Simulation method and device for sine wave respiration

Abstract

The invention discloses a sine wave breathing simulation method and device. The device comprises a breathing assembly, a control simulation assembly and an evaluation assembly. The breathing assembly comprises an air pipe module, an air cylinder module, a ball screw, a servo motor and an information acquisition module and is used for simulating the breathing process of a human body; the air pipe module is an input channel of external air and is of a hollow tubular structure. The information acquisition module acquires a gas flow signal, a cylinder position signal and a pressure signal; the control simulation assembly is used for periodically generating a motion position control signal and a motion speed control signal, sending the motion position control signal and the motion speed control signal to a servo motor, and performing motion position control and motion speed control on the servo motor; and the evaluation assembly is used for evaluating the breathing simulation process according to the received signal to obtain evaluation result information.

Description

Technical Field

[0001] This invention relates to the fields of industrial data processing, embodied intelligence, and evaluation, and specifically to a method and apparatus for simulating sinusoidal breathing. Background Technology

[0002] Mannequins are primarily used for medical procedure training and to replace real people in testing related to human functions. Their simulation of human anatomy, morphology, and physiological functions is crucial for realizing the mannequin's intended function. Breathing mannequins can be used for testing personal protective equipment such as biological protective clothing, masks, and positive-pressure protective hoods. They can also be used to study the transmission patterns of exhaled aerosols, further guiding infectious disease prevention and control. The realism of their simulation of normal human breathing is of great value for conducting relevant tests; therefore, simulating sinusoidal breathing in normal individuals is one of the key technologies for breathing mannequins.

[0003] Sine wave breathing simulation can be performed in instruments such as ventilators, but the relevant technology is based on the design of the ventilator itself and the implementation of the mechanical-electronic system, and the structural form is quite different from that of the simulated human. Summary of the Invention

[0004] This invention primarily addresses the problem of simulating normal human sinusoidal breathing in a breathing simulator and achieving more precise control of the breathing process. This invention discloses a method and apparatus for simulating sinusoidal breathing.

[0005] In a first aspect, the present invention discloses a method and apparatus for simulating sinusoidal breathing, the apparatus comprising: a breathing component, a control simulation component, and an evaluation component; The breathing assembly includes a trachea module, a cylinder module, a ball screw, a servo motor, and an information acquisition module, used to simulate the human breathing process. The trachea module is an input channel for external gas, adopting a hollow tubular structure and connected to the cylinder module. The information acquisition module acquires gas flow signals, cylinder position signals, and pressure signals, and sends these signals to the evaluation component. The control simulation component is used to periodically generate motion position control signals and motion speed control signals, and send the motion position control signals and motion speed control signals to the servo motor to perform motion position control and motion speed control on the servo motor. The evaluation component is connected to the control simulation component and is used to evaluate the breathing simulation process based on the received signals to obtain evaluation result information.

[0006] The generation expressions for the motion position control signal and the motion speed control signal are as follows: ， , in, This represents the motion position control signal at the i-th moment of a time period, where K is a preset control coefficient, t is the time value, and n is the total number of moments in a period. This is the motion speed control signal at the i-th moment of a time period.

[0007] The ball screw is housed inside the cylinder module. Its first end is connected to the piston of the cylinder module, and its second end is connected to a servo motor. The cylinder module acquires cylinder position signals and outputs these signals to an information acquisition module. An air tube module extends into the cylinder module, and a breathing flow sensor and a pressure sensor are installed within it. The servo motor controls the speed and number of revolutions of the ball screw based on the received motion position control signal and motion speed control signal. The respiratory flow sensor is used to acquire gas flow signals; the pressure sensor is used to acquire pressure signals.

[0008] The evaluation component is used to evaluate the respiratory simulation process based on the received signals and obtain evaluation result information, including: The standard signals for gas flow, cylinder position, and pressure are obtained. The received cylinder position signal and the cylinder position standard signal are subjected to position evaluation processing to obtain the first evaluation value; The received gas flow rate signal and pressure signal are compared with the gas flow rate standard signal and pressure standard signal to perform flow rate evaluation processing to obtain a second evaluation value; The first and second evaluation values ​​are weighted and summed to obtain the evaluation result information.

[0009] The expression for the location evaluation process is: , in, and These are the j-th position coordinate and the j-th difference coordinate of the cylinder position signal, respectively. Let j be the position coordinate of the cylinder position standard signal. and Let P and N be the first and second deviation angles corresponding to the j-th position coordinate, respectively; P be the intermediate evaluation value; N be the number of position coordinates included in the cylinder position signal; and Pw be the first evaluation value. Let represent the j-th order polynomial of the first kind of Chebyshev polynomial.

