A massager and a control method thereof

Abstract

The application discloses a massager and a control method thereof, and the control method comprises the following steps: S1, sensing a motion state parameter of the massager through a sensor; and S2, controlling a motion mechanism to move according to a set rule according to the motion state parameter. According to the application, the motion execution mechanism in the massager can be adjusted according to the motion state of the massager, corresponding to different working intensities, and the working intensity of the motion execution mechanism in the massager does not need to be selected through the mode of a key, the vibration mode of the application is diversified and convenient to adjust, and the user experience is improved.

Description

Technical Field

[0001] This invention relates to the field of massager technology, and more particularly to a massager and its control method. Background Technology

[0002] In daily life, people often use massagers to relieve fatigue and relax skin or muscles. However, the movement of current massagers is generally adjusted by pressing buttons to control the intensity of the internal actuators. But button operation is rigid and usually corresponds to a fixed intensity, resulting in a poor user experience. Users cannot freely adjust the intensity of the internal actuators, leading to unsatisfactory results. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a massager and its control method in view of the defects of the prior art.

[0004] The technical solution adopted by this invention to solve its technical problem is: constructing a control method for a massager, comprising the following steps:

[0005] S1: Sensing the motion state parameters of the massager via sensors;

[0006] S2: Control the motion mechanism to move according to the set rules based on the motion state parameters.

[0007] Preferably, in the control method of the massager according to the present invention, step S1 includes:

[0008] S11: Real-time sensing of multiple triaxial accelerations A of the massager per unit time using a triaxial accelerometer. i ;

[0009] S12: For the multiple triaxial accelerations A i Analysis and calculations were performed to obtain the forward and backward movement frequency of the massager per unit time.

[0010] Preferably, in the control method of the massager according to the present invention, step S11 includes:

[0011] S111: Triaxial acceleration A sampled N times per unit time. i , represented as A i (0≤i <N)={X i Y i Z i}; where X i Y i Z i Triaxial acceleration A i Acceleration components in the XYZ directions;

[0012] S112: Preset analysis and calculation time;

[0013] S113: The triaxial acceleration A sampled within the analysis and calculation time after a unit time. i Output in FIFO format as the new triaxial acceleration A sampled per unit time. i .

[0014] Preferably, in the control method of the massager according to the present invention, step S113 includes:

[0015] Remove the triaxial acceleration A sampled during the earliest analysis and calculation time per unit time. i The remaining portion of the unit time after removal is added to the latest analysis and calculation time after the unit time is used as the new unit time, and the triaxial acceleration A sampled within the new unit time is used as the new unit time. i Output the results.

[0016] Preferably, in the control method of the massager according to the present invention, step S12 includes:

[0017] S121: Calculate the triaxial acceleration A per unit time. i Component D in the direction of motion i , represented as D i =A i *sina*cosb; where a and b are the solid angles between the coordinate axes and the direction of motion;

[0018] S122: From D i Extract the maximum or minimum value per unit time from the series, denoted as E. k ={t i D i}; where t i D i The corresponding time, k is E k Position in the array;

[0019] S123: E k The number of elements in the array represents the forward and backward movement frequency per unit time.

[0020] Preferably, in the control method of the massager according to the present invention, after step S122, the method further includes:

[0021] Determine whether the maximum or minimum value is within a preset range and whether the time difference between adjacent maximum or minimum values ​​is outside a preset high-frequency time period. If either of these conditions is not met, filtering is performed to obtain the effective maximum or minimum value.

[0022] Preferably, in the control method of the massager according to the present invention, step S2 includes:

[0023] Based on the forward and backward motion frequency within the sampling unit time and the preset duty cycle coefficient, the pulse duty cycle is adjusted, and a PWM signal is output to the motion mechanism to control the motion mechanism to move according to the set rules.

