CN108542369B - Heart rate respiration detection method and system - Google Patents
Heart rate respiration detection method and system Download PDFInfo
- Publication number
- CN108542369B CN108542369B CN201810339722.8A CN201810339722A CN108542369B CN 108542369 B CN108542369 B CN 108542369B CN 201810339722 A CN201810339722 A CN 201810339722A CN 108542369 B CN108542369 B CN 108542369B
- Authority
- CN
- China
- Prior art keywords
- heart rate
- respiration
- signal
- denoised
- acceleration sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000029058 respiratory gaseous exchange Effects 0.000 title claims abstract description 185
- 238000001514 detection method Methods 0.000 title claims abstract description 59
- 239000004744 fabric Substances 0.000 claims abstract description 108
- 230000001133 acceleration Effects 0.000 claims abstract description 107
- 230000000241 respiratory effect Effects 0.000 claims abstract description 41
- 238000001914 filtration Methods 0.000 claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims description 15
- 239000004677 Nylon Substances 0.000 claims description 14
- 229920001778 nylon Polymers 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 9
- 238000000605 extraction Methods 0.000 claims description 6
- 230000000877 morphologic effect Effects 0.000 claims description 6
- 238000010009 beating Methods 0.000 claims 2
- 230000005855 radiation Effects 0.000 abstract description 8
- 230000006378 damage Effects 0.000 abstract description 6
- 238000005457 optimization Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/08—Detecting, measuring or recording devices for evaluating the respiratory organs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
- A61B5/6891—Furniture
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7203—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
- A61B5/7235—Details of waveform analysis
- A61B5/725—Details of waveform analysis using specific filters therefor, e.g. Kalman or adaptive filters
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Animal Behavior & Ethology (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Physiology (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Psychiatry (AREA)
- Cardiology (AREA)
- Pulmonology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention relates to a heart rate respiration detection method and a system, comprising the following steps: acquiring a heart rate respiration signal acquired by a heart rate respiration detection device; the heart rate and respiration detection device comprises a cloth body which is used for being fixed on a bearing structure for bearing a human body and has elasticity, and an acceleration sensor, wherein the acceleration sensor is arranged on the cloth body; carrying out Kalman filtering and band-pass Butterworth filter processing on the heart rate respiration signals to obtain denoised heart rate respiration signals; judging whether the denoised heart rate respiration signal is effective or not, if not, continuously acquiring the heart rate respiration signal acquired by the detection device; otherwise, dividing the effective heart rate respiration signal into two paths for processing respectively, wherein one path is used for acquiring heart rate information; the other path is used for acquiring respiratory information. The invention does not need to wear clumsy and heavy wearing equipment, does not cause radiation and other injuries to human bodies, and is convenient and fast to use.
Description
Technical Field
The invention relates to a heart rate and respiration detection method and system, in particular to a non-contact heart rate and respiration detection method and system.
Background
Heart rate and respiration are the most important physiological parameters of human body, and the existing detection modes of heart rate and respiration mainly comprise the following two modes:
(1) The wearable device is worn on a human body, and the current heart rate and respiration of the human body are measured and displayed in a mode of directly contacting the human body. However, existing wearable devices are often heavy, clumsy and uncomfortable to wear.
(2) The physiological motion sensor based on the radar detects, electromagnetic radiation is generated from the radiation source in a non-contact human body mode, then signals of each frame fed back from the human body are received, the signals are processed, and then the current heart rate and respiration of the human body are obtained. However, radar radiation is harmful to the human body, but can affect the health of the human body.
Disclosure of Invention
Based on the above, the invention aims to provide a heart rate and respiration detection method, which has the advantages that no clumsy and heavy wearing equipment is needed to wear, no damage such as radiation is caused to a human body, and heart rate and respiration signals can be accurately and conveniently obtained through an acceleration sensor arranged on an elastic cloth body only by placing the cloth body on a bearing structure for bearing the human body.
A heart rate respiration detection method comprising the steps of:
acquiring a heart rate respiration signal acquired by a heart rate respiration detection device; the heart rate and respiration detection device comprises a cloth body which is used for being fixed on an external bearing structure for bearing a human body and has elasticity, and an acceleration sensor, wherein the acceleration sensor is arranged on the cloth body; the elastic cloth body prevents the acceleration sensor from being ejected out of the bearing structure when a human body sits and/or lies on the bearing structure suddenly; the cloth body is strip-shaped, and two ends of the cloth body are respectively provided with clamping teeth; the cloth body is mutually clamped and fixed through the clamping teeth, so that one side of the cloth body, on which the acceleration sensor is not arranged, is wrapped around a human body;
carrying out Kalman filtering and band-pass Butterworth filter processing on the heart rate respiration signals to obtain denoised heart rate respiration signals;
judging whether the denoised heart rate respiration signal is effective or not, if not, continuously acquiring the heart rate respiration signal acquired by the detection device; otherwise, dividing the effective heart rate respiration signal into two paths for processing respectively, and sequentially carrying out morphological filtering, autocorrelation operation and peak-to-peak interval extraction processing on one path of the effective heart rate respiration signal to obtain heart rate information; the other path of effective heart rate respiration signal is processed through twice low-pass filtering to obtain respiration information.