[0010] A second aspect of this invention discloses a method for simulating sinusoidal breathing, implemented using the aforementioned sinusoidal breathing simulation device, comprising: S1, using the control simulation component, periodically generate motion position control signals and motion speed control signals, and send the motion position control signals and motion speed control signals to the servo motor to perform motion position control and motion speed control on the servo motor; S2, using the servo motor, the movement speed and number of revolutions of the ball screw are controlled according to the received motion position control signal and motion speed control signal; S3, using the breathing assembly, the gas flow sensor signal, cylinder position signal and pressure sensor signal are collected, and the gas flow signal, cylinder position signal and pressure signal are sent to the evaluation assembly; S4. Using the evaluation component, the breathing simulation process is evaluated based on the received signal to obtain evaluation result information; S5. Based on the evaluation results, feedback control is performed on the motion position control signal and motion speed control signal to obtain updated motion position control signal and motion speed control signal. The updated motion position control signal and motion speed control signal are then sent to the servo motor to perform motion position control and motion speed control on the servo motor, respectively.

[0011] The generation expressions for the motion position control signal and the motion speed control signal are as follows: ， , in, This represents the motion position control signal at the i-th moment of a time period, where K is a preset control coefficient, t is the time value, and n is the total number of moments in a period. This is the motion speed control signal at the i-th moment of a time period.

[0012] The evaluation component is used to evaluate the respiratory simulation process based on the received signal to obtain evaluation result information, including: The standard signals for gas flow, cylinder position, and pressure are obtained. The received cylinder position signal and the cylinder position standard signal are subjected to position evaluation processing to obtain the first evaluation value; The received gas flow rate standard signal and pressure standard signal are subjected to flow rate evaluation processing to obtain a second evaluation value. The first and second evaluation values ​​are weighted and summed to obtain the evaluation result information.

[0013] The expression for the location evaluation process is: , in, and These are the j-th position coordinate and the j-th difference coordinate of the cylinder position signal, respectively. Let j be the position coordinate of the cylinder position standard signal. and Let P and N be the first and second deviation angles corresponding to the j-th position coordinate, respectively; P be the intermediate evaluation value; N be the number of position coordinates included in the cylinder position signal; and Pw be the first evaluation value. Let represent the j-th order polynomial of the first kind of Chebyshev polynomial.

[0014] A third aspect of the present invention discloses a simulation device for sinusoidal breathing, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the sinusoidal breathing simulation method.

[0015] In a fourth aspect of this invention, a computer-storable medium is disclosed, the computer-storable medium storing computer instructions, which, when invoked by a computer, are used to execute the aforementioned simulation method of sinusoidal breathing.

[0016] In a fifth aspect of this invention, an information data processing terminal is disclosed, which is used to implement the aforementioned sinusoidal breathing simulation method.

[0017] The beneficial effects of this invention are as follows: This invention provides a human simulator with a built-in respiratory system capable of mimicking normal human breathing. The respiratory system should possess human physiological structures, including simulated lungs, trachea, pharynx, oral cavity, and nasal cavity. It can simulate different breathing intensities and humidification functions, precisely control respiratory rate and tidal volume, simulate a sinusoidal respiratory curve, and has adjustable frequency and amplitude.

[0018] This invention simulates the human respiratory system, possessing the physiological structure of a human, including lungs, bronchi, and trachea, with the trachea leading to the nasal cavity in the head. This system exchanges moisture with the outside world only through the nostrils and can withstand disinfection by gases such as hydrogen peroxide.

[0019] The present invention provides a simulated human breathing system that is built into the chest cavity of a simulated breathing experiment subject.

[0020] This invention simulates human respiratory function, with adjustable tidal volume and respiratory rate. It simulates the human body's humidification function during respiration, detects tidal temperature and humidity, and measures tidal flow and lung pressure. Attached Figure Description

[0021] Figure 1 This is a diagram showing the composition of the device of the present invention; Figure 2 This is a schematic diagram of a simulated lung structure disclosed in an embodiment of the present invention; Figure 3 This is another schematic diagram of a simulated lung structure disclosed in an embodiment of the present invention; Figure 4 A segmented diagram of a respiratory cycle T; Figure 5 The simulation results are shown for a respiratory rate of 30 breaths per minute and N=8. Detailed Implementation

[0022] To better understand the content of this invention, two embodiments are provided here.

[0023] Figure 1 This is a diagram showing the composition of the device of the present invention; Figure 2 This is a schematic diagram of a simulated lung structure disclosed in an embodiment of the present invention; Figure 3 This is another schematic diagram of a simulated lung structure disclosed in an embodiment of the present invention; Figure 4 A segmented diagram of a respiratory cycle T; Figure 5 The simulation results are shown for a respiratory rate of 30 breaths per minute and N=8.

[0024] Example 1: Figure 1 This is a diagram showing the composition of the device of the present invention.

[0025] In a first aspect of the present invention, a sinusoidal breathing simulation device is disclosed, the device comprising: a head bionic model 1, a body bionic model 2, and a control module 3.

[0026] The head model includes an oral cavity simulation component and a nasal cavity simulation component. The oral cavity simulation component includes an oral cavity structure model 11, an oral trachea 12, and an oral trachea switch 13. The nasal cavity simulation component includes a nasal cavity structure model 14, a nasal trachea 15, and a nasal trachea switch 16. The oral trachea switch 13 and the nasal trachea switch 16 are electrically connected to the control module 3. The control module 3 controls the opening and closing of the oral trachea switch 13 and the nasal trachea switch 16 to achieve the flow of air in the oral trachea 12 and the nasal trachea 15.

