Heart rate monitoring system, monitoring method, seat assembly, electronic equipment and vehicle

Abstract

The invention discloses a heart rate monitoring system and method, a seat assembly, electronic equipment and a vehicle. The sensor is arranged on the seat, and the sensor is configured to acquire sensing data according to a passenger in the seat; the suspension is connected with the seat and a vehicle body of the vehicle, the suspension has the quasi-zero stiffness characteristic when the system is located at the static balance position, and the suspension is configured to reduce interference on the sensing data in the vehicle running process; the analysis module is connected with the sensor, and the analysis module is configured to obtain a heart rate monitoring result according to the sensing data. By means of the characteristic that the dynamic rigidity of the quasi-zero-rigidity suspension is reduced near the static balance position, vibration and noise in driving are effectively isolated, so that a more stable and reliable environment is provided for heart rate monitoring, and the heart rate monitoring accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of physiological information monitoring, specifically to a heart rate monitoring system, monitoring method, seat assembly, electronic device, and vehicle. Background Technology

[0002] In modern traffic environments, a driver's physiological state has a crucial impact on driving safety. Heart rate, as a key indicator reflecting the human body's physiological state, is of great significance for real-time monitoring in assessing a driver's health, fatigue level, and emotional state. However, during vehicle operation, driver heart rate measurement faces numerous interferences. These interference factors not only affect the accuracy of heart rate measurements but may also pose potential threats to driver safety. Summary of the Invention

[0003] This application provides a heart rate monitoring system, monitoring method, seat assembly, electronic device, and vehicle, which reduces interference with heart rate measurement and improves the accuracy of heart rate measurement.

[0004] To achieve the above objectives, according to a first aspect of this application, a heart rate monitoring system is provided, comprising:

[0005] Seats;

[0006] A sensor, disposed on the seat, is configured to acquire sensing data based on a passenger in the seat;

[0007] A suspension connected to the seat and the vehicle body, the suspension having near-zero stiffness characteristics when the system is in a static equilibrium position, and the suspension being configured to reduce interference with the sensor data during vehicle operation;

[0008] An analysis module is connected to the sensor and is configured to obtain heart rate monitoring results based on the sensor data.

[0009] Optionally, the suspension includes:

[0010] Multiple first elastic elements, one end of which is connected to the seat via a connecting rod, and the other end of which is fixedly connected to the vehicle body;

[0011] The second elastic element has one end connected to the seat and the other end fixedly connected to the vehicle body;

[0012] The connecting rod is connected at both ends to the first elastic element and the seat via hinges.

[0013] Optionally, the first elastic element is compressed to a length of a difference between a free length and a pre-compression amount in an initial installation state to form a pre-compression state, wherein the pre-compression state causes the first elastic element to continuously apply a pushing force to the seat through the connecting rod.

[0014] Optionally, the first elastic element is placed and displaced in parallel with respect to a vehicle body of the vehicle.

[0015] Optionally, the second elastic element is placed and displaced in perpendicular with respect to the vehicle body of the vehicle.

[0016] Optionally, the suspension is configured to have a quasi-zero stiffness characteristic in a static equilibrium position by:

[0017]

[0018] wherein k v is a stiffness of the second elastic element, N is a number of the first elastic elements, k h is a stiffness of the first elastic element, and Δx0 is the pre-compression amount, and L0 is a length of the connecting rod.

[0019] Optionally, the sensor comprises an acceleration sensor and a piezoelectric sensor,

[0020] the piezoelectric sensor is configured to acquire heart rate data according to a passenger on the seat;

[0021] the acceleration sensor is configured to acquire acceleration data;

[0022] the sensing data comprises the heart rate data and the acceleration data.

[0023] According to a second aspect of the present application, there is provided a seat assembly with a suspension, suitable for use in the heart rate monitoring system as described above, comprising:

[0024] a combination of the seat and the suspension in the heart rate monitoring system as described above, the suspension being connected with the seat, the suspension having a quasi-zero stiffness characteristic when the seat assembly with the suspension is in a static equilibrium position.

[0025] Optionally, the suspension comprises:

[0026] a plurality of first elastic elements, the first elastic elements being connected with the seat through a connecting rod;

[0027] a second elastic element, the second elastic element being connected with the seat;

[0028] the connecting rod, two ends of the connecting rod being connected with the first elastic elements and the seat through hinges respectively.

[0029] According to a third aspect of the present application, there is provided a seat assembly with suspension and sensor, suitable for the heart rate monitoring system as described above, comprising:

[0030] As the combination of the seat, the sensor and the suspension in the heart rate monitoring system as described above, the sensor is arranged on the seat, the suspension is connected with the seat, and the suspension has quasi-zero stiffness characteristic when the seat assembly with suspension and sensor is in the static equilibrium position.

[0031] Optionally, the suspension comprises:

[0032] a plurality of first elastic elements, connected with the seat through a connecting rod;

[0033] a second elastic element, connected with the seat;

[0034] the connecting rod, both ends of which are connected with the first elastic element and the seat through a hinge respectively.

[0035] According to a fourth aspect of the present application, there is provided a monitoring method, comprising:

[0036] obtaining heart rate data and acceleration data in the heart rate monitoring system as described above;

[0037] obtaining heart rate monitoring result according to the heart rate data and the acceleration data.

[0038] Optionally, the obtaining heart rate monitoring result according to the heart rate data and the acceleration data comprises:

[0039] first filtering the heart rate data according to the acceleration data to obtain preliminary denoised heart rate data;

[0040] second filtering the preliminary denoised heart rate data to obtain twice denoised heart rate data;

[0041] obtaining wave crest of the twice denoised heart rate data according to dynamic threshold, the dynamic threshold being determined according to the twice denoised heart rate data;

[0042] obtaining heart rate value according to the wave crest of the twice denoised heart rate data, to obtain the heart rate monitoring result according to the heart rate value.

[0043] Optionally, the first filtering the heart rate data according to the acceleration data to obtain preliminary denoised heart rate data comprises:

[0044] updating first filtering weight coefficient according to the heart rate data and the acceleration data;

[0045] According to the updated first filter weight coefficient, the heart rate data is first filtered to obtain the preliminary denoised heart rate data.