Compared with the prior art, the elastic cloth body is placed on an external bearing structure for bearing a human body, such as a bed or a chair, so that heart rate and respiratory signals can be accurately and conveniently obtained through the acceleration sensor arranged on the cloth body, clumsy and heavy wearing equipment is not needed to be worn, radiation and other injuries to the human body are avoided, and the use is convenient and fast; and the signals of heart rate and respiration of the human body can be amplified through the elastic cloth body, so that the accuracy of the obtained heart rate and respiration signals can be greatly improved.
Further, the denoised heart rate respiration signal comprises an X-axis acceleration signal, a Y-axis acceleration signal, a Z-axis acceleration signal and a Y-angle velocity signal which are fed back by an acceleration sensor; the method for judging whether the denoised heart rate respiratory signals are effective is as follows:
judging whether the X-axis acceleration signal is smaller than or equal to a first threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Y-axis acceleration signal is smaller than or equal to a second threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Z-axis acceleration signal is smaller than or equal to a third threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Y angular velocity signal is larger than a fourth threshold value and smaller than a fifth threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
And judging that the denoised heart rate respiratory signal is effective.
The validity judgment is carried out on the obtained heart rate respiration signals, so that the measurement accuracy is further improved.
Further, after heart rate information and respiratory information are acquired, the heart rate signals and the respiratory information are uploaded to the cloud platform, so that data sharing is realized, and a private doctor or community doctor can conveniently acquire heart rate and respiratory information of a user group at home in real time
Further, after the heart rate signal and the respiratory information are uploaded to the cloud platform, a computer terminal or other visual terminals are connected with the cloud platform, and the heart rate information and the respiratory information are displayed in real time through the computer terminal or other visual terminals, so that the heart rate information and the respiratory information can be obtained in real time and visually through a remote terminal.
The invention also provides a heart rate and respiration detection system, which comprises a heart rate and respiration detection device, a processor and a memory, wherein the processor and the memory are connected with the heart rate and respiration detection device; the heart rate and respiration detection device comprises an elastic cloth body and an acceleration sensor, wherein the acceleration sensor is arranged on the cloth body; the elastic cloth body prevents the acceleration sensor from being ejected out of the bearing structure when a human body sits and/or lies on the bearing structure suddenly; the cloth body is strip-shaped, and two ends of the cloth body are respectively provided with clamping teeth; the cloth body is mutually clamped and fixed through the clamping teeth, so that one side of the cloth body, on which the acceleration sensor is not arranged, is wrapped around a human body; the memory is suitable for storing a plurality of instructions; the instructions are adapted to be loaded and executed by the processor:
acquiring a heart rate respiration signal acquired by a heart rate respiration detection device;
and carrying out Kalman filtering and band-pass Butterworth filter processing on the heart rate respiration signals to obtain denoised heart rate respiration signals.
Judging whether the denoised heart rate respiration signal is effective or not, if not, continuously acquiring the heart rate respiration signal acquired by the detection device; otherwise, dividing the effective heart rate respiration signal into two paths for processing respectively, and sequentially carrying out morphological filtering, autocorrelation operation and peak-to-peak interval extraction processing on one path of the effective heart rate respiration signal to obtain heart rate information; the other path of effective heart rate respiration signal is processed through twice low-pass filtering to obtain respiration information.
Compared with the prior art, the elastic cloth body is placed on an external bearing structure for bearing a human body, such as a bed or a chair, so that heart rate and respiratory signals can be accurately and conveniently obtained through the acceleration sensor arranged on the cloth body, clumsy and heavy wearing equipment is not needed to be worn, radiation and other injuries to the human body are avoided, and the use is convenient and fast; and the signals of heart rate and respiration of the human body can be amplified through the elastic cloth body, so that the accuracy of the obtained heart rate and respiration signals can be greatly improved.
Further, the heart rate and respiration detection device further comprises a bearing structure for bearing a human body, wherein the bearing structure is a chair or a bed; an elastic cloth piece for being attached to a person is arranged on the chair or the bed; the cloth body is arranged on one side, far away from the human body, of the cloth piece. After a person can sit on the chair or the bed directly, the signals of heart rate and breathing of the person can be amplified through the elastic cloth pieces and the cloth bodies, so that the heart rate and breathing signals acquired by the acceleration sensor are more convenient and accurate.
Further, a clamping body is arranged on the acceleration sensor, and a protruding clamping block is arranged on the clamping body; the cloth body is provided with a clamping seat, and the clamping seat is provided with a first clamping groove for accommodating the clamping buckle body and a second clamping groove for accommodating the clamping block; the acceleration sensor is buckled on the second clamping groove through the clamping block and is detachably fixed on the cloth body;
or the first magnetic piece is fixed on the cloth body, and the second magnetic piece is fixed on the acceleration sensor; the acceleration sensor is detachably fixed on the cloth body through the first magnetic piece and the second magnetic piece, so that the cloth body can be better cleaned or replaced.
Further, nylon velvet belts are arranged on the cloth body, and nylon hook belts are arranged on the bearing structure; the cloth body is detachably fixed on the bearing structure through the nylon hook belt and the nylon velvet belt, so that the cloth body can be better cleaned or replaced.
For a better understanding and implementation, the present invention is described in detail below with reference to the drawings.