[0024] Preferably, in the control method of the massager according to the present invention, the method further includes the following step before step S12:

[0025] The triaxial acceleration A was filtered out using the moving average formula. i Low-frequency signal interference; wherein, the moving average formula is C i =(A i +…+A i+j ) / (j+1); C i The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

[0026] Preferably, in the control method of the massager according to the present invention, the method further includes the following step before step S12:

[0027] The triaxial acceleration A is filtered out using a high-frequency filtering formula. i Amplitude interference and high-frequency signal interference in the signal; wherein, the high-frequency filtering formula is B. i =A*A i +A′*A i-1 +…+A (m) *A0+B′*B i-1 +…+B (m)* B0, B i ={xx i yy i ,zz i};xx i yy i ,zz i To filter out the acceleration components of the triaxial acceleration in the XYZ directions after removing high-frequency signals; A, A′, A (m) B′, B (m) All of these are preset, different filter coefficients;

[0028] The triaxial acceleration A was filtered out using the moving average formula. i Low-frequency signal interference; wherein, the moving average formula is C i = (B i +…+B i+j ) / (j+1); C i The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

[0029] The present invention also constructs a massager, including a massager body,

[0030] The massager body includes: a processor, and an action mechanism and sensors respectively connected to the processor;

[0031] The processor implements the control method for the massager as described in any of the above descriptions.

[0032] or,

[0033] The massager also includes a control device communicatively connected to the massager body, the control device including a sensor; the massager body includes a processor and an actuation mechanism.

[0034] The processor implements the control method for the massager as described in any of the first eight items above.

[0035] By implementing this invention, the following beneficial effects are achieved:

[0036] The control method of the present invention senses the motion state parameters of the massager through sensors, and controls the motion mechanism to move according to the set rules based on the motion state parameters. This allows the motion execution mechanism in the massager to be adjusted according to the motion state of the massager to correspond to different working intensities. There is no need to select the working intensity of the motion execution mechanism inside the massager by pressing a button. The vibration mode of the present invention is diversified and easy to adjust, which improves the user experience. Attached Figure Description

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0038] Figure 1 This is a flowchart illustrating the control method of the massager of the present invention. Figure 1 ;

[0039] Figure 2 This is a flowchart illustrating the control method of the massager of the present invention. Figure 2 ;

[0040] Figure 3 This is a schematic diagram of the new unit of time in this invention;

[0041] Figure 4 This is the present invention D i A schematic diagram showing multiple peaks and troughs in the series. Detailed Implementation

[0042] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0043] It should be noted that the flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0044] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0045] Currently, most massagers on the market control vibration via buttons or similar methods. These massagers cannot intelligently and promptly "understand" the user's psychology. Extensive research has revealed that the higher the frequency of back-and-forth massage, the stronger the vibration the user desires; conversely, the lower the frequency, the weaker the vibration. Therefore, this invention is based on this psychological need, creating an intelligent massager and its control method that "understands" the user's mind.

[0046] This invention utilizes an accelerometer to sense the motion state of the massager during use, including the vibration state of the massager itself and the product state of the user holding the massager back and forth. Through algorithmic filtering of external interference, it accurately and instantly reads the actual frequency of the user's hand movements, thereby matching the corresponding motor vibration intensity and greatly improving the user experience.

[0047] First embodiment, such as Figure 1 As shown, this invention discloses a control method for a massager. In some embodiments, the massager includes a massager body, which includes a processor, an actuation mechanism, and sensors respectively connected to the processor. In other embodiments, the massager can be wirelessly remotely controlled for convenient multi-user interaction; therefore, the massager includes a massager body and a control device, such as a remote control, communicatively connected to the massager body. The control device includes sensors, and the massager body includes a processor and an actuation mechanism. The actuation mechanism includes an eccentric wheel motor and a reduction gearbox.

[0048] The control method of the massager of the present invention can utilize the user's movement patterns during use, such as the frequency of the user's hand-held massager or the back-and-forth movement (including linear movement, rocking movement, and rotational movement) via a remote control connected to the massager, to control the vibration intensity of the internal eccentric wheel motor or the output speed of the reduction gearbox.

[0049] In this embodiment, as Figure 1As shown, the control method of this massager includes the following steps:

[0050] Step S1: Sensing the motion state parameters of the massager using sensors. These motion state parameters include the forward and backward motion frequency;

[0051] Step S2: Control the motion mechanism to move according to the set rules based on the motion state parameters.

[0052] Specifically, the sensor is a triaxial accelerometer, such as... Figure 2 As shown, step S1 includes:

[0053] Step S11: Real-time sensing of multiple triaxial accelerations A of the massager per unit time using a triaxial accelerometer. i ;

[0054] Step S12: Apply multiple triaxial accelerations A i Analysis and calculations were performed to obtain the forward and backward movement frequency of the massager per unit time.

