Medical lower limb power vehicle multi-sensor fusion calibration device

Abstract

The utility model relates to a multi-sensor fusion calibration device of a medical lower limb power vehicle, and aims to overcome the defects of existing rehabilitation equipment in the aspects of precision, dynamic response and personalized setting. The device integrates a photoelectric sensor, a potentiometer and a Hall sensor, and realizes high-precision monitoring of the motion state of the lower limbs through a multi-sensor fusion technology. The device is provided with a dynamic calibration mechanism, operation parameters can be automatically adjusted in real time according to sensor data, and it is ensured that equipment is always in the optimal state. According to the utility model, the measurement precision and the response speed are improved, the safety and the comfort level of a user are enhanced, the operation and maintenance processes are simplified, and the implementation of a personalized rehabilitation scheme is supported. Through accurate control and real-time feedback, the rehabilitation training efficiency and effect are remarkably improved, and a more reliable and efficient solution is provided for clinical application.

Description

Technical Field

[0001] The utility model relates to the field of medical devices, in particular to a multi-sensor fusion calibration device for a medical lower limb ergometer. Background Art

[0002] In the field of medical rehabilitation, medical lower limb ergometers, as important rehabilitation training devices, are widely used in the rehabilitation treatment of patients with limited mobility or lower limb function. These devices help patients gradually recover muscle strength and motor coordination by simulating walking or other leg movements. However, traditional lower limb ergometers have certain limitations in design and function, and it is difficult to meet the requirements of modern rehabilitation medicine for high precision, real-time feedback, and personalized settings.

[0003] Specifically, traditional lower limb ergometers mostly adopt simple mechanical structures and limited sensing technologies, such as potentiometers, to measure joint angles and monitor motion states. These systems often lack an accurate initial position calibration mechanism, resulting in unstable and unreliable measurement data during dynamic movements. At the same time, due to the lack of integration of advanced sensing technologies, such as optoelectronic sensors and Hall sensors, traditional systems perform poorly in high-precision measurement and real-time feedback, and it is difficult to meet the requirements of complex rehabilitation scenarios.

[0004] In addition, the control systems of most existing lower limb ergometers are designed relatively simply and usually can only achieve basic functions such as starting, stopping, and speed adjustment. They lack a mechanism to dynamically adjust operation parameters according to real-time data. This simple design limits the effectiveness and safety of the device under various operating conditions and cannot meet the requirements of personalized rehabilitation programs. For example, in the face of the specific rehabilitation needs of different patients, traditional systems often cannot provide customized training parameters and feedback, affecting the pertinence and effectiveness of rehabilitation training.

[0005] In summary, existing medical lower limb ergometers have many deficiencies in technical performance, measurement accuracy, real-time feedback, and personalized settings. There is an urgent need for an innovative technical solution to overcome these limitations and improve the overall performance of rehabilitation devices and the patient experience. Therefore, the utility model proposes a multi-sensor fusion and dynamic calibration control system for a medical lower limb ergometer, aiming to achieve precise monitoring and real-time feedback of the motion state of the lower limb ergometer by integrating multiple sensor technologies and an advanced dynamic calibration mechanism, thereby improving the efficiency and safety of rehabilitation training. Summary of the Utility Model

[0006] The utility model aims to solve the deficiencies of existing medical lower limb ergometers in terms of accuracy, dynamic response, and personalized settings. By introducing a multi-sensor fusion and dynamic calibration control system, it realizes the precise monitoring and real-time feedback of the motion state of the lower limb ergometer, thereby significantly improving the efficiency of rehabilitation training and the patient experience, ensuring the accuracy and adaptability of the device, and better meeting the needs of clinical rehabilitation.

[0007] In order to improve the performance of medical lower limb ergometers in terms of accuracy, dynamic response, and personalized settings, the utility model provides a multi-sensor fusion and dynamic calibration control system. The specific technical solutions are as follows:

[0008] It includes a multi-sensor fusion system that integrates an optoelectronic sensor, a potentiometer, and a Hall sensor to achieve high-precision monitoring of the dynamic and static states of the lower limb ergometer.