Drawings
FIG. 1 is a flow chart of a method of detecting heart rate and respiration in an embodiment of the invention;
FIG. 2 is a schematic view of a spatial angular coordinate structure of an acceleration sensor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a heart rate and respiration detection system according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of one of the structures of the heart rate and respiration detection device;
fig. 5 is a schematic structural diagram of a card seat on a cloth body in the heart rate and respiration detection device;
fig. 6 is a schematic structural diagram of a buckle body on a sensor in a heart rate and respiration detection device.
Detailed Description
Please refer to fig. 1, which is a flowchart illustrating a heart rate respiration detection method according to an embodiment of the invention. The heart rate respiration detection method comprises the following steps:
step S1: acquiring a heart rate respiration signal acquired by a heart rate respiration detection device; the heart rate and respiration detection device comprises a cloth body and an acceleration sensor, wherein the cloth body is used for being fixed on an external bearing structure for bearing a human body and is elastic, and the acceleration sensor is arranged on the cloth body.
In one embodiment, the cloth body is preferably cloth with certain elasticity such as canvas, and the acceleration sensor is ejected and separated from the bearing structure by arranging the acceleration sensor on the cloth body and arranging the cloth body under the bearing structure for bearing the human body such as a nylon bed or a canvas chair, so that the human body can be prevented from suddenly sitting and/or lying on the bearing structure by the elastic cloth body; further, when a person sits and/or lies on the bearing structure, the smaller-amplitude vibration generated by heart rate beat and respiration is amplified through the elastic cloth body, and the heart rate vibration and the respiration vibration, namely heart rate respiration signals, can be obtained through the acceleration sensor. And the elastic cloth body amplifies the vibration with smaller amplitude generated by the heart rate beat and the respiration of the human body, so that the method is more accurate than a method of directly arranging the acceleration sensor on the bearing structure to measure the vibration with smaller amplitude generated by the heart rate beat and the respiration of the human body.
In one embodiment, the acceleration sensor is a sensor with relatively high sensitivity, specifically a six-axis sensor with a model number of MPU 6050.
Step S2: and carrying out Kalman filtering and band-pass Butterworth filter processing on the heart rate respiration signals to obtain denoised heart rate respiration signals.
Step S3: judging whether the denoised heart rate respiration signal is effective or not, if not, continuously acquiring the heart rate respiration signal acquired by the detection device, namely returning to the step S1; otherwise, dividing the effective heart rate respiration signal into two paths for processing respectively, and sequentially carrying out morphological filtering, autocorrelation operation and peak-to-peak interval extraction processing on one path of the effective heart rate respiration signal to obtain heart rate information; the other path of effective heart rate respiration signal is processed through twice low-pass filtering to obtain respiration information.
In this embodiment, the denoised heart rate respiration signal includes an X-axis acceleration signal, a Y-axis acceleration signal, a Z-axis acceleration signal, and a Y-angular velocity signal fed back by an acceleration sensor. Please refer to fig. 2, which is a schematic diagram of a spatial angular coordinate structure of an acceleration sensor according to an embodiment of the present invention, wherein a signal direction is illustrated by using a sensor placement position shown in fig. 2, a straight line where a gravitational direction of the acceleration sensor is located is taken as a Z-axis, and an upward direction is taken as a positive direction of the Z-axis; taking a straight line which is perpendicular to the Z axis and parallel to the ground as an X axis, and selecting a direction facing the paper surface as an X axis positive direction; determining a Y axis and a positive direction of the Y axis according to the right hand rule and the X axis direction; and a direction rotating counterclockwise about the Z axis is taken as a Z angular velocity, a direction rotating counterclockwise about the X axis is taken as an X angular velocity, and a direction rotating counterclockwise about the Y axis is taken as a Y angular velocity.
The method for judging whether the denoised heart rate respiratory signals are effective is as follows: judging whether the X-axis acceleration signal is smaller than or equal to a first threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, judging whether the Y-axis acceleration signal is smaller than or equal to a second threshold value, and if not, indicating that the denoised heart rate respiration signal is invalid; if yes, judging whether the Z-axis acceleration signal is smaller than or equal to a third threshold value, and if not, indicating that the denoised heart rate respiration signal is invalid; if yes, judging whether the Y angular velocity signal is larger than a fourth threshold value and smaller than a fifth threshold value, and if not, indicating that the denoised heart rate breathing signal is invalid; if yes, judging that the denoised heart rate respiration signal is effective.
If the X-axis acceleration signal is greater than the first threshold value and/or the Y-axis acceleration signal is greater than the second threshold value and/or the Z-axis acceleration signal is greater than the third threshold value, the signal measured at the moment is the signal of the human body when the human body is active, and at the moment, the denoised heart rate respiration signal is invalid. If the X-axis acceleration signal is greater than the first threshold, the Y-axis acceleration signal is greater than the second threshold, and the Z-axis acceleration signal is greater than the third threshold, but the Y-angle velocity signal does not satisfy the threshold greater than the fourth threshold but is less than the fifth threshold, then this indicates that no person is present at this time, and the denoised heart rate respiration signal is also invalid.
In this embodiment, the first threshold is 4000-6000LSB/g, preferably, the first threshold is 5000LSB/s; the second threshold value is 4000-6000LSB/g, preferably 5000LSB/g; the third threshold value is 4000-6000LSB/g, preferably 5000LSB/g; the fourth threshold is 10-20 LSB/(degree/second), preferably 15 LSB/(degree/second); the fifth threshold is 400-500 LSB/(degree/second), preferably 450 LSB/(degree/second).