[0046] Optionally, before the first filtering of the heart rate data according to the acceleration data, the method further comprises:

[0047] The heart rate data and the acceleration data are synchronously processed to ensure the consistency of subsequent data processing timing.

[0048] Optionally, the heart rate data is multiple, and the method further comprises:

[0049] The multiple heart rate data is fused by using a weighted average method.

[0050] Optionally, the dynamic threshold comprises:

[0051] According to the secondary denoised heart rate data, a first parameter and a second parameter are obtained.

[0052] According to the first parameter, the second parameter and a preset empirical parameter, the dynamic threshold is obtained.

[0053] Optionally, the heart rate value is obtained according to the wave peak of the secondary denoised heart rate data, comprising:

[0054] According to the wave peak of the adjacent time, a preliminary wave peak interval is obtained.

[0055] The preliminary wave peak interval is statistically analyzed to obtain a target wave peak interval.

[0056] According to the target wave peak interval, a heart rate value is obtained.

[0057] Optionally, the heart rate value comprises a current time heart rate value and a previous time heart rate value, and the method further comprises:

[0058] If the deviation between the current time heart rate value and the previous time heart rate value is greater than a preset deviation threshold, the current time heart rate value is corrected according to the previous time heart rate value, or the current time heart rate value is smoothed.

[0059] Optionally, before the wave peak of the secondary denoised heart rate data is obtained according to the dynamic threshold, the method further comprises:

[0060] The secondary denoised heart rate data is differentially processed to enhance the rapidly changing part of the secondary denoised heart rate data.

[0061] According to a fifth aspect of the present application, an electronic device is provided, comprising:

[0062] A memory having a computer program / instruction stored thereon;

[0063] a processor configured to execute the computer programs / instructions in the memory to implement the steps of the monitoring method.

[0064] According to a sixth aspect of the present application, a computer readable storage medium is provided, which stores computer programs / instructions, which, when executed by a processor, implement the steps of the monitoring method.

[0065] According to a seventh aspect of the present application, a computer program product is provided, which comprises computer programs / instructions, which, when executed by a processor, implement the steps of the monitoring method.

[0066] According to an eighth aspect of the present application, a vehicle is provided, which comprises the electronic device as described above, or the computer readable storage medium as described above, or the heart rate monitoring system as described above, or the seat assembly with suspension as described above, or the seat assembly with suspension and sensor as described above.

[0067] The heart rate monitoring system provided by the present application is composed of a seat, a sensor, a suspension and an analysis module. The vibration and noise in the vehicle are effectively isolated from the sensor on the seat and the occupant by using the characteristic of the quasi-zero stiffness suspension that the dynamic stiffness is reduced near the equilibrium position, thereby providing a more stable and reliable environment for the sensor to collect data of the occupant. This not only improves the accuracy and reliability of the collected sensor data, but also makes the analysis module analyze more accurate and reliable heart rate monitoring results according to the collected sensor data.

[0068] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0070] Figure 1 A structure schematic diagram of a heart rate monitoring system provided by some embodiments of the present application;

[0071] Figure 2 A schematic diagram of a connection structure of an elastic element and a seat provided by some embodiments of the present application;

[0072] Figure 3 A schematic diagram of another connection structure of an elastic element and a seat provided by some embodiments of the present application;

[0073] Figure 4 A flowchart of a heart rate monitoring method according to some embodiments of the present application is shown in FIG. 1;

[0074] Figure 5 A flowchart of a heart rate monitoring method according to some embodiments of the present application is shown in FIG. 1;

[0075] Figure 6 A flowchart of a heart rate monitoring method according to some embodiments of the present application is shown in FIG. 1;

[0076] Figure 7 A flowchart of a heart rate monitoring method according to some embodiments of the present application is shown in FIG. 1; DETAILED DESCRIPTION

[0077] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application. In addition, it should be understood that the specific implementation manners described herein are only used to illustrate and explain the present application, and are not used to limit the present application.

[0078] In the modern traffic environment, the physiological and psychological state of the driver has a crucial influence on driving safety. Heart rate, as a key indicator reflecting the physiological state of the human body, its real-time monitoring is of great significance for evaluating the health status, fatigue degree and emotional state of the driver. Especially in long-distance driving or high-intensity driving situations, the change of the heart rate of the driver may be directly related to his reaction speed and judgment, and thus affect road traffic safety. However, during the driving of the car, the measurement of the heart rate of the driver is subject to many disturbances. First, the vibration caused by the uneven road surface, vehicle acceleration or deceleration and the like will have a serious impact on the BCG (Electrocardiogram, Ballistocardiogram) signal, making the signal distorted or difficult to identify. Second, the noise inside and outside the car will also interfere with the collection and analysis of the signal, further reducing the accuracy of the heart rate measurement. These interference factors not only affect the performance of the heart rate measurement technology, but also may pose a potential threat to the driving safety of the driver. Therefore, it is particularly important to develop a system that can effectively isolate vibration and noise interference and realize accurate non-contact heart rate measurement during the driving of the car.

[0079] To solve the above problems, the heart rate monitoring system provided by the embodiments of the present application is applied to a vehicle, which combines Figure 1 as shown in the figure, comprising:

[0080] a seat 1;

[0081] a sensor 2, the sensor 2 is arranged on the seat 1, the sensor 2 is configured to obtain sensing data according to a passenger in the seat 1;

[0082] a suspension 3, the suspension 3 is connected with the seat 1 and a vehicle body, the suspension 3 has a quasi-zero stiffness characteristic when the system is in a static equilibrium position, the suspension 3 is configured to reduce interference on the sensing data during vehicle driving;

[0083] an analysis module 4, the analysis module 4 is connected with the sensor 2, the analysis module 4 is configured to obtain a heart rate monitoring result according to the sensing data.

[0084] Wherein, it can be understood that the sensor 2 can include but is not limited to one or more different types of sensors to obtain one or more sensing data information, such as a body temperature sensor, a respiratory rate sensor, a heart rate sensor, a pressure sensor, a vibration sensor, etc.; the sensor 2 can include but is not limited to being arranged on the seat 1 by means of pasting, welding, screwing, etc.; the sensing data can include but is not limited to one or more different types of data, such as obtaining the heart rate related physiological data of the passenger on the seat 1 by the heart rate sensor, or obtaining the data information related to the speed change of the seat 1 in a certain direction caused by the vibration of the seat 1 on which the passenger is seated by the accelerometer, etc.; the quasi-zero stiffness characteristic can include but is not limited to a special designed nonlinear vibration isolation technology, by realizing the dynamic stiffness close to zero near the static equilibrium position, so as to significantly improve the isolation effect of low frequency or ultra-low frequency vibration; the analysis module 4 can include but is not limited to a processor configured to process the sensing data alone, or a processor shared with the vehicle domain control.