[0009] The optoelectronic sensor is responsible for accurately detecting the 0-degree reference of the lower limb starting position through optoelectronic conversion technology when the device is started, converting the angle signal into an electrical signal, and transmitting it to the main control unit for initial angle calibration. The installation position of the optoelectronic sensor is fixed at the reference point of the lower limb ergometer to ensure the accuracy of the initial position measurement.

[0010] The potentiometer continuously monitors the rotation angle of the lower limb and transmits the analog signal to the input end of the analog-to-digital converter (ADC) of the main control unit in real time to achieve continuous measurement of the angle change. The potentiometer is designed with high precision and has a linear output characteristic to ensure the stability and reliability of the measurement data.

[0011] The Hall sensor accurately monitors the rotation position and speed of the motor, feeds the real-time data back to the main control unit, and provides key parameters for the precise control of the motor. The Hall sensor is installed on the motor shaft through a non-contact measurement method to monitor the operating state of the motor in real time and improve the accuracy and reliability of the data.

[0012] The utility model also includes a real-time data feedback system, which consists of three modules: data acquisition, transmission, and feedback, to ensure the real-time processing and feedback of data from multiple sensors.

[0013] The data acquisition module integrates the data of the optoelectronic sensor, the potentiometer, and the Hall sensor, and performs preliminary processing and filtering to ensure the accuracy and stability of the data.

[0014] The data transmission module transmits the processed data to the main control unit in real time to ensure that the system can obtain the motion state of the lower limb in real time and provide data support for dynamic adjustment.

[0015] The data feedback module feeds back the real-time motion state data to the user and the rehabilitation therapist through a display screen or other feedback devices (such as indicator lights, buzzers, etc.), facilitating training adjustment and monitoring.

[0016] The utility model further includes an automatic calibration mechanism. The main control unit is built-in with an automatic calibration module, which automatically adjusts the calibration parameters according to the real-time changes of the sensor data to ensure that the device always operates in the optimal state.

[0017] When the device is started, an optoelectronic sensor is used to determine the 0-degree reference of the starting position of the lower limbs, and initial angle calibration is automatically performed to ensure that all sensors are in an accurate measurement state; during the operation of the device, the angle measurement is dynamically adjusted and calibrated according to the changes of the sensor data to ensure the accuracy of real-time measurement, improve the training effect and user experience; through advanced software algorithms, error analysis and compensation are performed on the sensor data, and system errors are automatically identified and corrected to further improve the measurement accuracy and the overall performance of the device.

[0018] The main control unit precisely controls the motor drive module through a Pulse Width Modulation (PWM) signal to achieve precise speed and direction control of the motor. According to the real-time feedback of the motion state data, the operating parameters of the motor are dynamically adjusted to ensure the accuracy and smoothness of the rehabilitation training.

[0019] This system is equipped with a friendly user interface for displaying real-time motion state data, receiving user input, and adjusting training parameters. The interface design is intuitive and easy to use, facilitating personalized settings and adjustments by the user and the rehabilitation therapist according to the actual situation, and enhancing the effect of the rehabilitation training and the user experience.

[0020] Through the technical solution of the utility model, the following beneficial effects can be achieved:

[0021] Improve measurement accuracy and response speed: The multi-sensor fusion system provides a multi-dimensional monitoring method, achieving high-precision measurement of the lower limb rotation angle, starting position, and motor speed, capturing more subtle motion changes in real time, and improving the response speed and accuracy of the control system.

[0022] Dynamic calibration and real-time adjustment: The automatic calibration mechanism can automatically adjust the calibration parameters according to the real-time data to ensure that the device operates in the optimal state. The dynamic adjustment function enables the lower limb ergometer to dynamically adjust the motion parameters according to the actual performance of the user, enhancing the pertinence and effect of the training.

[0023] Enhance user safety and comfort: Precise control and real-time feedback reduce errors during operation, enhancing the safety of device use. Precise control also means that the device can better adapt to the specific needs of the user, reduce discomfort during exercise, and improve comfort during the rehabilitation process.

[0024] Easy to operate and maintain: The automatic calibration mechanism simplifies the daily maintenance and calibration process of the device. Users can start and run the device without complex manual settings, reducing the dependence on the technical level of operators and making rehabilitation training more popular and convenient.