[0027] The aforementioned bionic body model 2 is equipped with a first fixing plate 21, a second fixing plate 22, a simulated lung 23, and a main trachea 24. When the bionic body model 2 is in a standing position, the first fixing plate 21 is located above the second fixing plate 22. The first fixing plate 21 and the second fixing plate 22 are used to fix the simulated lung 23. The simulated lung 23 is equipped with an air supply unit 25, which is connected to a servo motor 26. The servo motor 26 provides the air supply unit 25 with the power to expand and contract. The first fixed plate 21 has a gas chamber 211 inside, which has an air inlet, an air outlet, and a simulated substance injection port 212. The gas chamber 211 simulates the bronchus of the respiratory system. The air inlet is connected to the air supply unit 25 and the gas chamber 211, and the air outlet is connected to the first end of the main air pipe 24 and the gas chamber 211. The simulated substance injection port 212 is connected to the air supply unit 25 and is used to inject a simulated substance contained in the exhaled airflow when a person breathes. A pressure sensor is provided in the gas chamber 211 to sense the gas pressure in the gas chamber 211. A sensor interface 213 is provided on the first fixed plate 21, which is electrically connected to the pressure sensor and the control module 3 respectively.

[0028] The first end of the main trachea 24 is connected to the aforementioned outlet air, and the second end is connected to the oral trachea 12 and the nasal trachea 15. The control module 3 is fixed to the bottom of the bionic body model 2. The control module 3 is electrically connected to and controls the simulated lung 23, the oral trachea switch 13 and the nasal trachea switch 16 to realize simulated human breathing.

[0029] In another alternative embodiment, the maximum torque of the aforementioned servo motor 26 is not less than 2.3 N·m.

[0030] Selection instructions for the servo motor 26 used in the simulated lung 23.

[0031] The tidal volume of simulated lung breathing is determined by the distance generated by the piston movement of the cylinder driven by the motor. To accurately control the tidal volume, the control precision of the motor must meet certain requirements. Furthermore, the motor moves quickly and has a short reaction time during the cough and sneeze reflexes. Therefore, a servo motor is selected in the motor selection for simulated lung breathing.

[0032] The bionic breathing device generates lung pressure by simulating the cough and sneeze reflexes of humans. By closing the oral and nasal tracheal switches, the inside of the cylinder becomes a sealed space. A servo motor moves forward, driving the cylinder piston to contract, thus increasing the pressure within the simulated lung. According to the gas balance equation P1V1=P2V2, a decrease in cylinder volume leads to an increase in pressure. Opening the oral and nasal tracheal switches changes the gas inside the cylinder from static to dynamic, causing it to be expelled from the nose or mouth. The average maximum exhalation velocity of the cough reflex gas is 12 m / s, with a duration of approximately 0.1-1 s; the initial maximum velocity of the sneeze reflex gas is approximately 40 m / s, with a completion time of approximately 0.2-0.3 s. Therefore, the sneeze reflex is the most intense, and the servo motor is ultimately selected based on the sneeze reflex data.

[0033] According to aerodynamic principles, without considering the diameter of the gas flow pipe, the equation relating the internal pressure of the cylinder to the gas velocity during release is shown in the formula: , In the formula, k represents the gas index, which is taken as 1.4; R represents the gas universal constant, which is taken as 8.3 J / kmol; The absolute temperature is 273K; P represents tracheal pressure, which is considered to be standard atmospheric pressure. This indicates the internal pressure of the cylinder.

[0034] The relationship between pressure, stress, and area of ​​contact is shown in the formula: , In the formula, F represents the pressure on the piston; P represents the internal pressure of the cylinder; and S represents the area of ​​the piston subjected to force.

[0035] The required motor torque can be calculated from the parameters of the electric cylinder lead screw, as shown in the formula: , In the formula, This represents the driving torque required by the motor under uniform motion conditions; F represents the axial load. The preload of the ball nut is represented by F / 3; i represents the reduction ratio between the motor and the lead screw. Indicates the lead screw; This indicates the internal friction coefficient of the preload nut, which is typically 0.1-0.3. The efficiency of the lead screw pair is taken as 0.9. Through derivation, the relationship between the motor torque and the gas release speed from the cylinder can be obtained: , According to the formula, the maximum torque required by the motor to simulate lung movement during human respiration is approximately 2.3. .

[0036] In yet another alternative embodiment, such as Figure 2 As shown, the air supply unit 25 includes two cylinders 251, which are fixedly connected between the first fixed plate 21 and the second fixed plate 22. Each cylinder 251 has an air outlet at its top. The air outlets of the two cylinders 251 are connected to the air inlet. A piston 252 is installed inside each cylinder 251. The piston 252 is connected to a servo electric cylinder 253, which is connected to a servo motor 26. The servo motor 26 drives the piston 252 to reciprocate through the servo electric cylinder 253. This reciprocating movement of the piston 252 enables the expulsion and inhalation of gas from the air supply unit 25, simulating the contraction and relaxation of the respiratory muscles in the lungs during human respiration. A limit switch is installed inside the servo electric cylinder 253 to limit the relaxation and contraction processes of the air supply unit 25. The limit switch includes a first limit switch and a second limit switch, which are used to limit the maximum relaxation and maximum contraction positions of the air supply unit 25, respectively.

