, determining the duration for which the real-time heart rate value is greater than the recovery threshold; when the duration is greater than a preset time, the current load is dynamically adjusted based on a preset load amount to determine the target load.

[0038] This invention obtains a dynamically adjusted target safety threshold by dynamically adjusting the initial safety threshold. Then, based on the target safety threshold, it triggers the load adjustment of the training device. This achieves the adjustment of the exercise intensity of the user using the training device through two closed loops, avoiding the problem of intervention lag when the user's cardiac condition is poor, or excessive restriction of training intensity when the user's condition is good. This effectively improves the effectiveness and safety of the user using the training device for cardiac rehabilitation.

[0039] S6: The training device is controlled using a target load.

[0040] The present invention provides a control device for a low-load home cardiovascular rehabilitation training device, applied to the aforementioned control method for a low-load home cardiovascular rehabilitation training device, comprising: The data acquisition module is used to collect the user's resting heart rate, real-time heart rate, and heart rate variability set; The data processing module is used for: Determine the initial safety threshold based on the resting heart rate value; Based on the heart rate variability set, determine the fatigue assessment results used to indicate the user's level of fatigue; Based on the heart rate variability set and fatigue assessment results, the initial safety threshold is dynamically adjusted to determine the target safety threshold; Based on real-time heart rate values ​​and target safety thresholds, the current load of the user when using the training device at the current moment is dynamically adjusted to determine the target load of the user when using the training device at the next moment. The control module is used to control the training instrument with the target load.

[0041] This invention uses heart rate variability indicators, which reflect the recovery status of cardiac function, to determine the user's fatigue level when using the training device. This allows for dynamic adjustment of the user's training load based on their fatigue level, avoiding intervention delays when the user's cardiac condition is poor, or excessive restriction of training intensity when the user's condition is good. This effectively improves the effectiveness and safety of cardiac rehabilitation using the training device.

[0042] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a low-load home cardiovascular rehabilitation training device, characterized in that, include: Collect users' resting heart rate, real-time heart rate, and heart rate variability set; Determine the initial safety threshold based on the resting heart rate value; Based on the heart rate variability set, a fatigue assessment result is determined to indicate the user's level of fatigue; Based on the heart rate variability set and the fatigue assessment results, the initial safety threshold is dynamically adjusted to determine the target safety threshold; Based on the real-time heart rate value and the target safety threshold, the current load of the user when using the training device at the current moment is dynamically adjusted to determine the target load of the user when using the training device at the next moment. The training device is controlled using the target load. Based on the heart rate variability set and the fatigue assessment results, the initial safety threshold is dynamically adjusted 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 the fatigue factor to determine the target safety threshold. The heart rate variability set includes real-time heart rate variability values; based on the heart rate variability set, the user's fatigue factor is determined, including: based on the heart rate variability set, determining a baseline heart rate variability value; based on the baseline heart rate variability value and the real-time heart rate variability value, determining the heart rate variability decrease rate; and based on the heart rate variability decrease rate, determining the fatigue factor. Based on the real-time heart rate value and the target safety threshold, the current load of the user using the training device at the current moment is dynamically adjusted to determine the target load of the user using the training device at the next moment, including: when the real-time heart rate value is greater than the target safety threshold, determining the duration for which 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 based on the real-time heart rate value and the target safety threshold to determine the target load.

2. The control method for a low-load home cardiovascular rehabilitation training device according to claim 1, characterized in that, The heart rate variability set includes multiple historical heart rate variability values; based on the heart rate variability set, a fatigue assessment result is determined to indicate the user's fatigue level, including: The mean of multiple historical heart rate variability values ​​is calculated to determine the baseline value for heart rate variability; The fatigue assessment result is determined based on the real-time heart rate variability value and the baseline heart rate variability value.

3. The control method for a low-load home cardiovascular rehabilitation training device according to claim 2, characterized in that, Based on the real-time heart rate variability values ​​and the baseline heart rate variability values, the fatigue assessment results are determined, including: The fatigue threshold is determined based on the aforementioned heart rate variability baseline 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 state of fatigue. 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 state of fatigue.

4. The control method for a low-load home cardiovascular rehabilitation training device according to claim 1, characterized in that, Based on the fatigue assessment results and the fatigue factors, the initial safety threshold is dynamically adjusted to determine the target safety threshold, including: When the fatigue assessment result indicates that the user is in a state of fatigue, 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 state of fatigue, the initial safety threshold is determined as the target safety threshold.

5. The control method for a low-load home cardiovascular rehabilitation training device according to claim 1, characterized in that, When the duration exceeds a preset time, the current load is dynamically adjusted based on the real-time heart rate value and the target safety threshold to determine the target load, including: The heart rate difference is determined based on the real-time heart rate value and the target safety threshold. Based on the heart rate difference, determine the workload to be adjusted; The target load is determined based on the current load and the load to be adjusted.

6. The control method for a low-load home cardiovascular rehabilitation training device according to claim 1, characterized in that, Also includes: Determine the recovery threshold based on the target security threshold; Based on the real-time heart rate value and the recovery threshold, the current load of the user when using the training device at the current moment is dynamically adjusted to determine the target load of the user when using the training device at the next moment.

7. The control method for a low-load home cardiovascular rehabilitation training device according to claim 6, characterized in that, Based on the real-time heart rate value and the recovery threshold, the current load of the user using the training device at the current moment is dynamically adjusted to determine the target load of the user using the training device at the next moment, including: When the real-time heart rate value is less than the recovery threshold, the duration for which the real-time heart rate value is greater than the recovery threshold is determined; When the duration exceeds a preset time, the current load is dynamically adjusted according to the preset load amount to determine the target load.

8. A control device for a low-load home cardiovascular rehabilitation training device, applied to the control method of the low-load home cardiovascular rehabilitation training device according to any one of claims 1-7, characterized in that, include: The data acquisition module is used to collect the user's resting heart rate, real-time heart rate, and heart rate variability set; The data processing module is used for: Determine the initial safety threshold based on the resting heart rate value; Based on the heart rate variability set, a fatigue assessment result is determined to indicate the user's level of fatigue; Based on the heart rate variability set and the fatigue assessment results, the initial safety threshold is dynamically adjusted to determine the target safety threshold; Based on the real-time heart rate value and the target safety threshold, the current load of the user when using the training device at the current moment is dynamically adjusted to determine the target load of the user when using the training device at the next moment. The control module is used to control the training instrument using the target load.

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