[0085] Specifically, a heart rate monitoring system comprises a seat 1, a sensor 2, a suspension 3 and an analysis module 4. One end of the suspension 3 is connected with the seat 1, such as the suspension 3 is installed on the bottom of the seat 1 through a hinge; the other end of the suspension 3 is connected with the body of the vehicle (such as fixedly connected), so that the seat 1 can be fixed on the vehicle through the suspension 3. The sensor 2 is arranged on the seat 1, such as on the cushion or backrest of the seat 1 to maximize the proximity to the passenger's body, so as to more effectively capture the sensor data related to the passenger, or placed behind the seat 1 to collect vibration-related data information of the seat 1. The analysis module 4 exchanges data with the sensor 2 through wired or wireless transmission, and the analysis module 4 analyzes and processes the sensor data collected by the sensor 2 to obtain a heart rate monitoring result. The heart rate monitoring system provided by the application is composed of a seat 1, a sensor 2, a suspension 3 and an analysis module 4. Among them, by utilizing the characteristic that the dynamic stiffness of the quasi-zero stiffness suspension 3 is reduced near the equilibrium position, the influence of vibration and noise in driving on the sensor 2 on the seat 1 and the occupant is effectively isolated, thereby providing a more stable and reliable environment for the sensor 2 to collect data of the occupant. In this way, not only the accuracy and reliability of the collected sensor data are improved, but also the analysis module 4 can analyze and process more accurate and reliable heart rate monitoring results according to the collected sensor data. This innovation not only improves the accuracy of the monitoring data, but also helps the system to operate stably in a more complex and variable driving environment.

[0086] In some embodiments, in combination with Figure 1 、 Figure 2 and Figure 3 , the suspension 3 comprises:

[0087] a plurality of first elastic elements 31, one end of which is connected with the seat 1 through a connecting rod 32, and the other end is fixedly connected with the body of the vehicle;

[0088] a second elastic element 33, one end of which is connected with the seat 1, and the other end is fixedly connected with the body of the vehicle;

[0089] a connecting rod 32, both ends of which are connected with the first elastic element 31 and the seat 1 through a hinge, respectively.

[0090] Among them, it can be understood that the fixed connection can include but is not limited to a connection mode that firmly combines two or more structural members (such as metal, plastic, composite material, etc.) to ensure their stability and strength in a force or vibration environment, such as welding connection, riveting connection, etc.; the hinge can include but is not limited to a connecting device that can realize the relative rotation or movement between two or more components, such as shaft hinge, pivot hinge, multidirectional or universal hinge, etc.

[0091] In particular, the suspension 3 is composed of first elastic elements 31, second elastic elements 33 and connecting rods 32. The number of first elastic elements 31 can be multiple, such as the four first elastic elements shown in Figure 2 and Figure 3 . One end of the first elastic elements 31 is connected to the seat 1 through a connecting rod 32, and the other end is fixedly connected to the body of the vehicle to provide a lateral force to the seat 1. The connecting rod 32 can also be understood as the number of first elastic elements 31, and the two ends of each connecting rod 32 are connected to a first elastic element 31 and the seat 1 through a hinge, respectively. One end of the second elastic element 33 is connected to the seat 1 (such as through a hinge), and the other end is fixedly connected to the body of the vehicle to provide a vertical force to the seat 1. In this way, the seat 1 can be fixed on the vehicle through the interaction of the first elastic elements 31, the second elastic elements 33 and the connecting rods 32. The design of multiple elastic elements and connecting rods can independently respond to different directions of impact on bumpy or uneven roads, avoiding the loss of control of a single spring due to excessive compression, thereby providing a more stable and reliable environment for heart rate monitoring.

[0092] In some embodiments, in combination with Figure 1 and Figure 2 , the number of first elastic elements 31 is four. The four first elastic elements 31 are respectively hinged to the left front, right front, left rear and right rear of the seat 1 base through four connecting rods 32. Through the characteristics of multi-dimensional support, load dispersion, etc., the stability, comfort, durability and adaptability of the suspension are significantly improved.

[0093] In some embodiments, in combination with Figure 1 and Figure 3 , the number of first elastic elements 31 is four. The four first elastic elements 31 are respectively hinged to the front, right, left and rear of the seat 1 base through four connecting rods 32. Through the characteristics of multi-dimensional support, load dispersion, etc., the stability, comfort, durability and adaptability of the suspension are significantly improved.

[0094] In some embodiments, in combination with Figure 1 , Figure 2 and Figure 3 , the first elastic elements 31 are compressed to a length that is the difference between their free length and pre-compression amount in the initial installation state to form a pre-compressed state, wherein the pre-compressed state causes the first elastic elements 31 to continuously apply a pushing force to the seat 1 through the connecting rods 32.

[0095] In some embodiments, the free length of the first elastic element 31 can be understood as the length of the first elastic element 31 in a natural state without external force. The pre-compression amount of the first elastic element 31 can be understood as the difference between the free length and the actual length of the first elastic element 31. For example, the pre-compression amount of the first elastic element 31 can be 20% of the free length of the first elastic element 31.

[0096] In particular, in the initial installation state, the length of the first elastic element 31 is compressed from the free length to the length of the difference between the free length and the pre-compression amount, so that the first elastic element 31 is in a compressed state, that is, a pre-compressed state. In this way, the first elastic element 31 continuously applies a pushing force to the seat 1 through the connecting rod 32. The first elastic element 31 has a certain pre-compression amount when installed, so that the seat still maintains spring compression when moving, offsets the vertical opposite pushing force of the second elastic element 33, and generates a negative stiffness effect. The negative stiffness effect can offset the road impact and improve the comfort.

[0097] In some embodiments, the first elastic element 31 is parallel to the vehicle body and parallel displacement, as shown in Figure 1 , Figure 2 and Figure 3 .