[0037] As an optional implementation, in this embodiment, the diameter of the cylinder 251 is not less than 100 mm; the safe movement distance of the servo electric cylinder 253 is not less than 15 cm.

[0038] It should be noted that the tidal volume during a sneeze reflex in the human body is approximately 2L per second, and the maximum tidal volume of the lung in the final respiratory simulation is designed to be 2.3L. The safe movement distance of the electric cylinder push rod is 15cm, which means the safe movement distance of the cylinder piston is 15cm. Based on the relationship between cylinder volume and cylinder radius, it can be calculated that a cylinder with a diameter of not less than 100 mm can meet the design requirement of a maximum tidal volume of 2.3L.

[0039] In another alternative embodiment, a heat tracing cable is wrapped around the outside of the cylinder 251 of the simulated lung 23. The heat tracing cable can heat the cylinder 251 of the simulated lung 23 and evaporate and clean the water droplets inside the cylinder 251 of the simulated lung 23 through high temperature.

[0040] Another schematic diagram of a simulated lung structure disclosed in this embodiment of the invention, as shown below. Figure 3As shown, in this embodiment, the air supply unit 25 includes two bellows 31, the top ends of which are fixed to the lower surface of the first fixing plate 21; the top of each bellows 31 is provided with an air outlet, and the two air outlets are connected to the air inlet; two guide shafts 32 are provided between the first fixing plate 21 and the second fixing plate 22, the guide shafts 32 are perpendicular to the first fixing plate 21 and the second fixing plate 22, a sliding plate 33 is sleeved on the two guide shafts 32, and a bushing 34 is provided between the sliding plate 33 and the guide shafts 32, the bushing 34 reduces the gap and friction between the sliding plate 33 and the guide shafts 32; the sliding plate 33 is parallel to the first fixing plate 21 and the second fixing plate 22, and the sliding plate 33 can slide freely on the two guide shafts 32; the bottoms of the two bellows 31 are fixed to the sliding plate 33, and a sealing plate is provided between the bellows 31 and the sliding plate 33, the sealing plate sealing the lower part of the bellows 31; Screw support seats are respectively provided on the first fixed plate 21 and the second fixed plate 22. A ball screw 35 is provided between the two screw support seats. The ball screw 35 passes through the sliding plate 33, and the nut of the ball screw 35 is fixedly connected to the sliding plate 33. At the end near the second fixed plate 22, a servo motor 26 is connected to the ball screw 35 through a reducer 36 and a coupling 37 to provide rotational power for the ball screw 35. The sliding plate 33 moves along the guide shaft 32 under the drive of the ball screw 35. The up and down movement of the sliding plate 33 causes the bellows 31 to expand and contract. A proximity switch 38 is provided on the first fixed plate 21 and the second fixed plate 22. A position detection bolt is provided on the sliding plate 33. The proximity switch 38 acts as a limit switch for the sliding plate, and the movement of the sliding plate 33 is limited by the position detection bolt on the sliding plate 33.

[0041] This invention provides a bionic human breathing method based on the bionic human breathing device disclosed in Embodiment 1, comprising: H1, the control module 3 controls the oral trachea switch 13 to open, and the servo motor 26 drives the air supply unit 25 to the initial state.

[0042] H2, the control module 3 acquires respiratory parameters and calculates the operating parameters of the servo motor 26 based on the respiratory parameters; the respiratory parameters include tidal volume, respiratory rate, respiratory ratio, breath-holding time and number of breaths Y; the operating parameters of the servo motor 26 include running distance, inhalation speed and exhalation speed.

[0043] H3, the control module 3 controls the device to perform inhalation simulation, including: closing the oral trachea switch 13, opening the nasal trachea switch 16, and the servo motor 26 driving the air supply unit 25 to inhale gas according to the operating parameters. H4. According to the set breath-holding time, the control module 3 controls the device to perform breath-holding simulation, and the servo motor 26 stops.

[0044] H5, the control module 3 controls the device to perform exhalation simulation, including: the servo motor 26 drives the air supply unit 25 to exhale gas according to the exhalation speed, to complete one breathing process.

[0045] H6. Update the number of breaths Y to Y-1, and determine whether the updated number of breaths Y is 0 to obtain a first judgment result; if the first judgment result is yes, then end; if the first judgment result is no, then after the control module 3 controls the device to simulate breath-holding to reach the set breath-holding time, execute steps H3 to H6.

[0046] Optionally, during the inhalation simulation process controlled by the control module 3, the method further includes: injecting a breathing simulator into the gas chamber 211 from the simulator injection port 212, wherein the breathing simulator is a simulator of the substances contained in the exhaled airflow when a human breathes.