[0025] Enhance the implementability of personalized rehabilitation programs: By comprehensively utilizing various sensor data and the user interface, the present utility model can provide personalized rehabilitation programs for each user, taking into account the specific physical conditions and rehabilitation needs of the user, making the rehabilitation process more in line with the actual situation of the individual, thereby improving the rehabilitation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall system structure, showing the overall architecture of the system, including main components such as power supply, main control unit (main control), photoelectric sensor, potentiometer, Hall sensor, motor drive, and motor.

[0027] Figure 2 It is a schematic diagram of sensor installation, showing the specific installation positions and methods of the photoelectric sensor, potentiometer, and Hall sensor on the lower limb ergometer.

[0028] Figure 3 It is a schematic diagram of the main control unit and its interfaces, showing the main control unit (such as the STM32F405RGT6 microcontroller) and its interface connections with components such as sensors and motor drives.

[0029] Figure 4 It is a schematic diagram of the power supply circuit, showing the detailed circuit diagram of the power supply module.

[0030] Figure 5 It is a schematic diagram of the motor drive control circuit, showing the connection relationship and control logic between the motor drive module and the main control unit.

[0031] Figure 6 It is a schematic diagram of the sensor signal processing circuit, showing the detailed layout of the sensor signal processing circuit, including the signal input, processing, and output processes of the photoelectric sensor, potentiometer, and Hall sensor.

[0032] Figure 7 It is a schematic diagram of the user interface, showing the design of the user interaction interface, including a display screen and other feedback devices (such as indicator lights, buttons, etc.). DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The technical solutions of the present utility model will be described in detail below with reference to the accompanying drawings.

[0034] The utility model relates to a multi-sensor fusion and dynamic calibration control system for a medical lower limb ergometer. The specific implementation scheme includes the following parts: hardware composition, multi-sensor fusion, real-time data feedback system, and automatic calibration mechanism.

[0035] The main hardware of the control system in this embodiment includes a power supply, a main control unit (main control), a photoelectric sensor, a potentiometer, a Hall sensor, a motor driver, and a motor. The specific hardware connections are as follows:

[0036] Power supply: Provides stable +3.3V, +5V, and +12V voltages to ensure the normal operation of all electronic components such as sensors, control units, and drive modules; Main control unit (main control): Adopts the STM32F405RGT6 microcontroller, which is responsible for processing sensor data, controlling motor movement, performing automatic calibration, and interacting with the user interface. It communicates with sensors and motor drivers through high-speed serial communication interfaces to ensure fast response and high performance; Photoelectric sensor: Used to detect and determine the starting position of the lower limb, providing high-precision initial position measurement. The data is directly input into the main control unit for calibration; Potentiometer: Connected to the input terminal of the analog-to-digital converter (ADC1) of the main control unit, continuously monitors the movement angle of the lower limb, and outputs a continuous analog signal; Hall sensor: Precisely monitors the rotation position and speed of the motor, provides key motion state feedback, and is connected to the main control unit to monitor the operating state of the motor in real time; Motor driver: Controls the precise speed and direction of the motor through pulse width modulation (PWM) signals; Motor: Responsible for actually performing the actions of the lower limb to ensure the accuracy and smoothness of rehabilitation training.

[0037] In this embodiment, by combining a photoelectric sensor, a potentiometer, and a Hall sensor, high-precision monitoring of the dynamic and static states of the lower limb ergometer is achieved. The specific implementation method is as follows: Photoelectric sensor: At the start of the device, converts the angle signal of the starting position of the lower limb into an electrical signal through photoelectric conversion, providing high-precision initial position measurement for the main control unit; Potentiometer: Real-time detects the rotation angle of the lower limb and transmits the analog signal to the input terminal of ADC1 of the main control unit as a continuous measurement means for angle change; Hall sensor: Precisely monitors the rotation position and speed of the motor to ensure real-time monitoring and feedback of the operating state of the motor.