[0098] In particular, the first elastic element 31 is horizontally placed relative to the vehicle body, and the first elastic element 31 can only stretch and contract in the horizontal direction. The plurality of horizontally installed springs significantly improve the stability, comfort, durability and adaptability of the suspension through multi-dimensional support, load dispersion and other characteristics.

[0099] In some embodiments, the second elastic element 33 is vertically placed relative to the vehicle body and vertically displaced, as shown in Figure 1 , Figure 2 and Figure 3 .

[0100] In particular, the second elastic element 33 is vertically placed relative to the vehicle body, and the second elastic element 33 can only stretch and contract in the vertical direction. The second elastic element 33 is vertically installed, which can effectively buffer the road impact, support the gravity of the seat 1, and reduce the vibration of the seat 1 during vehicle driving.

[0101] In some embodiments, the suspension 3 has quasi-zero stiffness characteristics when configured in a static balance position, as shown in Figure 1 , Figure 1 and Figure 1 .

[0102]

[0103] wherein kv is the stiffness of the second elastic element 33, N is the number of the first elastic elements 31, k h is the stiffness of the first elastic element 31, Δx0 is the pre-compression, and l0 is the length of the connecting rod (32).

[0104] In particular, in a specific embodiment, the core of the quasi-zero stiffness suspension seat structure designed by the present application is to optimize the riding experience of the passenger through a special suspension structure. The suspension 3 is installed at the bottom of the car seat 1, which is composed of N horizontally symmetrically arranged first elastic elements 31 (only horizontal displacement), a connecting rod 32 and a vertically arranged second elastic element 33 (only vertical displacement). Among them, the horizontal spring first elastic element 31 plays a key role in the suspension, which constructs the negative stiffness of the whole system through special configuration. The first elastic element 31 has a certain pre-compression when installed, denoted as Δx0, which has an important influence on the subsequent deformation and restoring force of the first elastic element 31.

[0105] When the suspension system 3 is displaced downward by a small amount x, the first elastic element 31 will further deform due to the action of the connecting rod 32. Let the original length of the connecting rod be L0, the original length of the spring be l, and the angle formed after tilting be θ, then the total deformation Δx of the first elastic element 31 can be expressed as the sum of the pre-compression and the additional deformation caused by tilting, that is:

[0106]

[0107] At this time, the restoring force F h of each first elastic element 31 can be calculated from its stiffness k h and deformation Δx:

[0108]

[0109] Since the first elastic element 31 is symmetrically arranged and the number is N, the total first elastic element 31 restoring force in the vertical direction F v can be expressed as:

[0110]

[0111] It can be seen that the restoring force F v increases with the increase of displacement x, which is embodied as when the system is displaced downward, the first elastic element 31 actually also provides a downward restoring force, causing the negative stiffness of the system to be manifested. At this time, the stiffness of the system can be expressed as:

[0112]

[0113] To balance the negative stiffness generated by the first elastic element 31, a second elastic element 33 arranged vertically is introduced into the seat suspension system to provide positive stiffness. Assuming the stiffness of the second elastic element 33 is k v , which generates a restoring force proportional to displacement:

[0114] F v,spring = k v x

[0115] At this time, the total stiffness of the entire suspension system is:

[0116]

[0117] To achieve the quasi-zero stiffness characteristic of the system near the equilibrium position, the stiffness of the second elastic element 33 needs to be carefully designed so that the negative stiffness generated by the first elastic element 31 near the equilibrium position and the positive stiffness generated by the second elastic element 33 are mutually offset, that is:

[0118]

[0119] By determining the pre-compression amount of the first elastic element 31, the length of the connecting rod 32, and the stiffness of the second elastic element 33 and the first elastic element 31, etc. Key parameters, the designed quasi-zero stiffness suspension seat structure can effectively isolate vibrations and noises during driving. This structure not only significantly improves the comfort of passengers, but also provides a stable working environment for car seats and other sensing components.

[0120] In some embodiments, in combination Figure 2 As shown, the sensor 2 includes an acceleration sensor 21 and a piezoelectric sensor 22,

[0121] The piezoelectric sensor 22 is configured to obtain heart rate data according to the passenger on the seat 1;

[0122] The acceleration sensor 21 is configured to obtain acceleration data;

[0123] The sensing data includes heart rate data and acceleration data.

[0124] Wherein, it can be understood that the piezoelectric sensor 22 can include but is not limited to one or more, which can be arranged on the seat cushion of the seat 1, or can be arranged on the backrest of the seat 1; The acceleration sensor can include but is not limited to a MEMS (Micro-Electro-Mechanical Systems) acceleration sensor, a single-axis sensor, a multi-axis sensor, etc. used to collect speed changes caused by vehicle vibration.

[0125] Specifically, in a specific embodiment, the piezoelectric sensor 22 and the acceleration sensor 21 are the key components used in the present application to measure the heart rate signal, and their installation positions are as shown in Figure 3 The piezoelectric sensor 22 is directly installed under the cushion of the car seat to maximize the proximity to the passenger's body, thereby more effectively capturing the slight vibrations caused by the heartbeat. This sensor is based on the piezoelectric effect and generates an electric charge when subjected to pressure or vibration, with high sensitivity and fast response characteristics, enabling accurate capture of seat vibrations caused by the heartbeat and converting them into an electrical signal output, reducing signal transmission delays and ensuring real-time and accuracy of heart rate monitoring. By integrating multiple piezoelectric sensor signals and using a weighted average method to fuse multiple signals, the strength and stability of the signal are improved.

[0126] Unlike the piezoelectric sensor 22, the acceleration sensor 21 is installed on the hard shell of the quasi-zero stiffness vibration isolation seat to ensure that it can capture interference signals from various sources to the maximum extent. Its main task is to collect clutter interference signals, which are mainly derived from external factors such as road bumps and engine vibrations during vehicle travel. These interference signals collected by the acceleration sensor 21 are then used in the noise adaptive filtering process to further purify the heart rate signal captured by the piezoelectric sensor, thereby improving the quality and accuracy of the heart rate signal collected by the piezoelectric sensor.