[0055] In some embodiments, step S11 includes:

[0056] Step S111: Sample the triaxial acceleration A N times per unit time. i , represented as A i (0≤i <N)={X i Y i Z i}; where X i Y i Z i Triaxial acceleration A i Acceleration components in the XYZ directions;

[0057] Step S112: Preset analysis and calculation time;

[0058] Step S113: Sample the triaxial acceleration A within the analysis and calculation time after the unit time. i Output in FIFO format as the new triaxial acceleration A sampled per unit time. i Specifically, this includes: removing the triaxial acceleration A sampled during the earliest analysis and calculation time per unit time. i The remaining portion of the unit time after removal is added to the latest analysis and calculation time after the unit time is used as the new unit time, and the triaxial acceleration A sampled within the new unit time is used as the new unit time. i Output the results.

[0059] Here, assuming a unit time of 1 second, the triaxial acceleration A is sampled 100 times within 1 second. iIf the next sampling is performed after the sampling is completed and the analysis and calculation are performed, the time consumed by the analysis and calculation and the triaxial acceleration during that time period will not be utilized. The forward and backward motion frequency calculated by the analysis and calculation will also be delayed. There is no timely feedback based on the continuous motion state of the massager, so as not to control the motion mechanism and affect the user experience.

[0060] Therefore, to avoid this deficiency, the present invention presets the number of calculations per unit time, which also presets the analysis and calculation time. For example, if 10 calculations are performed within 1 second (i.e., 1 calculation every 0.1 seconds), and 10 data collections are performed, the analysis and calculation time is 0.1 seconds. Figure 3 As shown, when the time reaches 1.1 seconds, the triaxial acceleration A sampled within the first 0.1 seconds of the unit time 1 second is removed. i The remaining 0.9 seconds after removing the original 1 second is added to the latest analysis and calculation time of 0.1 seconds to form the new unit time, i.e., 0.1 seconds - 1.1 seconds. The triaxial acceleration A sampled within this new unit time is then used as the new unit time. i Output is then performed, and so on. When 1.2 seconds have elapsed, the interval from 0.2 seconds to 1.2 seconds is taken as the new unit of time. For example, with 1 second as a period (unit of time), the first sampling period is t0 (1 second). The second sampling period t1 is formed by combining 0.5 seconds of period t0 with the next 0.5 seconds; the third sampling period t2 is formed by combining the last 0.5 seconds of period t1 with the next 0.5 seconds, and so on. Therefore, there will be some overlap between consecutive unit times (periods), and this overlap effectively solves the delay problem. The preset analysis and calculation time is not limited here.

[0061] In this embodiment, step S12 includes:

[0062] Step S121: Calculate the triaxial acceleration A per unit time. i Component D in the direction of motion i , represented as D i =A i *sina*cosb; where a and b are the angles between the coordinate axes and the direction of motion. This step yields the triaxial acceleration A only in the direction of motion. i The amount.

[0063] Step S122: From D i Extract the maximum or minimum value per unit time from the series, denoted as E. k ={t i D i}; where t i D iThe corresponding time, k is E k The position within the array. It's important to note that maxima and minima are not the same as maximum and minimum values. For example, there can only be one maximum value, while there can be an infinite number of maxima. A maximum value refers to a peak, and a minimum value refers to a trough. Figure 4 As shown, D i The series contains multiple peaks and troughs, with peaks a, b, c, d, e, f, and g.

[0064] Step S123: E k The number of elements in the array represents the forward and backward movement frequency per unit time.

[0065] In some embodiments, to improve the reliability of the calculated forward and backward motion frequencies and eliminate interference, step S122 further includes:

[0066] The system determines whether the maximum or minimum value is within a preset range and whether the time difference between adjacent maximum or minimum values ​​is outside a preset high-frequency time period. If either condition is not met, filtering is performed to obtain the effective maximum or minimum value. Figure 4 As shown, the maximum values ​​within the preset amplitude are only a, b, d, e, f, and g. Assuming that the time difference t1-t2 between adjacent effective maximum values ​​e and f is 0.05 seconds, within the preset high-frequency time period of 0.06 seconds, e and f are filtered out, and a, b, d, and g are retained.

[0067] In this embodiment, step S2 includes: adjusting the pulse duty cycle based on the forward and backward motion frequencies within the current sampling unit time and a preset duty cycle coefficient, outputting a PWM signal to the motion mechanism, and controlling the motion mechanism to move according to a set rule. For example, multiplying the forward and backward motion frequencies by the preset duty cycle coefficient yields the adjusted pulse duty cycle.