[0038] In this embodiment, by integrating the data of multiple sensors, real-time data feedback is achieved. The specific implementation steps include: Data acquisition: Integrates the data of the photoelectric sensor, potentiometer, and Hall sensor, performs preliminary processing and filtering to ensure the accuracy and stability of the data; Data transmission: Transmits the processed data to the main control unit in real time to ensure that the system can obtain the motion state of the lower limb in real time; Data feedback: Through a display screen or other feedback devices, the real-time data is fed back to the user to help the user and the rehabilitation therapist adjust the training.

[0039] In this embodiment, an automatic calibration mechanism is adopted to ensure that the device always operates in an optimal state. The specific implementation method is as follows: Initial calibration: When the device starts up, the optoelectronic sensor determines the 0-degree position and automatically performs initial angle calibration to ensure that all sensors are in an accurate measurement state; Dynamic calibration: During the operation of the device, according to the changes in sensor data, the angle measurement is dynamically adjusted and calibrated to ensure the accuracy of real-time measurement; Error compensation: Through software algorithms, error analysis and compensation are performed on the sensor data to further improve the measurement accuracy; Power supply: Turn on the device power supply, and the power module provides the required voltage for the system; Main control unit startup: The STM32F405RGT6 microcontroller starts up and initializes each sensor and motor drive module; Initial calibration: Determine the reference position of the lower limb starting point through the optoelectronic sensor and perform initial calibration; User starts the training program: After the user sets the operation parameters as needed and starts the training program, the main control unit controls the system to start moving according to the set parameters, and at the same time performs angle measurement and feedback; Real-time measurement and feedback: The potentiometer and Hall sensor detect the rotation angle of the lower limb and the operation state of the motor in real time, and the data is fed back to the main control unit for processing and display; Motion control: The main control unit generates a PWM signal to control the motor drive module according to the processed data to achieve precise motion control.

[0040] Through the technical solution of the present utility model, the measurement accuracy and response speed of the medical lower limb ergometer can be greatly improved, dynamic calibration and real-time adjustment can be achieved, the safety and comfort of users can be enhanced, at the same time, the operation and maintenance process of the device can be simplified, the feasibility of personalized rehabilitation programs can be enhanced, and a more efficient, safer and more comfortable rehabilitation training experience can be provided for users.

Claims

1. A multi-sensor fusion calibration device for a medical lower limb ergometer, characterized in that Including: An optoelectronic sensor, specifically configured to detect the 0-degree reference of the starting position of the lower limb through optoelectronic conversion when the device starts, convert the detected angle signal into an electrical signal, and transmit it to the main control unit for initial angle calibration; a potentiometer, connected to the input end of the analog-to-digital converter of the main control unit, continuously monitoring the rotation angle of the lower limb, and transmitting the analog signal to the main control unit in real time for continuous measurement of angle changes; A Hall sensor, configured to accurately monitor the rotation position and speed of the motor, and feedback the monitored real-time data to the main control unit to achieve precise control of the motor; a main control unit, including a data acquisition module, a data transmission module, a data feedback module, and an automatic calibration module, for processing data from the optoelectronic sensor, the potentiometer, and the Hall sensor, realizing dynamic calibration and real-time feedback, and controlling the motor drive module through a pulse width modulation signal to adjust the forward and reverse rotation and speed of the motor to achieve precise motion control.

2. The multi-sensor fusion calibration device for a medical lower limb ergometer according to claim 1, wherein The optoelectronic sensor is installed on the fixed reference point of the lower limb ergometer.

3. The multi-sensor fusion calibration device for a medical lower limb ergometer according to claim 1, characterized in that The potentiometer adopts a high-precision design and has a linear output characteristic.

4. A multi-sensor fusion calibration device for a medical lower limb power bike according to claim 1, characterized in that The Hall sensor is installed on the motor shaft and monitors the rotation position and speed of the motor in real time through non-contact measurement.

5. A multi-sensor fusion calibration device for a medical lower limb ergometer according to claim 1, characterized in that The main control unit further includes an error compensation algorithm for automatically adjusting the calibration parameters according to the real-time changes of the sensor data.

6. A multi-sensor fusion calibration device for a medical lower limb ergometer according to any one of claims 1 to 5, characterized in that It further includes a user interface for displaying real-time motion state data, receiving user input, and adjusting training parameters.

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