[0127] The present application provides a seat assembly with a suspension, which is applicable to the heart rate monitoring system as shown in Figure 1 , Figure 2 and Figure 3 , and comprises:

[0128] The combination of the seat 1 and the suspension 3 in the heart rate monitoring system as described above, the suspension 3 is connected to the seat 1, and the suspension 3 has a quasi-zero stiffness characteristic when the seat assembly with a suspension is in a static equilibrium position.

[0129] It can be understood that, since the seat assembly with a suspension provided by the present application is used in the heart rate monitoring system, including the combination of the seat 1 and the suspension 3, both can solve the same problem and achieve the same effect, and the present application will not be repeated here.

[0130] In some embodiments, in combination with Figure 2 , Figure 3 and Figure 1 , the suspension 3 comprises:

[0131] a plurality of first elastic elements 31, the first elastic elements 31 being connected to the seat 1 through the connecting rods 32;

[0132] a second elastic element 33, the second elastic element 33 being connected to the seat 1;

[0133] a connecting rod 32, two ends of which are connected with the first elastic element 31 and the seat 1 respectively through a hinge.

[0134] It can be understood that the hinge can include, but is not limited to, a connecting device capable of realizing relative rotation or movement between two or more components, such as a shaft hinge, a pivot hinge, a multi-directional or universal hinge, etc.

[0135] Specifically, the suspension 3 is composed of the first elastic element 31, the second elastic element 33 and the connecting rod 32. The number of the first elastic element 31 can be multiple, such as Figure 2 and Figure 3 four first elastic elements as shown. One end of the first elastic element 31 is connected with the seat 1 through a connecting rod 32. The connecting rod 32 can also be understood as the number being consistent with the number of the first elastic element 31, and two ends of each connecting rod 32 are connected with one first elastic element 31 and the seat 1 respectively through a hinge. One end of the second elastic element 33 is connected with the seat 1 (such as through a hinge). The design of multiple elastic elements and connecting rods can independently respond to impacts in different directions on bumpy or uneven road surfaces, avoiding the loss of control of a single spring due to excessive compression, thereby providing a more stable and reliable environment for heart rate monitoring.

[0136] The embodiments of the present application provide a seat assembly with a suspension and a sensor, which is applicable to the heart rate monitoring system as shown in Figure 1 , Figure 2 and Figure 3 , and comprises:

[0137] The combination of the seat 1, the sensor 2 and the suspension 3 in the above-mentioned heart rate monitoring system, the sensor 2 is arranged on the seat 1, the suspension 3 is connected with the seat 1, and the suspension 3 has a quasi-zero stiffness characteristic when the seat assembly with a suspension and a sensor is in a static equilibrium position.

[0138] It can be understood that, since the seat assembly with a suspension and a sensor provided by the present application is used in the heart rate monitoring system, which comprises the combination of the seat 1, the sensor 2 and the suspension 3, both can solve the same problem and achieve the same effect, and the present application will not be repeated here.

[0139] In some embodiments, in combination with Figure 2 , Figure 3 and Figure 4 , the suspension 3 comprises:

[0140] a plurality of first elastic elements 31, the first elastic element 31 being connected with the seat 1 through a connecting rod 32;

[0141] a second elastic element 33, the second elastic element 33 being connected with the seat 1;

[0142] A connecting rod 32 is connected to the first elastic element 31 and the seat 1 by a hinge at both ends.

[0143] It can be understood that the hinge can include, but is not limited to, a connecting device capable of realizing relative rotation or movement between two or more components, such as a shaft hinge, a pivot hinge, a multi-directional or universal hinge, etc.

[0144] Specifically, the suspension 3 is composed of the first elastic element 31, the second elastic element 33 and the connecting rod 32. The number of the first elastic element 31 can be multiple, such as Figure 4 and Figure 5 as shown, there are four first elastic elements. One end of the first elastic element 31 is connected to the seat 1 by a connecting rod 32. The connecting rod 32 can also be understood as the number of the first elastic element 31, and the two ends of each connecting rod 32 are connected to a first elastic element 31 and a seat 1 by a hinge. One end of the second elastic element 33 is connected to the seat 1 (such as by a hinge). The design of multiple elastic elements and connecting rods can independently respond to different directions of impact in bumpy or uneven road conditions, avoiding the loss of control of a single spring due to excessive compression, thereby providing a more stable and reliable environment for heart rate monitoring.

[0145] The embodiment of the application provides a heart rate monitoring method, which combines Figure 4 as shown, comprising:

[0146] Obtaining heart rate data and acceleration data in the heart rate monitoring system as described above;

[0147] Obtaining a heart rate monitoring result according to the heart rate data and the acceleration data.

[0148] It can be understood that the heart rate data can include, but is not limited to, an electrical signal converted from a small vibration signal caused by the heartbeat of the occupant; the acceleration data can include, but is not limited to, data information related to the speed change of the seat 1 in a certain direction caused by external factors such as road bumps and engine vibrations during vehicle driving.

[0149] Specifically, the heart rate data collected by the piezoelectric sensor 22 and the acceleration data collected by the acceleration sensor 21 are obtained. Then the heart rate data and the acceleration data are processed, such as through the use of multi-sensor signal enhancement, adaptive noise reduction, signal difference, adaptive threshold processing and probability density estimation algorithms, to obtain the heart rate monitoring result. Joint processing of heart rate data and acceleration data can improve the anti-interference ability, accuracy and reliability of heart rate monitoring.

[0150] In some embodiments, the heart rate monitoring result is reminded to the occupant through a speaker and / or a screen display and / or a seat vibration, etc.

[0151] In some embodiments, the heart rate monitoring result is reminded to the occupant through a speaker and / or a screen display and / or a seat vibration, etc. Figure 5 and Figure 6 As shown in the figures, the heart rate monitoring result is obtained according to the heart rate data and the acceleration data, including:

[0152] The heart rate data is first filtered according to the acceleration data to obtain preliminary denoised heart rate data;

[0153] The preliminary denoised heart rate data is second filtered to obtain twice denoised heart rate data;

[0154] The wave peaks of the twice denoised heart rate data are obtained according to a dynamic threshold, the dynamic threshold being determined according to the twice denoised heart rate data;

[0155] The heart rate value is obtained according to the wave peaks of the twice denoised heart rate data, so as to obtain the heart rate monitoring result according to the heart rate value.