[0047] Example 2: In a first aspect, the present invention discloses a sinusoidal breathing simulation device, comprising: a head structure component, a nasal cavity component, a humidification component, a torso structure component, a breathing component, a control simulation component, and an evaluation component; The head structure component is used to simulate the human head structure and provide an installation location for the nasal cavity component; The torso structure component is used to simulate the torso structure of the human body and is movably connected to the head structure component. The nasal cavity assembly has the same structure as the external structure of the human nasal organ. It is installed in the human nasal cavity of the head structure assembly and serves as a passage for tidal air inhalation and exhalation, including two nostrils and a nasal cavity passage connected to the two nostrils. The humidification component, located on the side of the nasal cavity component inside the head structure component, is used to humidify the exhaled moisture from the breathing component. It includes an ultrasonic humidification module and a humidification water tank. The ultrasonic humidification module is connected to the humidification water tank and is used to convert the water in the humidification water tank into water vapor. The humidification water tank is used to provide a water source for the ultrasonic humidification module. The breathing assembly includes a trachea module, a cylinder module simulating lung breathing, a ball screw, and a servo motor, used to simulate the human breathing process; the trachea module is connected to the nasal cavity; the trachea module is a hollow tubular structure; it collects gas flow sensor signals, cylinder position signals, and pressure sensor signals, and sends the gas flow signal, cylinder position signal, and pressure signal to the evaluation component; The control simulation component is used to periodically generate motion position control signals and motion speed control signals, and send the motion position control signals and motion speed control signals to the servo motor to perform motion position control and motion speed control on the servo motor. The evaluation component is connected to the control simulation component and is used to evaluate the breathing simulation process based on the received signals to obtain evaluation result information.

[0048] The head structure component and the torso structure component are obtained by 3D scanning and modeling a simulated human body structure to obtain model data. After setting the model data, the corresponding component model data is obtained. Based on the component model data, the corresponding structural components are obtained by 3D printing. After the head structure component is obtained by 3D printing, carbon fiber is applied to the surface of the component to increase its structural strength, and then a human skin-colored silicone headgear is applied.

[0049] The head structure component has openings at the nasal cavity and oral cavity for installing the nasal cavity component and oral cavity component, respectively. Setting the model data involves setting the size of the model data according to the required dimensions. The simulated human body structure can be a real human body or a human model; The breathing assembly includes a trachea module, a cylinder module simulating lung breathing, a ball screw, and a servo motor. The ball screw is installed inside the cylinder module. The first end of the ball screw is connected to the piston of the cylinder module. The cylinder module outputs a cylinder position signal. The second end of the ball screw is connected to a servo motor. The air tube module extends into the cylinder module. A breathing flow sensor and a pressure sensor are installed in the air tube module. The servo motor is used to control the movement speed and number of revolutions of the ball screw according to the received movement position control signal and movement speed control signal, thereby adjusting the breathing volume and breathing frequency during the breathing process. The respiratory flow sensor is used to acquire gas flow signals; the pressure sensor is used to acquire pressure signals. The generation expressions for the motion position control signal and the motion speed control signal are as follows: ， , in, This represents the motion position control signal at the i-th moment of a time period, where K is a preset control coefficient, t is the time value, and n is the total number of moments in a period. This is the motion speed control signal at the i-th moment of a time period.

[0050] The generation method of the cylinder piston movement position control signal and movement time control signal is as follows: Divide a respiratory cycle T into 3 segments (see...) Figure 4 (This refers to the three phases of inhalation, pause, and exhalation, with durations of 1, 2, 3, and 4 respectively.) , , When the human body breathes in a normal sinusoidal manner, When the breathing ratio is 1:1, The respiratory cycle T can be calculated from the respiratory rate f: ② The tidal volume V of the breathing simulation device is the change in gas volume within the cylinder (simulating the lung) caused by the change in the piston position L. The piston is controlled to simulate a sinusoidal wave motion; that is, during the inhalation phase, the piston position... The expression is: During the exhalation phase ( Piston position The expression is: When the two equations are combined: Where K is a coefficient related to tidal volume, and tidal volume V is the total volume change during the inspiration or expiration phase ( When the cylinder cross-sectional area is S, .

[0051] ③ Since continuous sinusoidal control cannot be achieved through actual control of the cylinder piston, segmented control is required to fit the aforementioned sinusoidal signal. Taking the intake phase as an example, it is divided into N segments according to actual needs ( Figure 1 The data is divided into 8 segments (N=8) for fitting. The total distance of the motion can be written as: At this time, each time period Within, the servo motor is made to move according to specified motion position control parameters and motion time control parameters, requiring that in each... Within a certain time, the movement The distance, i.e., the control signal for the piston movement position of the cylinder, is issued. and motion time control signal The average speed at this time The control method for the exhalation phase is similar, except that the piston movement is in the opposite direction.