In order to realize data sharing, a private doctor or community doctor can conveniently acquire heart rate and respiratory information of a user group at home in real time, and the heart rate information and the respiratory information are uploaded to a cloud platform after the heart rate information and the respiratory signal are acquired as further optimization of the invention.
In order to realize real-time visual acquisition of heart rate information and respiratory information at a remote terminal, as further optimization of the invention, a computer terminal or other visual terminals can be connected with a cloud platform, so that the heart rate information and respiratory information can be displayed in real time in the computer terminal or other visual terminals, and a data report of the day can be given. In order to timely send heart rate information and breathing information of a user to a family member or a doctor of the user, as further optimization of the invention, data report of the current day can also be sent to a mailbox of the family member or doctor bound with the user.
Compared with the prior art, the elastic cloth body is placed on the bearing structure for bearing the human body, such as a bed or a chair, so that heart rate and respiratory signals can be accurately and conveniently obtained through the acceleration sensor arranged on the cloth body, clumsy and heavy wearing equipment is not needed to be worn, radiation and other injuries to the human body are avoided, and the device is convenient and fast to use; and the acceleration sensor is arranged on the elastic cloth body, and the signals of heart rate and respiration of the human body can be amplified through the elastic cloth body, so that the accuracy of the obtained heart rate and respiration signals can be improved. Further, the accuracy of measurement can be further improved by judging the validity of the obtained heart rate respiration signals. Meanwhile, the acquired heart rate and respiratory signals can be put on the cloud platform, so that data sharing is realized, private doctors or community doctors can conveniently acquire heart rate and respiratory information of a user group at home in real time, and visual heart rate and respiratory information display is realized.
Fig. 3 is a schematic structural diagram of a heart rate and respiration detection system according to an embodiment of the invention.
The invention also provides a heart rate and respiration detection system, which comprises a heart rate and respiration detection device 1, a processor 2 and a memory, wherein the processor 2 and the memory are connected with the heart rate and respiration detection device 1; the heart rate and respiration detection device 1 comprises a cloth body 11 with elasticity and an acceleration sensor 12, wherein the acceleration sensor 12 is arranged on the cloth body 11; the memory is suitable for storing a plurality of instructions; the instructions are adapted to be loaded and executed by the processor 2:
the heart rate respiration signal acquired by the heart rate respiration detection device 1 is acquired.
And carrying out Kalman filtering and band-pass Butterworth filter processing on the heart rate respiration signals to obtain denoised heart rate respiration signals.
Judging whether the denoised heart rate respiration signal is effective or not, if not, continuously acquiring the heart rate respiration signal acquired by the detection device; otherwise, dividing the effective heart rate respiration signal into two paths for processing respectively, and sequentially carrying out morphological filtering, autocorrelation operation and peak-to-peak interval extraction processing on one path of the effective heart rate respiration signal to obtain heart rate information; the other path of effective heart rate respiration signal is processed through twice low-pass filtering to obtain respiration information.
In one embodiment, the cloth body 11 is preferably cloth with certain elasticity such as canvas, and the acceleration sensor 12 is arranged on the cloth body 11 and then arranged under a bearing structure for bearing a human body such as a nylon bed or a canvas chair, so that the cloth body 11 with elasticity can prevent the human body from being suddenly seated and/or lying on the bearing structure, and the acceleration sensor is ejected and separated from the bearing structure; further, when a person sits and/or lies on the bearing structure, the smaller-amplitude vibration generated by heart rate beat and respiration is amplified through the elastic cloth body, and the heart rate vibration and the respiration vibration, namely heart rate respiration signals, can be obtained through the acceleration sensor. And the elastic cloth body amplifies the vibration with smaller amplitude generated by the heart rate beat and the respiration of the human body, so that the method is more accurate than a method of directly arranging the acceleration sensor on the bearing structure to measure the vibration with smaller amplitude generated by the heart rate beat and the respiration of the human body.
In one embodiment, the acceleration sensor is a sensor with relatively high sensitivity, specifically a six-axis sensor with a model number of MPU 6050. The processor 2 is a singlechip with a signal STM 32.
In this embodiment, the denoised heart rate respiration signal includes an X-axis acceleration signal, a Y-axis acceleration signal, a Z-axis acceleration signal, and a Y-angular velocity signal fed back by the acceleration sensor 12; taking the straight line of the gravity direction of the acceleration sensor 12 as a Z axis, and taking the upward direction as the positive direction of the Z axis; taking a straight line which is perpendicular to the Z axis and parallel to the ground as an X axis, and selecting a direction facing the paper surface as an X axis positive direction; determining a Y axis and a positive direction of the Y axis according to the right hand rule and the X axis direction; and a direction rotating counterclockwise about the Z axis is taken as a Z angular velocity, a direction rotating counterclockwise about the X axis is taken as an X angular velocity, and a direction rotating counterclockwise about the Y axis is taken as a Y angular velocity.
The method for judging whether the denoised heart rate respiratory signals are effective is as follows: judging whether the X-axis acceleration signal is smaller than or equal to a first threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, judging whether the Y-axis acceleration signal is smaller than or equal to a second threshold value, and if not, indicating that the denoised heart rate respiration signal is invalid; if yes, judging whether the Z-axis acceleration signal is smaller than or equal to a third threshold value, and if not, indicating that the denoised heart rate respiration signal is invalid; if yes, judging whether the Y angular velocity signal is larger than a fourth threshold value and smaller than a fifth threshold value, and if not, indicating that the denoised heart rate breathing signal is invalid; if yes, judging that the denoised heart rate respiration signal is effective.