[0156] It can be understood that the first filtering and the second filtering can include but are not limited to processing the data based on different filtering algorithms respectively to obtain different denoised data, such as through linear filtering algorithm, nonlinear filtering algorithm, convolutional neural network, wavelet threshold denoising, etc. The wave peak can include but is not limited to the local or global maximum point in the time domain or frequency domain representation of the signal.

[0157] Specifically, the heart rate data is first filtered according to the acceleration data to obtain preliminary denoised heart rate data. For example, the data information about the speed change of the seat 1 in a certain direction caused by the road bumps, engine vibration and other external factors during the driving of the vehicle collected by the acceleration data can be used as interference signals, so as to further purify the heart rate data captured by the piezoelectric sensor 22 when the heart rate data is first filtered, thereby improving the quality and accuracy of the heart rate signal collected by the piezoelectric sensor 22. After the first filtering, the preliminary denoised heart rate data is obtained, and then the preliminary denoised heart rate data is second filtered to further purify the signal and obtain secondary denoised heart rate data. In a specific embodiment, the second filtering is a band-pass filtering, and the band-pass filtering is performed on the preliminary denoised heart rate data to further purify the signal and highlight the information related to the heartbeat. The band-pass filter can remove low-frequency and high-frequency noise and only allow the frequency components related to the heart rate to pass. According to the parameter information of the secondary denoised heart rate data such as mean, variance, amplitude, etc., a dynamic threshold is first obtained, and then according to the dynamic threshold, the wave peak of the secondary denoised heart rate data is detected, for example, when the signal extreme point exceeds the threshold, it is considered that a wave peak is detected. According to the wave peak of the secondary denoised heart rate data, the frequency of the wave peak appearing in the time period can be further obtained, and the heart rate value can be obtained in this way, so as to obtain the heart rate monitoring result according to the heart rate value.

[0158] In some embodiments, in combination with Figure 4 , Figure 5 and Figure 6 , the first filtering of the heart rate data according to the acceleration data to obtain the preliminary denoised heart rate data includes:

[0159] updating the first filtering weight coefficient according to the heart rate data and the acceleration data;

[0160] first filtering the heart rate data according to the updated first filtering weight coefficient to obtain the preliminary denoised heart rate data.

[0161] It can be understood that the first filtering weight coefficient can include but is not limited to one of the parameters of the first filtering algorithm.

[0162] Specifically, in one specific embodiment, the first filtering of the present application adopts an adaptive filtering method based on the Least Mean Squares (LMS) algorithm, further enhancing the clarity and accuracy of the heart rate signal. This method can dynamically adjust the parameters of the filter according to the real-time collected signals to achieve the best noise reduction effect. In the specific implementation process, the clutter interference signals collected by the acceleration sensor 21 are used as the reference input of the LMS filter. The filter will adjust and process the heart rate signal captured by the piezoelectric sensor 22 in real time according to these reference signals, update the weight coefficients according to the correlation between the error signal and the input signal, and the weight coefficient update formula can be expressed as:

[0163] w(n+1) = w(n) + μe(n)x(n)

[0164] where w(n) represents the filter weight coefficient vector at the nth time, μ represents the learning rate that controls the convergence speed and stability of the algorithm, e(n) is the error signal at the nth time, i.e. the difference between the expected output and the actual output, and x(n) is the input signal vector at the nth time. At each time n, the heart rate signal of the piezoelectric sensor 22 is obtained as the expected output, and the clutter interference signal of the acceleration sensor 21 is obtained as the input signal x(n). The actual output of the filter is calculated and compared with the expected output, and the weight coefficient of the filter is adjusted according to the weight coefficient update formula until the satisfactory noise reduction effect is achieved or the stopping condition is met to stop the weight coefficient update, thereby gradually approaching the optimal solution to maximize the elimination of external interference factors, thereby obtaining a more clear and accurate heart rate signal.

[0165] In some embodiments, as shown in Figure 1 , Figure 4 and Figure 5 , before the first filtering of the heart rate data according to the acceleration data, further comprising:

[0166] synchronizing the heart rate data and the acceleration data to ensure the timing consistency in subsequent data processing.

[0167] Specifically, in order to ensure the timing consistency in subsequent data processing, the heart rate data and the acceleration data are synchronized, such as through time alignment methods such as cross-correlation analysis to synchronize the two types of signals.

[0168] In some embodiments, as shown in Figure 6 , Figure 4 , Figure 5 and Figure 7 , the heart rate data is multiple, comprising:

[0169] The multiple heart rate data is fused by a weighted average method.

[0170] Specifically, the piezoelectric sensor 22 can be multiple, multiple piezoelectric sensors 22 collect signals at the same time, and multiple heart rate data need to be fused by weighted average method to improve the strength and stability of the signal.

[0171] In some embodiments, in combination with Figure 4 、 Figure 5 and Figure 7 , the dynamic threshold includes:

[0172] According to the secondary denoising heart rate data, the first parameter and the second parameter are obtained.

[0173] According to the first parameter, the second parameter and the preset empirical parameter, the dynamic threshold is obtained.

[0174] It can be understood that the first parameter and the second parameter can include but are not limited to the amplitude, variance, maximum value and minimum value of the secondary denoising heart rate data; the preset empirical parameter can include but is not limited to the empirical coefficient adjusted according to the actual situation.

[0175] Specifically, in one specific embodiment, in order to accurately detect the waveform peak value representing the pulse change speed, an adaptive threshold processing method capable of dynamically adjusting the threshold according to the statistical characteristics of the signal is adopted to adapt to the changes of different individuals and signal quality. The adaptive threshold can be determined by calculating the mean and standard deviation of the signal, and the formula is as follows:

[0176] Threshold = mu + k * sigma

[0177] Wherein, mu is the mean of the secondary denoising heart rate data, sigma is the standard deviation of the secondary denoising heart rate data, and k represents the empirical coefficient adjusted according to the actual situation, such as 0 < k < 1. When the extreme value point of the secondary denoising heart rate data signal exceeds this threshold, it is considered that a wave peak is detected.

[0178] In some embodiments, in combination with Figure 4 、 Figure 5 and Figure 7 , according to the wave peak of the secondary denoising heart rate data, the heart rate value is obtained, including:

[0179] According to the adjacent time wave peak, the preliminary wave peak interval is obtained.