[0068] In this embodiment, when the sensor is placed on the massager body, the acceleration sensed by the sensor will be disturbed because the motor itself vibrates according to a certain number of patterns, or the jaw box rotates or extends and retracts according to a certain number of patterns. Therefore, in order to remove the interference, the following is included before step S12:

[0069] Filtering out the triaxial acceleration A sensed by the triaxial accelerometer from the actuating mechanism i Interference. Specifically: using a high-frequency filtering formula to filter out the triaxial acceleration A. i Amplitude interference and high-frequency signal interference caused by the high-speed movement of the actuator; wherein, the high-frequency filtering formula is:

[0070] B i =A*A i +A′*A i-1+…+A (m) *A0+B′*B i-1 +…+B (m) *B0;

[0071] B i ={xx i yy i ,zz i};xx i yy i ,zz i To filter out the acceleration components of the triaxial acceleration in the XYZ directions after removing high-frequency signals; A, A′, A (m) B′, B (m) These are all preset different filter coefficients, where m represents m superscripts ' used to distinguish different filter coefficients.

[0072] Furthermore, the triaxial acceleration A is filtered out using the moving average formula. i Low-frequency signal interference caused by the high-speed movement of the actuator; wherein, the moving average formula is C i = (B i +…+B i+j ) / (j+1); C i The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

[0073] Finally, step S12 is executed, in which it is determined whether the maximum or minimum value is within a preset range and whether the time difference between adjacent maximum or minimum values ​​is outside a preset high-frequency time period. If one of them is not satisfied, filtering is performed to obtain the effective maximum or minimum value.

[0074] In this embodiment, when the sensor is mounted on the control device, before step S12, it is only necessary to filter out the triaxial acceleration A using the moving average formula. i Low-frequency signal interference; wherein, the moving average formula is C i =(A i +…+A i+j ) / (j+1); C i The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

[0075] Finally, step S12 is executed, in which it is determined whether the maximum or minimum value is within a preset range and whether the time difference between adjacent maximum or minimum values ​​is outside a preset high-frequency time period. If one of them is not satisfied, filtering is performed to obtain the effective maximum or minimum value.

[0076] In this embodiment, when the sensor is located on the control device, since it is separated from the action mechanism on the massager body, related interference can be removed.

[0077] Because people's physical condition and age differ, their sensitivity levels also vary. Therefore, while using the handheld product, people can not only experience the sensations brought by different intensities of vibration, but also press the button again to select their preferred vibration level and fix it for use. Therefore, this control method also includes step S3: based on the received fixed motion command, controlling the motion mechanism to maintain movement according to the current rules.

[0078] In a second embodiment, the present invention also constructs a massager, including a massager body, which includes a processor, an actuation mechanism, and a sensor respectively connected to the processor. The processor implements the control method of the massager as described in any one of the first embodiments, which will not be repeated here.

[0079] In this embodiment, when the sensor is placed on the massager body, the acceleration sensed by the sensor will be disturbed because the motor itself vibrates according to a certain number of patterns, or the jaw box rotates or extends and retracts according to a certain number of patterns. Therefore, in order to remove the interference, the following is included before step S12:

[0080] Filtering out the triaxial acceleration A sensed by the triaxial accelerometer from the actuating mechanism i Interference. Specifically: using a high-frequency filtering formula to filter out the triaxial acceleration A. i Amplitude interference and high-frequency signal interference caused by the high-speed movement of the actuator; wherein, the high-frequency filtering formula is:

[0081] B i =A*A i +A′*A i-1 +…+A (m) *A0+B′*B i-1 +…+B (m) *B0;

[0082] B i ={xx i yy i ,zz i};xx i yy i ,zz i To filter out the acceleration components of the triaxial acceleration in the XYZ directions after removing high-frequency signals; A, A′, A (m) B′, B (m) These are all preset different filter coefficients, where m represents m superscripts ' used to distinguish different filter coefficients.

[0083] Furthermore, the triaxial acceleration A is filtered out using the moving average formula. iLow-frequency signal interference caused by the high-speed movement of the actuator; wherein, the moving average formula is C i = (B i +…+B i+j ) / (j+1); C i The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

[0084] Finally, step S12 is executed, in which it is determined whether the maximum or minimum value is within a preset range and whether the time difference between adjacent maximum or minimum values ​​is outside a preset high-frequency time period. If one of them is not satisfied, filtering is performed to obtain the effective maximum or minimum value.