[0052] ④ When the number of segments N in the discretized control approaches infinity, the breathing waveform is sinusoidal. However, when N is small, the actual waveform is usually stepped (see the figure below), and the actual tidal volume deviates from the sinusoidal waveform. The difference between the actual breathing waveform and the ideal sinusoidal breathing waveform is evaluated by collecting the gas flow signal, cylinder piston position signal, and cylinder pressure signal. ,when When the value exceeds a given value, the adjustment factor is activated to control the piston movement position signal in the cylinder. and motion time control signal Adjustments can be made to achieve more accurate simulation.

[0053] ⑤ When the breathing ratio is not 1:1, The exhalation and inhalation phases are controlled separately. The same number of segments N can be used, but the duration of each segment can be different. Alternatively, different numbers of segments can be set as needed. The simulation is performed in the same way as described above to achieve sinusoidal breathing waveforms with different breathing ratios.

[0054] ⑥ When At this time, it can simulate breathing apnea.

[0055] ⑦ The cylinder control parameters can be changed as needed for different time periods to simulate other waveform breathing, such as triangular wave breathing.

[0056] The generation expressions for the motion position control signal and motion speed control signal can accurately simulate the periodic characteristics of natural human breathing. The normal human breathing process approximates a sinusoidal change (the flow rate and pressure of inhalation and exhalation follow a periodic sinusoidal pattern over time). The integrand in the expression is... By calculating the position control signal by integrating the sine function over the discrete time interval, the change trend of the control signal is ensured to strictly follow the sine law, thus guaranteeing the "naturalness" of the breathing simulation from the underlying control logic and solving the problem of the motion trajectory deviating from the sine curve in traditional simulation devices.

[0057] Speed ​​control signal Based on position control signals Derivation ( The position change rate per unit time is used to correlate the two through the time period T and the total number of discrete moments n. This ensures that the motion speed and position change of the servo motor strictly match the slope characteristics of the sine wave (such as the speed gradually increases at the beginning of inhalation and the speed gradually decreases at the end of inhalation), avoiding the disorder of breathing rhythm caused by the disconnect between speed and position, and improving the "precision" of breathing process control.

[0058] The preset control coefficient K can be adjusted according to simulation needs (such as adult / child breathing, calm / rapid breathing). By changing K, the amplitude of the sine wave can be scaled, flexibly adapting to the breathing depth in different scenarios, thus enhancing the versatility of the device.

[0059] The evaluation component is used to evaluate the respiratory simulation process based on the received signals and obtain evaluation result information, including: The standard signals for gas flow, cylinder position, and pressure are obtained. The received cylinder position signal and the cylinder position standard signal are subjected to position evaluation processing to obtain the first evaluation value; The received gas flow rate signal and pressure signal are compared with the gas flow rate standard signal and pressure standard signal to perform flow rate evaluation processing to obtain a second evaluation value; The first and second evaluation values ​​are weighted and summed to obtain the evaluation result information.

[0060] The calculation expression for the location assessment process is: , in, and These are the j-th position coordinate and the j-th difference coordinate of the cylinder position signal, respectively. Let j be the position coordinate of the cylinder position standard signal. and Let P and N be the first and second deviation angles corresponding to the j-th position coordinate, respectively; P be the intermediate evaluation value; N be the number of position coordinates included in the cylinder position signal; and Pw be the first evaluation value. Let represent the j-th order polynomial of the first kind of Chebyshev polynomial.

[0061] The series of expressions in the position evaluation process, by calculating the difference coordinates between the actual position and the standard position, fully reflects the positional deviation of the cylinder in three-dimensional space, avoiding the limitations of traditional one-dimensional or two-dimensional evaluations that ignore spatial directional deviations, and ensuring the "comprehensiveness" of the evaluation. The first deviation angle and the second deviation angle convert the three-dimensional deviation into angular quantities, intuitively describing the direction and degree of the deviation in the horizontal plane and vertical direction, making the abstract positional deviation quantifiable and comparable. The intermediate evaluation quantity P, by weighting the angular deviations, where the exponential function amplifies significant deviations (when the sine value of the angle product is large), improves the "sensitivity" of the evaluation to key deviations; the first evaluation value Pw introduces a Chebyshev polynomial of the first kind, utilizing its uniform approximation characteristics within the interval to balance the deviation weights of different position points, reduce the interference of extreme values ​​on the overall evaluation, and enhance the "robustness" of the evaluation results.

[0062] The series of expressions in the position evaluation process provide accurate feedback for control optimization; the final first evaluation value Pw comprehensively reflects the overall accuracy of cylinder position control and can be used as a feedback signal for the control simulation component to dynamically adjust motion control commands, forming a closed loop of "control-evaluation-optimization" and continuously improving the accuracy of breathing simulation.

[0063] The step of performing flow evaluation processing on the received gas flow rate signal and pressure signal, and comparing them with the gas flow rate standard signal and pressure standard signal to obtain a second evaluation value, includes: The received gas flow signal is compared with the gas flow standard signal to perform flow standard evaluation calculation and obtain the flow evaluation value. The received pressure signal is compared with the pressure standard signal to perform pressure standard evaluation calculation and obtain the pressure evaluation value. The flow rate assessment value and the pressure assessment value are fused and calculated to obtain a second assessment value.