[0180] Statistical analysis is performed on the preliminary wave peak interval to obtain the target wave peak interval.

[0181] According to the target wave peak interval, the heart rate value is obtained.

[0182] It can be understood that the statistical analysis can include but is not limited to the statistical analysis of multiple preliminary wave peak intervals, and then based on the probability distribution, the distribution of the preliminary wave peak intervals with different values is obtained.

[0183] Specifically, after obtaining a plurality of preliminary peak intervals according to the wave peaks of adjacent time points, in order to improve the accuracy, the interval values are smoothed, for example, using a probability density estimation method. Specifically, statistical analysis is performed on the detected preliminary peak intervals to obtain a probability density function (PDF). Then, according to the shape and parameters of the PDF, the peak interval with the highest probability density is estimated as the target peak interval. Finally, the heart rate value is obtained according to the target peak interval. In a specific embodiment, for example, the plurality of preliminary peak intervals, the probability density at interval A is the highest, and interval A is taken as the target peak interval. Finally, 60s divided by the target peak interval is the heart rate value.

[0184] In some embodiments, in combination with Figure 4 , Figure 5 and Figure 7 as shown, the heart rate value includes the current time heart rate value and the previous time heart rate value, including:

[0185] If the deviation between the current time heart rate value and the previous time heart rate value is greater than a preset deviation threshold, the current time heart rate value is corrected according to the previous time heart rate value, or the current time heart rate value is smoothed.

[0186] Specifically, in a specific embodiment, the reliability of the current time heart rate value is judged by comparing the current time heart rate value with the previous time heart rate value. If the deviation between the two exceeds the preset deviation threshold, it is considered that the current time heart rate value may not be accurate and needs to be corrected or smoothed. Let the previous time heart rate value be HR prev , and the current time heart rate value be HR curr , the reliability judgment formula can be expressed as:

[0187] |HR curr -HR prev |≤Δ max

[0188] Where Δ max represents the preset deviation threshold of the allowable heart rate deviation between two adjacent time points. If the formula does not hold, it means that the current time heart rate value may have a large deviation, and needs to be smoothed by using a moving average or other filtering method, or directly using the previous time heart rate value as the current time heart rate value.

[0189] In some embodiments, in combination with ​ , ​ and ​ as shown, before obtaining the wave peak of the secondary denoising heart rate data according to the dynamic threshold, it further includes:

[0190] The secondary noise-reduced heart rate data is subjected to a difference processing to enhance the fast changing part of the secondary noise-reduced heart rate data.

[0191] Specifically, in a specific embodiment, the heart rate feature is further enhanced by differentiating the secondary noise-reduced heart rate data. The differentiation operation can highlight the fast changing part of the secondary noise-reduced heart rate data, which helps to detect the waveform change caused by the heartbeat. The calculation relationship can be expressed as:

[0192] y(n) = 2x(n) + x(n-1) - x(n-3) - 2x(n-4)

[0193] The differentiation equation used in the present application involves the signal values at the current time and the previous 1, 3, and 4 times, which can integrate the information of multiple times and comprehensively capture the change trend and feature of the heartbeat signal. At the same time, by weighting and combining the signals at multiple times, the signal can be smoothed to a certain extent, and the influence of noise can be reduced. When the noise is random noise, the influence of noise in the signal values at multiple times can be offset, thereby improving the signal-to-noise ratio of the signal.

[0194] The present application also provides an electronic device, comprising:

[0195] a memory having a computer program / instruction stored thereon;

[0196] a processor configured to execute the computer program / instruction in the memory to implement the steps of the monitoring method described above.

[0197] The present application also provides a computer readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the monitoring method described above.

[0198] The present application also provides a computer program product comprising a computer program / instruction, which, when executed by a processor, implements the steps of the monitoring method described above.

[0199] The present application also provides a vehicle comprising the electronic device described above, or the computer readable storage medium described above, or the heart rate monitoring system described above, or the seat assembly with suspension described above, or the seat assembly with suspension and sensor described above.

[0200] In the description of the specification, the description with reference to the terms "specifically", "further", "particularly", "it can be understood that", and the like described in connection with the embodiments or examples means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the illustrative expression of the above terms does not intend to refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0201] Any process or method descriptions or descriptions of the flow diagrams in the flow charts described herein and elsewhere can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for performing specific logic functions or steps in the process, and that the various embodiments of the application include the use of one or more of these processes or methods, which processes or methods can be implemented in hardware, software, or a combination of both, and that the processes or methods described in connection with the preferred embodiments of the application can be implemented in an ordered manner, in parallel, or in a combination of both, and that the order of any steps can be varied, including the use of a different order, depending upon the implementation desired by the user.

[0202] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary, and are not to be construed as limiting the present application, and that those ordinarily skilled in the art can make changes, modifications, substitutions and variations to the above-described embodiments within the scope of the present application.

Claims

1. A heart rate monitoring system for use in a vehicle, the system comprising: Comprising: a seat (1); a sensor (2) disposed on the seat (1), the sensor (2) being configured to acquire sensing data according to a passenger in the seat (1); a suspension (3) connected with the seat (1) and a vehicle body, the suspension (3) having quasi-zero stiffness characteristic when the system is in a static equilibrium position, the suspension (3) being configured to reduce interference on the sensing data during driving of the vehicle; an analysis module (4) connected with the sensor (2), the analysis module (4) being configured to obtain heart rate monitoring results according to the sensing data.

2. The heart rate monitoring system of claim 1, wherein, The suspension (3) comprises: a plurality of first elastic elements (31) having one end connected with the seat (1) through a connecting rod (32) and the other end fixedly connected with the vehicle body; a second elastic element (33) having one end connected with the seat (1) and the other end fixedly connected with the vehicle body; The connecting rod (32) has two ends respectively connected with the first elastic element (31) and the seat (1) through a hinge.

3. The heart rate monitoring system of claim 2, wherein, The first elastic element (31) is compressed to a length difference between its free length and pre-compression amount in an initial installation state to form a pre-compression state, wherein the pre-compression state causes the first elastic element (31) to continuously apply a pushing force to the seat (1) through the connecting rod (32).