[0085] In a third embodiment, the present invention also constructs a massager, comprising: a massager body and a control device communicatively connected to the massager body, the control device including a sensor, and the massager body including a processor and an actuation mechanism; the processor implements the control method of the massager as described in any one of the first embodiments, which will not be repeated here.

[0086] In this embodiment, when the sensor is mounted on the control device, before step S12, it is only necessary to filter out the triaxial acceleration A using the moving average formula. i Low-frequency signal interference; wherein, the moving average formula is C i =(A i +…+A i+j ) / (j+1); C i The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

[0087] Finally, step S12 is executed, in which it is determined whether the maximum or minimum value is within a preset range and whether the time difference between adjacent maximum or minimum values ​​is outside a preset high-frequency time period. If one of them is not satisfied, filtering is performed to obtain the effective maximum or minimum value.

[0088] By implementing this invention, the following beneficial effects are achieved:

[0089] The control method of the present invention senses the motion state parameters of the massager through sensors, and controls the motion mechanism to move according to the set rules based on the motion state parameters. This allows the motion execution mechanism in the massager to be adjusted according to the motion state of the massager to correspond to different working intensities. There is no need to select the working intensity of the motion execution mechanism inside the massager by pressing a button. The vibration mode of the present invention is diversified and easy to adjust, which improves the user experience.

[0090] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A control method for a massager, characterized in that, Includes the following steps: S1: Sensing the motion state parameters of the massager via sensors; S2: Control the motion mechanism to move according to the set rules based on the motion state parameters; Step S1 includes: S11: Real-time sensing of multiple triaxial accelerations of the massager per unit time via a triaxial accelerometer. ; S12: For the multiple triaxial accelerations Analysis and calculation were performed to obtain the forward and backward movement frequency of the massager per unit time; Step S12 includes: S121: Calculate triaxial acceleration per unit time. Component in the direction of motion ; S122: From The series extracts the maximum or minimum value within a unit time period, determines whether the maximum or minimum value is within a preset range, and calculates whether the time difference between adjacent maximum or minimum values ​​is outside a preset high-frequency time period. If either condition is not met, filtering is performed to obtain the effective maximum or minimum value, denoted as... ;in, for The corresponding time, k for Position in the array; S123: Will The number of elements in the array represents the frequency of forward and backward movement per unit time. Step S2 includes: Based on the forward and backward motion frequency within the sampling unit time and the preset duty cycle coefficient, the pulse duty cycle is adjusted, and a PWM signal is output to the motion mechanism to control the motion mechanism to move according to the set rules.

2. The control method for the massager according to claim 1, characterized in that, Step S11 includes: S111: Triaxial acceleration sampled N times per unit time. , represented as ;in, Triaxial acceleration Acceleration components in the XYZ directions; S112: Preset analysis and calculation time; S113: The triaxial acceleration sampled within the analysis and calculation time after a unit time. Output in FIFO format as the new triaxial acceleration sampled per unit time. .

3. The control method for the massager according to claim 2, characterized in that, Step S113 includes: Remove the triaxial acceleration sampled during the earliest analysis and calculation time per unit time. The remaining time in the unit time after removal is added to the latest analysis and calculation time after the unit time is used as the new unit time, and the triaxial acceleration sampled in the new unit time is used as the new unit time. Output the results.

4. The control method for the massager according to claim 1, characterized in that, The procedure preceding step S12 also includes: The triaxial acceleration was filtered out using the moving average formula. Low-frequency signal interference; wherein, the moving average formula is: ; The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

5. The control method for the massager according to claim 1, characterized in that, The procedure preceding step S12 also includes: The triaxial acceleration was filtered out using a high-frequency filtering formula. Amplitude interference and high-frequency signal interference in the signal; wherein, the high-frequency filtering formula is: To filter out the acceleration components of the triaxial acceleration in the XYZ directions after removing high-frequency signals; A, , , All of these are preset, different filter coefficients; The triaxial acceleration was filtered out using the moving average formula. Low-frequency signal interference; wherein, the moving average formula is: ; The triaxial acceleration is after filtering out low-frequency signals; j is the quantity.

6. A massager, comprising a massager body, characterized in that, The massager body includes: a processor, and an action mechanism and sensors respectively connected to the processor; The processor implements the control method of the massager as described in any one of claims 1-5; or, The massager also includes a control device communicatively connected to the massager body, the control device including a sensor; the massager body includes a processor and an actuation mechanism. The processor implements the control method for the massager as described in any one of claims 1-4.

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