If the X-axis acceleration signal is greater than the first threshold value and/or the Y-axis acceleration signal is greater than the second threshold value and/or the Z-axis acceleration signal is greater than the third threshold value, the signal measured at the moment is the signal of the human body when the human body is active, and at the moment, the denoised heart rate respiration signal is invalid. If the X-axis acceleration signal is greater than the first threshold, the Y-axis acceleration signal is greater than the second threshold, and the Z-axis acceleration signal is greater than the third threshold, but the Y-angle velocity signal does not satisfy the threshold greater than the fourth threshold but is less than the fifth threshold, then this indicates that no person is present at this time, and the denoised heart rate respiration signal is also invalid.
In this embodiment, the first threshold is 4000-6000LSB/g, preferably, the first threshold is 5000LSB/s; the second threshold value is 4000-6000LSB/g, preferably 5000LSB/g; the third threshold value is 4000-6000LSB/g, preferably 5000LSB/g; the fourth threshold is 10-20 LSB/(degree/second), preferably 15 LSB/(degree/second); the fifth threshold is 400-500 LSB/(degree/second), preferably 450 LSB/(degree/second).
In order to realize data sharing, a private doctor or community doctor can conveniently acquire heart rate and respiratory information of a user group at home in real time, and the heart rate signal and the respiratory signal are uploaded to a cloud platform after the heart rate information and the respiratory signal are acquired as further optimization of the invention.
In order to realize real-time visual acquisition of heart rate information and respiratory signals at a remote terminal, as further optimization of the invention, a computer terminal or other visual terminals can be connected with a cloud platform, so that the heart rate signals and respiratory signals can be displayed in real time in the computer terminal or other visual terminals, and data reports of the same day can be given. For timely transmission of the heart rate signal and the respiration signal of the user to the user's family or doctor, as a further optimization of the invention, the data report of the current day can also be transmitted to the mailbox of the family or doctor bound to the user.
In order to realize data sharing, a private doctor or community doctor can conveniently acquire heart rate and respiratory information of a user group at home in real time, and the heart rate signal and the respiratory signal are uploaded to a cloud platform after the heart rate information and the respiratory signal are acquired as further optimization of the invention.
In order to realize real-time visual acquisition of heart rate information and respiratory signals at a remote terminal, as further optimization of the invention, a computer terminal or other visual terminals can be connected with a cloud platform, so that the heart rate signals and respiratory signals can be displayed in real time in the computer terminal or other visual terminals, and data reports of the same day can be given. For timely transmission of the heart rate signal and the respiration signal of the user to the user's family or doctor, as a further optimization of the invention, the data report of the current day can also be transmitted to the mailbox of the family or doctor bound to the user.
For more convenient acquisition of the heart rate and respiration signal of the human body, as a further optimization of the invention, the heart rate and respiration detection device 1 further comprises a bearing structure for bearing the human body, wherein the bearing structure can be a chair or a bed; an elastic cloth piece for being attached to a person is arranged on the chair or the bed; the cloth piece is provided with the cloth body 11 at one side far away from the human body. After a person sits on the chair or the bed directly, the signals of heart rate and breathing of the human body can be amplified through the elastic cloth pieces and the cloth body 11, so that the heart rate and breathing signals acquired by the acceleration sensor 12 are more convenient and accurate.
Fig. 4 is a schematic structural diagram of one of the structures of the heart rate and respiration detection device. In order to realize the measurement of heart rate and respiration signals of a human body at any time and any place, as a further optimization of the invention, the cloth body 11 is strip-shaped, and two ends of the cloth body are respectively provided with a latch 13; the cloth body 11 is fastened and fixed by the latch 13, so that the side of the cloth body 11, on which the acceleration sensor is not arranged, is wrapped around the human body, such as around the wrist or chest of the human body.
Referring to fig. 5 and fig. 6, fig. 5 is a schematic structural diagram of a card seat on a cloth body in a heart rate and respiration detection device; fig. 6 is a schematic structural diagram of a buckle body on a sensor in a heart rate and respiration detection device.
For better cleaning or replacing the cloth body 11, the detachable connection and fixation of the cloth body 11 and the acceleration sensor 12 are realized, and as a further optimization of the invention, a clamping buckle body 121 is arranged on the acceleration sensor 12, and a protruding clamping block 1211 is arranged on the clamping buckle body 121; the cloth body 11 is provided with a clamping seat 14, and the clamping seat 14 is provided with a first clamping groove 141 for accommodating the clamping buckle body and a second clamping groove 142 for accommodating a clamping block of the clamping buckle body; the acceleration sensor 12 is fastened to the second fastening groove 142 through a fastening block of the fastening body 121, and is further detachably fixed to the cloth 11.
Or, a first magnetic element is fixed on the cloth 11, and a second magnetic element is fixed on the acceleration sensor 12; the acceleration sensor 12 is detachably fixed to the cloth 11 by a first magnetic member and a second magnetic member. The first magnetic piece and the second magnetic piece are small magnets with opposite magnetism; or the first magnetic element is a magnet; the second magnetic member is metal.