4. Heart rate monitoring system according to claim 2 or 3, characterized in that, The first elastic element (31) is placed and displaced in parallel with respect to the vehicle body.

5. The heart rate monitoring system of claim 2, wherein, The second elastic element (33) is placed and displaced vertically with respect to the vehicle body.

6. The heart rate monitoring system according to any one of claims 1-5, characterized in that, The suspension (3) is configured to have quasi-zero stiffness characteristic when in the static equilibrium position by the following parameters: wherein k v is the stiffness of the second elastic element (33), N is the number of the first elastic elements (31), k h is the stiffness of the first elastic element (31), Δx0 is the pre-compression amount, L0 is the length of the connecting rod (32).

7. The heart rate monitoring system of claim 1, wherein, The sensor (2) comprises an acceleration sensor (21) and a piezoelectric sensor (22), The piezoelectric sensor (22) is configured to acquire heart rate data according to a passenger on the seat (1); The acceleration sensor (21) is configured to acquire acceleration data; The sensing data comprises the heart rate data and the acceleration data.

8. A seat assembly having a suspension, characterized by, Suitable for the heart rate monitoring system according to any one of claims 1-7, comprising: A combination of the seat (1) and the suspension (3) in the heart rate monitoring system according to any one of claims 1-7, the suspension (3) being connected with the seat (1), the suspension (3) having quasi-zero stiffness characteristic when the seat assembly with suspension is in a static equilibrium position.

9. The seat assembly having a suspension of claim 8, wherein, The suspension (3) comprises: a plurality of first elastic elements (31) connected with the seat (1) through a connecting rod (32); a second elastic element (33) connected with the seat (1); The connecting rod (32) has two ends respectively connected with the first elastic element (31) and the seat (1) through a hinge.

10. A seat assembly having a suspension and a sensor, characterized by, Suitable for the heart rate monitoring system according to any one of claims 1-7, comprising: The seat (1), the sensor (2) and the suspension (3) in the heart rate monitoring system according to any one of claims 1-7, wherein the sensor (2) is arranged on the seat (1), and the suspension (3) is connected with the seat (1), and the suspension (3) has a quasi-zero stiffness characteristic when the seat assembly with the suspension and the sensor is in a static equilibrium position.

11. The seat assembly having a suspension and a sensor of claim 10, wherein, The suspension (3) comprises: a plurality of first elastic elements (31) connected with the seat (1) through a connecting rod (32); a second elastic element (33) connected with the seat (1); the connecting rod (32) is connected with the first elastic element (31) and the seat (1) through a hinge at both ends.

12. A heart rate monitoring method, characterized by, comprising: obtaining heart rate data and acceleration data in the heart rate monitoring system according to any one of claims 1-7; obtaining a heart rate monitoring result according to the heart rate data and the acceleration data.

13. The monitoring method of claim 12, wherein, The method for obtaining a heart rate monitoring result according to the heart rate data and the acceleration data comprises: performing first filtering on the heart rate data according to the acceleration data to obtain preliminary denoised heart rate data; performing second filtering on the preliminary denoised heart rate data to obtain twice denoised heart rate data; obtaining wave crests of the twice denoised heart rate data according to a dynamic threshold value, wherein the dynamic threshold value is determined according to the twice denoised heart rate data; obtaining a heart rate value according to the wave crests of the twice denoised heart rate data, so as to obtain the heart rate monitoring result according to the heart rate value.

14. The monitoring method according to claim 13, characterized in that, The method for performing first filtering on the heart rate data according to the acceleration data to obtain preliminary denoised heart rate data comprises: updating a first filtering weight coefficient according to the heart rate data and the acceleration data; performing first filtering on the heart rate data according to the updated first filtering weight coefficient to obtain the preliminary denoised heart rate data.

15. The monitoring method of claim 14, wherein, Before the method for performing first filtering on the heart rate data according to the acceleration data, the method further comprises: performing synchronization processing on the heart rate data and the acceleration data to ensure consistency of subsequent data processing timing.

16. The monitoring method according to any one of claims 12-15, characterized in that, The heart rate data is multiple, and the method further comprises: performing fusion processing on the multiple heart rate data by using a weighted average method.

17. The monitoring method of claim 13, wherein, The dynamic threshold value comprises: obtaining a first parameter and a second parameter according to the twice denoised heart rate data; obtaining the dynamic threshold value according to the first parameter, the second parameter and a preset empirical parameter.

18. The monitoring method of claim 13, wherein, The method for obtaining a heart rate value according to the wave crests of the twice denoised heart rate data comprises: obtaining a preliminary wave crest interval according to adjacent time instants of the wave crests; performing statistical analysis on the preliminary wave crest interval to obtain a target wave crest interval; obtaining a heart rate value according to the target wave crest interval.

19. The monitoring method of claim 18, wherein, The heart rate value comprises a current time instant heart rate value and a previous time instant heart rate value, and the method further comprises: if a deviation between the current time instant heart rate value and the previous time instant heart rate value is greater than a preset deviation threshold value, correcting the current time instant heart rate value according to the previous time instant heart rate value, or performing smoothing processing on the current time instant heart rate value.

20. The monitoring method of claim 13, wherein, The method further comprises, before the peak of the secondary denoised heart rate data is obtained according to the dynamic threshold value: The secondary denoised heart rate data is subjected to differential processing to enhance the rapidly changing part of the secondary denoised heart rate data.

21. An electronic device, comprising: The method comprises: a memory having stored thereon computer programs / instructions; a processor configured to execute the computer programs / instructions in the memory to implement the steps of the heart rate monitoring method of claims 12-20.

22. A computer readable storage medium having stored thereon computer programs / instructions, characterized in that, The computer programs / instructions, when executed by the processor, implement the steps of the heart rate monitoring method of claims 12-20.

23. A computer program product comprising computer programs / instructions, characterized in that, The computer programs / instructions, when executed by the processor, implement the steps of the heart rate monitoring method of claims 12-20.

24. A vehicle characterized by comprising: The vehicle comprises the electronic device of claim 21, or the computer readable storage medium of claim 22, or the heart rate monitoring system of any one of claims 1-7, or the seat assembly with suspension of claim 8 or 9, or the seat assembly with suspension and sensor of claim 10 or 11.

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