[0064] The expression for the flow rate standard evaluation calculation is as follows: , in, Let be the mean of all harmonic frequencies of the FFT signal of the gas flow rate signal, and t and These are time variables and time delay variables, respectively. and t and The range of values ​​for , and These are the standard gas flow signal and the gas flow signal, respectively. This is a traffic assessment value; The expression for the pressure standard assessment calculation is as follows: The pressure signal is subtracted from the pressure standard signal to obtain the difference signal; The difference signal is subjected to EWT transformation to obtain the transformed signal; Discrete sampling is performed on the transformed signal to obtain a transformed sampling sequence; The transformed sampling sequence is integrated and accumulated to obtain the second evaluation value. ; The expression for the accumulation of feature integrals is: , Where [0,T1] is the range of values ​​for the integration variable t, and M is the length of the transform sampling sequence. This represents the i-th element of the transformed sampling sequence.

[0065] The expression for the fusion evaluation calculation is as follows: , in, and Let represent the first-order and second-order Weber functions, respectively, and pg be the second evaluator.

[0066] The EWT transform refers to the empirical wavelet transform; The evaluation component evaluates the breathing simulation process based on the received signal and sends the evaluation result information to the control simulation component. The control simulation component then corrects the motion position control signal and motion speed control signal based on the evaluation result information. The corrected expressions for the motion position control signal and the motion speed control signal are as follows: , , in, and These are the corrected motion position control signal and motion speed control signal, respectively. For evaluation results information.

[0067] A second aspect of this invention discloses a method for simulating sinusoidal breathing, implemented using the aforementioned sinusoidal breathing simulation device, comprising: S1, using the control simulation component, periodically generate motion position control signals and motion speed control signals, and send the motion position control signals and motion speed control signals to the servo motor to perform motion position control and motion speed control on the servo motor; S2, using the servo motor, the movement speed and number of revolutions of the ball screw are controlled according to the received motion position control signal and motion speed control signal; S3, using the breathing assembly, the gas flow sensor signal, cylinder position signal and pressure sensor signal are collected, and the gas flow signal, cylinder position signal and pressure signal are sent to the evaluation assembly; S4. Using the evaluation component, the breathing simulation process is evaluated based on the received signal to obtain evaluation result information; S5. Based on the evaluation results, feedback control is performed on the motion position control signal and motion speed control signal to obtain updated motion position control signal and motion speed control signal. The updated motion position control signal and motion speed control signal are then sent to the servo motor to perform motion position control and motion speed control on the servo motor, respectively.

[0068] The generation expressions for the motion position control signal and the motion speed control signal are as follows: , , in, This represents the motion position control signal at the i-th moment of a time period, where K is a preset control coefficient, t is the time value, and n is the total number of moments in a period. This is the motion speed control signal at the i-th moment of a time period.

[0069] The evaluation component is used to evaluate the respiratory simulation process based on the received signal to obtain evaluation result information, including: The standard signals for gas flow, cylinder position, and pressure are obtained. The received cylinder position signal and the cylinder position standard signal are subjected to position evaluation processing to obtain the first evaluation value; The received gas flow rate standard signal and pressure standard signal are subjected to flow rate evaluation processing to obtain a second evaluation value. The first and second evaluation values ​​are weighted and summed to obtain the evaluation result information.

[0070] The calculation expression for the location assessment process is: , in, and These are the j-th position coordinate and the j-th difference coordinate of the cylinder position signal, respectively. Let j be the position coordinate of the cylinder position standard signal. and Let P and N be the first and second deviation angles corresponding to the j-th position coordinate, respectively; P be the intermediate evaluation value; N be the number of position coordinates included in the cylinder position signal; and Pw be the first evaluation value. Let represent the j-th order polynomial of the first kind of Chebyshev polynomial.

[0071] The step of performing feedback control on the motion position control signal and motion speed control signal based on the evaluation result information to obtain updated motion position control signal and motion speed control signal includes: The evaluation results are processed to obtain updated motion position control signals and motion speed control signals. The expressions for the processing are as follows: Where pg represents the evaluation result information, and These are the motion speed control signal and the motion position control signal, respectively.

[0072] A third aspect of the present invention discloses a simulation device for sinusoidal breathing, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the sinusoidal breathing simulation method.

[0073] In a fourth aspect of this invention, a computer-storable medium is disclosed, the computer-storable medium storing computer instructions, which, when invoked by a computer, are used to execute the aforementioned simulation method of sinusoidal breathing.

[0074] In a fifth aspect of this invention, an information data processing terminal is disclosed, which is used to implement the aforementioned sinusoidal breathing simulation method.