For better cleaning or replacing the cloth body 11, the detachable connection and fixation of the cloth body 11 and the bearing structure are realized, and as further optimization of the invention, nylon velvet belts are arranged on the cloth body 11, and nylon hook belts are arranged on the bearing structure; the cloth 11 is detachably fixed on the bearing structure through the nylon hook tape and the nylon velvet tape.
Compared with the prior art, the elastic cloth body is placed on the bearing structure for bearing the human body, such as a bed or a chair, so that heart rate and respiratory signals can be accurately and conveniently obtained through the acceleration sensor arranged on the cloth body, clumsy and heavy wearing equipment is not needed to be worn, radiation and other injuries to the human body are avoided, and the device is convenient and fast to use; and the signals of heart rate and respiration of the human body can be amplified through the elastic cloth body, so that the accuracy of the obtained heart rate and respiration signals can be greatly improved. Further, the accuracy of measurement can be further improved by judging the validity of the obtained heart rate respiration signals. Meanwhile, the acquired heart rate and respiratory signals can be put on the cloud platform, so that data sharing is realized, private doctors or community doctors can conveniently acquire heart rate and respiratory information of a user group at home in real time, and visual heart rate and respiratory information display is realized.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (9)
1. A heart rate respiration detection method, comprising the steps of:
acquiring a heart rate respiration signal acquired by a heart rate respiration detection device; the heart rate and respiration detection device comprises a cloth body, an acceleration sensor and a bearing structure, wherein the cloth body is used for being fixed on an external bearing structure for bearing a human body and has elasticity; the bearing structure is provided with an elastic cloth piece for being attached to a person; the cloth body is arranged on one side, far away from the human body, of the cloth piece; the acceleration sensor is arranged on the cloth body; the cloth body is detachably connected and fixed with the acceleration sensor; the elastic cloth body can prevent the acceleration sensor from being ejected out of the bearing structure when a human body sits and/or lies on the bearing structure suddenly; the elastic cloth body and the cloth piece amplify the smaller-amplitude vibration generated by heart rate beating and respiration so that the acceleration sensor acquires heart rate respiration signals;
carrying out Kalman filtering and band-pass Butterworth filter processing on the heart rate respiration signals to obtain denoised heart rate respiration signals;
judging whether the denoised heart rate respiration signal is effective or not, if not, continuously acquiring the heart rate respiration signal acquired by the detection device; otherwise, dividing the effective heart rate respiration signal into two paths for processing respectively, and sequentially carrying out morphological filtering, autocorrelation operation and peak-to-peak interval extraction processing on one path of the effective heart rate respiration signal to obtain heart rate information; the other path of effective heart rate respiration signal is processed through twice low-pass filtering to obtain respiration information.
2. The heart rate respiration detection method according to claim 1, wherein the denoised heart rate respiration signal comprises an X-axis acceleration signal, a Y-axis acceleration signal, a Z-axis acceleration signal and a Y-angular velocity signal fed back by an acceleration sensor; the method for judging whether the denoised heart rate respiratory signals are effective is as follows:
judging whether the X-axis acceleration signal is smaller than or equal to a first threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Y-axis acceleration signal is smaller than or equal to a second threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Z-axis acceleration signal is smaller than or equal to a third threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Y angular velocity signal is larger than a fourth threshold value and smaller than a fifth threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
And judging that the denoised heart rate respiratory signal is effective.
3. The heart rate respiration detection method of claim 1, further comprising uploading the heart rate signal and the respiration signal to a cloud deck after the heart rate information and the respiration signal are acquired.
4. A heart rate respiration detection method according to claim 3, characterized in that after uploading the heart rate signal and the respiration signal to the cloud platform, a computer terminal or other visual terminal is further connected to the cloud platform, and the heart rate signal and the respiration signal are displayed in real time through the computer terminal or other visual terminal.
5. A heart rate respiration detection system, characterized by: comprises a heart rate and respiration detection device, a processor and a memory which are connected with the heart rate and respiration detection device; the heart rate and respiration detection device comprises an elastic cloth body, an acceleration sensor and a bearing structure for bearing a human body; the bearing structure is provided with an elastic cloth piece for being attached to a person; the cloth body is arranged on one side, far away from a human body, of the cloth piece, and the acceleration sensor is arranged on the cloth body; the cloth body is detachably connected and fixed with the acceleration sensor; the elastic cloth body can prevent the acceleration sensor from being ejected out of the bearing structure when a human body sits and/or lies on the bearing structure suddenly; the elastic cloth body and the cloth piece amplify the smaller-amplitude vibration generated by heart rate beating and respiration so that the acceleration sensor acquires heart rate respiration signals; the memory is suitable for storing a plurality of instructions; the instructions are adapted to be loaded and executed by the processor:
acquiring a heart rate respiration signal acquired by a heart rate respiration detection device;
carrying out Kalman filtering and band-pass Butterworth filter processing on the heart rate respiration signals to obtain denoised heart rate respiration signals;
judging whether the denoised heart rate respiration signal is effective or not, if not, continuously acquiring the heart rate respiration signal acquired by the detection device; otherwise, dividing the effective heart rate respiration signal into two paths for processing respectively, and sequentially carrying out morphological filtering, autocorrelation operation and peak-to-peak interval extraction processing on one path of the effective heart rate respiration signal to obtain heart rate information; the other path of effective heart rate respiration signal is processed through twice low-pass filtering to obtain respiration information.
6. The heart rate respiration detection system of claim 5, wherein: the denoised heart rate respiratory signal comprises an X-axis acceleration signal, a Y-axis acceleration signal, a Z-axis acceleration signal and a Y-angle velocity signal which are fed back by an acceleration sensor; when the mode of judging whether the denoised heart rate respiratory signals are effective or not is adopted, the processor further loads and executes:
judging whether the X-axis acceleration signal is smaller than or equal to a first threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Y-axis acceleration signal is smaller than or equal to a second threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Z-axis acceleration signal is smaller than or equal to a third threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
Judging whether the Y angular velocity signal is larger than a fourth threshold value and smaller than a fifth threshold value, if not, indicating that the denoised heart rate respiration signal is invalid; if yes, then
And judging that the denoised heart rate respiratory signal is effective.
7. The heart rate respiration detection system of claim 5, wherein: the heart rate and respiration detection device further comprises a bearing structure for bearing a human body, and the bearing structure is a chair or a bed.
8. The heart rate and respiration detection system of claim 5, wherein the acceleration sensor is provided with a buckle body, and the buckle body is provided with a protruding clamping block; the cloth body is provided with a clamping seat, and the clamping seat is provided with a first clamping groove for accommodating the clamping buckle body and a second clamping groove for accommodating the clamping block; the acceleration sensor is buckled on the second clamping groove through the clamping block to be detachably fixed with the cloth body;
or the first magnetic piece is fixed on the cloth body, and the second magnetic piece is fixed on the acceleration sensor; the acceleration sensor is detachably fixed on the cloth body through a first magnetic piece and a second magnetic piece.
9. The heart rate respiration detection system of claim 5, wherein nylon nap strips are arranged on the cloth body, and nylon hook strips are arranged on the bearing structure; the cloth body is detachably fixed on the bearing structure through the nylon hook belt and the nylon velvet belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810339722.8A CN108542369B (en) | 2018-04-16 | 2018-04-16 | Heart rate respiration detection method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810339722.8A CN108542369B (en) | 2018-04-16 | 2018-04-16 | Heart rate respiration detection method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108542369A CN108542369A (en) | 2018-09-18 |
| CN108542369B true CN108542369B (en) | 2024-03-26 |
Family
ID=63515168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810339722.8A Active CN108542369B (en) | 2018-04-16 | 2018-04-16 | Heart rate respiration detection method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108542369B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113749626B (en) * | 2020-06-04 | 2024-02-13 | 安徽华米健康科技有限公司 | Heart rate detection method and device, wearable device and storage medium |
| CN111803030A (en) * | 2020-06-25 | 2020-10-23 | 北京大众益康科技有限公司 | Sleep breathing result display system and method |
| CN111657897A (en) * | 2020-07-02 | 2020-09-15 | 武汉领科新云科技有限公司 | Artificial intelligence algorithm for detecting human body signs |
| CN112507784B (en) * | 2020-10-30 | 2022-04-05 | 华南师范大学 | Validity detection method for ballistocardiogram time sequence signal |
| CN113138679A (en) * | 2021-04-01 | 2021-07-20 | 出门问问信息科技有限公司 | Processing method and device for six-axis sensing signals |
| CN114287885B (en) * | 2021-12-28 | 2023-12-08 | 深圳数联天下智能科技有限公司 | Human body sign monitoring method, device, system and storage medium |
| CN114732383A (en) * | 2022-06-13 | 2022-07-12 | 深圳市华屹医疗科技有限公司 | Physical sign index monitoring method, physical sign index monitoring device, physical sign index monitoring equipment, storage medium and program product |
| CN115067930B (en) * | 2022-08-22 | 2022-11-08 | 华南师范大学 | Breathing state early warning method and device, computer equipment and storage medium |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1014888A (en) * | 1996-07-03 | 1998-01-20 | Matsushita Electric Ind Co Ltd | Physical motion sensing device |
| WO2005113284A1 (en) * | 2004-05-13 | 2005-12-01 | Mjd Innovations, L.L.C. | Seat structure with anti-spring spanner element |
| JP2006015855A (en) * | 2004-07-01 | 2006-01-19 | Nissan Motor Co Ltd | Occupant protection device |
| JP2007178295A (en) * | 2005-12-28 | 2007-07-12 | Tdk Corp | Fall detection device and fall detection method |
| CN101818394A (en) * | 2010-05-05 | 2010-09-01 | 清华大学 | Device for automatically transporting, discharging and inserting pipe of doffer |
| CN101966045A (en) * | 2010-09-16 | 2011-02-09 | 北京理工大学 | Quake-proof cradle for infants |
| WO2012053599A1 (en) * | 2010-10-20 | 2012-04-26 | 山陰制御有限会社 | Device for ascertaining if patients get out of bed |
| CN102458246A (en) * | 2009-06-05 | 2012-05-16 | 皇家飞利浦电子股份有限公司 | Motion determination apparatus |