[0075] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A simulation device for sinusoidal breathing, characterized in that, include: Respiratory components, control simulation components, and evaluation components; The breathing assembly includes a trachea module, a cylinder module, a ball screw, a servo motor, and an information acquisition module, used to simulate the human breathing process. The trachea module is an input channel for external gas, adopting a hollow tubular structure and connected to the cylinder module. The information acquisition module acquires gas flow signals, cylinder position signals, and pressure signals, and sends these signals to the evaluation component. The control simulation component is used to periodically generate motion position control signals and motion speed control signals, and send the motion position control signals and motion speed control signals to the servo motor to perform motion position control and motion speed control on the servo motor. The evaluation component is connected to the control simulation component and is used to evaluate the breathing simulation process based on the received signals to obtain evaluation result information.

2. The sinusoidal breathing simulation device as described in claim 1, characterized in that, The generation expressions for the motion position control signal and the motion speed control signal are as follows: ， ， in, This represents the motion position control signal at the i-th moment of a time period, where K is a preset control coefficient, t is the time value, and n is the total number of moments in a period. This is the motion speed control signal at the i-th moment of a time period.

3. The sinusoidal breathing simulation device as described in claim 1, characterized in that, The ball screw is housed inside the cylinder module. Its first end is connected to the piston of the cylinder module, and its second end is connected to a servo motor. The cylinder module acquires cylinder position signals and outputs these signals to an information acquisition module. An air tube module extends into the cylinder module, and a breathing flow sensor and a pressure sensor are installed within it. The servo motor controls the speed and number of revolutions of the ball screw based on the received motion position control signal and motion speed control signal. The respiratory flow sensor is used to acquire gas flow signals; the pressure sensor is used to acquire pressure signals.

4. The sinusoidal breathing simulation device as described in claim 1, characterized in that, The evaluation component is used to evaluate the respiratory simulation process based on the received signals and obtain evaluation result information, including: The standard signals for gas flow, cylinder position, and pressure are obtained. The received cylinder position signal and the cylinder position standard signal are subjected to position evaluation processing to obtain the first evaluation value; The received gas flow rate signal and pressure signal are compared with the gas flow rate standard signal and pressure standard signal to perform flow rate evaluation processing to obtain a second evaluation value; The first and second evaluation values ​​are weighted and summed to obtain the evaluation result information.

5. The sinusoidal breathing simulation device as described in claim 4, characterized in that, The expression for the location evaluation process is: ， in, and These are the j-th position coordinate and the j-th difference coordinate of the cylinder position signal, respectively. Let j be the position coordinate of the cylinder position standard signal. and Let P and N be the first and second deviation angles corresponding to the j-th position coordinate, respectively; P be the intermediate evaluation value; N be the number of position coordinates included in the cylinder position signal; and Pw be the first evaluation value. Let represent the j-th order polynomial of the first kind of Chebyshev polynomial.

6. A method for simulating sinusoidal breathing, implemented using the sinusoidal breathing simulation device according to any one of claims 1 to 5, characterized in that, include: S1, using the control simulation component, periodically generate motion position control signals and motion speed control signals, and send the motion position control signals and motion speed control signals to the servo motor to perform motion position control and motion speed control on the servo motor; S2, using the servo motor, the movement speed and number of revolutions of the ball screw are controlled according to the received motion position control signal and motion speed control signal; S3, using the breathing assembly, the gas flow sensor signal, cylinder position signal and pressure sensor signal are collected, and the gas flow signal, cylinder position signal and pressure signal are sent to the evaluation assembly; S4. Using the evaluation component, the breathing simulation process is evaluated based on the received signal to obtain evaluation result information; S5. Based on the evaluation results, feedback control is performed on the motion position control signal and motion speed control signal to obtain updated motion position control signal and motion speed control signal. The updated motion position control signal and motion speed control signal are then sent to the servo motor to perform motion position control and motion speed control on the servo motor, respectively.

7. The method for simulating sinusoidal breathing as described in claim 6, characterized in that, The generation expressions for the motion position control signal and the motion speed control signal are as follows: ， ， in, This represents the motion position control signal at the i-th moment of a time period, where K is a preset control coefficient, t is the time value, and n is the total number of moments in a period. This is the motion speed control signal at the i-th moment of a time period.

8. The method for simulating sinusoidal breathing as described in claim 7, characterized in that, The evaluation component is used to evaluate the respiratory simulation process based on the received signal to obtain evaluation result information, including: The standard signals for gas flow, cylinder position, and pressure are obtained. The received cylinder position signal and the cylinder position standard signal are subjected to position evaluation processing to obtain the first evaluation value; The received gas flow rate standard signal and pressure standard signal are subjected to flow rate evaluation processing to obtain a second evaluation value. The first and second evaluation values ​​are weighted and summed to obtain the evaluation result information.

9. The method for simulating sinusoidal breathing as described in claim 8, characterized in that, The calculation expression for the location assessment process is: ， middle, and These are the j-th position coordinate and the j-th difference coordinate of the cylinder position signal, respectively. Let j be the position coordinate of the cylinder position standard signal. and Let P and N be the first and second deviation angles corresponding to the j-th position coordinate, respectively; P be the intermediate evaluation value; N be the number of position coordinates included in the cylinder position signal; and Pw be the first evaluation value. Let represent the j-th order polynomial of the first kind of Chebyshev polynomial.

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