| JP2012105762A (en) * | 2010-11-16 | 2012-06-07 | Seiko Epson Corp | Vital sign measurement apparatus and body motion detection apparatus |
| CN105496377A (en) * | 2014-10-08 | 2016-04-20 | 吴健康 | Heart rate variability biofeedback exercise systematic method and apparatus |
| CN106038201A (en) * | 2016-07-11 | 2016-10-26 | 广州彩磁信息技术有限公司 | Bionic rhythmical diastole and systole type wearable device capable of promoting lymph and vein circulation |
| CN106943129A (en) * | 2017-03-10 | 2017-07-14 | 深圳市赛亿科技开发有限公司 | Wearable heart rate and respiration monitoring device, method and its intelligent jacket |
| CH712873A2 (en) * | 2016-10-13 | 2018-04-13 | Li Tek Tech Co Ltd | Physiological monitoring device. |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012106893B4 (en) * | 2012-07-30 | 2016-10-27 | Karlsruher Institut für Technologie | Electrode and measuring device for recording biomedical vital signs |
| EP3305180A1 (en) * | 2016-10-05 | 2018-04-11 | Murata Manufacturing Co., Ltd. | Method and apparatus for monitoring heartbeats |
-
2018
- 2018-04-16 CN CN201810339722.8A patent/CN108542369B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1014888A (en) * | 1996-07-03 | 1998-01-20 | Matsushita Electric Ind Co Ltd | Physical motion sensing device |
| WO2005113284A1 (en) * | 2004-05-13 | 2005-12-01 | Mjd Innovations, L.L.C. | Seat structure with anti-spring spanner element |
| JP2006015855A (en) * | 2004-07-01 | 2006-01-19 | Nissan Motor Co Ltd | Occupant protection device |
| JP2007178295A (en) * | 2005-12-28 | 2007-07-12 | Tdk Corp | Fall detection device and fall detection method |
| CN102458246A (en) * | 2009-06-05 | 2012-05-16 | 皇家飞利浦电子股份有限公司 | Motion determination apparatus |
| CN101818394A (en) * | 2010-05-05 | 2010-09-01 | 清华大学 | Device for automatically transporting, discharging and inserting pipe of doffer |
| CN101966045A (en) * | 2010-09-16 | 2011-02-09 | 北京理工大学 | Quake-proof cradle for infants |
| WO2012053599A1 (en) * | 2010-10-20 | 2012-04-26 | 山陰制御有限会社 | Device for ascertaining if patients get out of bed |
| JP2012105762A (en) * | 2010-11-16 | 2012-06-07 | Seiko Epson Corp | Vital sign measurement apparatus and body motion detection apparatus |
| CN105496377A (en) * | 2014-10-08 | 2016-04-20 | 吴健康 | Heart rate variability biofeedback exercise systematic method and apparatus |
| CN106038201A (en) * | 2016-07-11 | 2016-10-26 | 广州彩磁信息技术有限公司 | Bionic rhythmical diastole and systole type wearable device capable of promoting lymph and vein circulation |
| CH712873A2 (en) * | 2016-10-13 | 2018-04-13 | Li Tek Tech Co Ltd | Physiological monitoring device. |
| CN106943129A (en) * | 2017-03-10 | 2017-07-14 | 深圳市赛亿科技开发有限公司 | Wearable heart rate and respiration monitoring device, method and its intelligent jacket |
Non-Patent Citations (1)
| Title |
|---|
| "基于动态立位平衡功能的体力疲劳评估模型的构建";程珊;《职业与健康》;20170915;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108542369A (en) | 2018-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108542369B (en) | Heart rate respiration detection method and system | |
| US20210338087A1 (en) | Bio-information output device, bio-information output method and program | |
| US9295412B2 (en) | Wearable health monitoring device and methods for step detection | |
| Postolache et al. | Physiological parameters measurement based on wheelchair embedded sensors and advanced signal processing | |
| RU2677014C2 (en) | Pregnancy monitoring system and method | |
| US8540651B2 (en) | Physiological and behavioral sensors and methods | |
| US11278245B2 (en) | Enhancing optical cardiac activity measurement | |
| Williamson et al. | Detecting absolute human knee angle and angular velocity using accelerometers and rate gyroscopes | |
| US20050027216A1 (en) | Portable detector for measuring movements of a person wearing the detector, and method | |
| CA2641798C (en) | Apparatus and method for non-invasively sensing pulse rate and blood flow anomalies | |
| US20080214963A1 (en) | Method for measuring movements of a person wearing a portable detector | |
| JP5648796B2 (en) | Vital sign measuring device | |
| US20150173654A1 (en) | Activity, posture and heart monitoring system and method | |
| JP2019516454A (en) | Method and apparatus for determining the position and / or orientation of a wearable device on a subject | |
| AU2014248400A1 (en) | System and method for monitoring physiological characteristics | |
| WO2011098944A1 (en) | Method and apparatus for determining a respiration signal | |
| US10631739B2 (en) | Monitoring vital signs | |
| US20210137462A1 (en) | Abnormality notification system, abnormality notification method, and program | |
| JP2010119822A (en) | Biological information detector | |
| Albright et al. | OLAM: A wearable, non-contact sensor for continuous heart-rate and activity monitoring | |
| Zhou et al. | A low-power, wireless, wrist-worn device for long time heart rate monitoring and fall detection | |
| Dinh et al. | A heart rate sensor based on seismocardiography for vital sign monitoring systems | |
| JP2014138873A (en) | Symptom diagnosis system with three-dimensional accelerometer for brain/neurological diseases | |
| Bagnasco et al. | Design, implementation and experimental evaluation of a wireless fall detector | |
| WO2016180728A1 (en) | Apparatus and method for determining a sedentary state of a subject |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |