Massage instrument massage control method and device and massage instrument

Abstract

The application provides a massage instrument massage control method and device and a massage instrument, and relates to the technical field of massage instruments. The method comprises the following steps: acquiring the size of a target massage area; acquiring the position of a bone in the target massage area according to the size of the target massage area and the type of the target massage area; determining the position of a preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area; and controlling a massage head to perform massage according to the position of the preset acupoint. The application can accurately position and massage the acupoints of a user, thereby improving the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of massage instruments, in particular to a massage control method and device of a massage instrument and the massage instrument. BACKGROUND

[0002] Long-term physical labor, sports fitness or sitting office work are all causes of muscle fatigue of human body, and massage and manipulation such as pressing, rubbing, tapping, pressing and rubbing on acupoints of human body can effectively relieve muscle fatigue.

[0003] Professional massage needs to go to a Chinese medicine manipulation shop to have massage by a professional manipulation technician, and this way can meet the needs of people, but is very time-consuming and cannot be done at will. Therefore, various massage instruments have been put on the market to enable people to enjoy massage without going to a massage shop.

[0004] However, the massage methods of the massage instruments on the market are usually fixed modes, and due to individual differences, acupoint massage cannot be effectively achieved, and user experience is still not high. SUMMARY

[0005] The present application aims at the deficiencies in the prior art, and provides a massage control method and device of a massage instrument and the massage instrument to accurately position and massage acupoints of a user and improve user experience.

[0006] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0007] In a first aspect, the embodiments of the present application provide a massage control method of a massage instrument, applied to a controller of the massage instrument, wherein the massage instrument comprises a plurality of massage heads, and the method comprises:

[0008] obtaining the size of a target massage area;

[0009] obtaining the position of a bone in the target massage area according to the size of the target massage area and the type of the target massage area;

[0010] determining the position of a preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area;

[0011] controlling the massage heads to massage according to the position of the preset acupoint.

[0012] Optionally, the massage instrument further comprises a plurality of connecting shafts, one end of each connecting shaft is adjustably connected with a corresponding massage head, the other end of the connecting shaft is connected with a main body of the massage instrument, and the controller of the massage instrument is in communication connection with each massage head.

[0013] The massage heads are controlled to massage according to the positions of the preset acupoints, including:

[0014] The massage heads are controlled to move to the positions of the preset acupoints with the connecting shaft as the center according to the positions of the preset acupoints.

[0015] The massage heads are controlled to massage the preset acupoints according to the preset massage mode for the preset acupoints.

[0016] Optionally, the preset acupoints are multiple, and the massage heads are controlled to massage according to the positions of the preset acupoints, including:

[0017] The displacement and / or rotation angle of each massage head for massage are determined according to the positions of the multiple preset acupoints.

[0018] Each massage head is controlled to massage according to a preset massage sequence according to the displacement and / or rotation angle of each massage head for massage.

[0019] Optionally, the massage instrument is a shoulder and neck massage instrument, and the size of the target massage region includes the length of the cervical vertebrae.

[0020] The positions of the bones in the target massage region are obtained according to the size of the target massage region and the type of the target massage region, including:

[0021] The positions of multiple cervical vertebrae are calculated according to the length of the cervical vertebrae.

[0022] The positions of the preset acupoints are determined according to the positions of the bones in the target massage region and the positional relationship between the preset acupoints and the bones in the target massage region, including:

[0023] The positions of the preset shoulder and neck acupoints are determined according to the positions of the multiple cervical vertebrae and the positional relationship between the preset shoulder and neck acupoints and the multiple cervical vertebrae.

[0024] Optionally, the positions of the preset shoulder and neck acupoints are determined according to the positions of the multiple cervical vertebrae and the positional relationship between the preset shoulder and neck acupoints and the multiple cervical vertebrae, including:

[0025] The positions of the preset neck acupoints are determined according to the positions of the multiple cervical vertebrae and the positional relationship between the preset neck acupoints and the multiple cervical vertebrae.

[0026] The positions of the preset shoulder acupoints are determined according to the positions of the multiple cervical vertebrae and the positional relationship between the preset shoulder acupoints and the multiple cervical vertebrae.

[0027] Optionally, the plurality of massage heads comprise: a shoulder massage head and a neck massage head.

[0028] The size of the target massage area is obtained, comprising:

[0029] An angle of a power arm between the neck massage head and the shoulder massage head is obtained.

[0030] A cervical vertebra height is determined according to positions of the neck massage head and the shoulder massage head.

[0031] The cervical vertebra length is calculated according to the cervical vertebra height and the angle of the power arm.

[0032] Optionally, the massage instrument further comprises a running mechanism connected with the main body of the massage instrument through the connecting shaft.

[0033] The size of the target massage area is obtained, comprising:

[0034] The running mechanism is controlled to move from a shoulder limit position to a neck and head intersection position, and a running distance of the running mechanism is determined as the cervical vertebra length.

[0035] Optionally, the massage instrument is a waist massage instrument; and the size of the target massage area comprises a lumbar vertebra length.

[0036] The position of a bone in the target massage area is obtained according to the size of the target massage area and a type of the target massage area, comprising:

[0037] The positions of a plurality of lumbar vertebrae are calculated according to the lumbar vertebra length.

[0038] The position of a preset acupoint is determined according to the position of the bone in the target massage area and a positional relationship between the preset acupoint and the bone in the target massage area, comprising:

[0039] The position of the preset acupoint is determined according to the positions of the plurality of lumbar vertebrae and a positional relationship between the preset acupoint and the plurality of lumbar vertebrae.

[0040] Optionally, the size of the target massage area is obtained, comprising:

[0041] A deviation angle of the plurality of massage heads in a vertical direction is obtained.

[0042] A lumbar vertebra height is determined according to positions of the upper and lower massage heads of the waist massage instrument.

[0043] The lumbar vertebra length is calculated according to the lumbar vertebra height and the deviation angle.

[0044] In a second aspect, the embodiments of the present application also provide a massage control device of a massage instrument, applied to a controller of the massage instrument, the massage instrument comprising: a plurality of massage heads; the device comprising:

[0045] a size acquisition module, configured to acquire a size of a target massage area;

[0046] a skeleton position acquisition module, configured to acquire a position of a skeleton in the target massage area according to the size of the target massage area and a type of the target massage area;

[0047] an acupoint position determination module, configured to determine a position of a preset acupoint according to the position of the skeleton in the target massage area and a positional relationship between the preset acupoint and the position of the skeleton in the target massage area;

[0048] a massage control module, configured to control the massage heads to perform massage according to the position of the preset acupoint.

[0049] Optionally, the massage instrument further comprises: a plurality of connecting shafts, one end of each of the connecting shafts being adjustably connected with a corresponding massage head, the other end of the connecting shaft being connected with a main body of the massage instrument, and the controller of the massage instrument being in communication connection with each of the massage heads; the massage control module comprises:

[0050] a movement control unit, configured to control each of the massage heads to move to the position of the preset acupoint with the connecting shaft as the center according to the position of the preset acupoint;

[0051] a massage control unit, configured to control each of the massage heads to perform massage on the preset acupoint according to a preset massage mode for the preset acupoint.

[0052] Optionally, the preset acupoint is multiple, and the massage control module comprises:

[0053] a massage head parameter control unit, configured to determine a displacement and / or a rotation angle of each of the massage heads for massage according to the positions of the multiple preset acupoints;

[0054] a massage control unit, configured to control each of the massage heads to perform massage in a preset massage sequence according to the displacement and / or the rotation angle of each of the massage heads for massage.

[0055] Optionally, the massage instrument is a shoulder and neck massage instrument; the size of the target massage area comprises a cervical vertebra length; and the skeleton position acquisition module is specifically configured to calculate the positions of a plurality of cervical vertebrae according to the cervical vertebra length.

[0056] The acupoint position determination module is specifically configured to determine the positions of the preset shoulder-neck acupoints according to the positions of the plurality of cervical vertebrae and a position relationship between the preset shoulder-neck acupoints and the plurality of cervical vertebrae.

[0057] Optionally, the acupoint position determination module comprises:

[0058] The neck acupoint position determination unit is configured to determine the positions of the preset neck acupoints according to the positions of the plurality of cervical vertebrae and a position relationship between the preset neck acupoints and the plurality of cervical vertebrae.

[0059] The shoulder acupoint position determination unit is configured to determine the positions of the preset shoulder acupoints according to the positions of the plurality of cervical vertebrae and a position relationship between the preset shoulder acupoints and the plurality of cervical vertebrae.

[0060] Optionally, the plurality of massage heads comprises shoulder massage heads and neck massage heads; and the size acquisition module comprises:

[0061] The included angle acquisition unit is configured to acquire a power arm included angle between the neck massage head and the shoulder massage head.

[0062] The cervical vertebra height acquisition unit is configured to determine a cervical vertebra height according to the positions of the neck massage head and the shoulder massage head.

[0063] The cervical vertebra length calculation unit is configured to calculate the cervical vertebra length according to the cervical vertebra height and the power arm included angle.

[0064] Optionally, the massage instrument further comprises a running mechanism, the running mechanism is connected with the main body of the massage instrument through the connecting shaft; and the size acquisition module is further configured to control the running mechanism to move from a shoulder limit position to a neck and head intersection, and determine that a running distance of the running mechanism is the cervical vertebra length.

[0065] Optionally, the massage instrument is a waist massage instrument; and the size of the target massage region comprises a lumbar vertebra length; and the bone position acquisition module is specifically configured to calculate positions of a plurality of lumbar vertebrae according to the lumbar vertebra length.

[0066] The acupoint position determination module is specifically configured to determine the positions of the preset waist acupoints according to the positions of the plurality of lumbar vertebrae and a position relationship between the preset waist acupoints and the plurality of lumbar vertebrae.

[0067] Optionally, the size acquisition module comprises:

[0068] The deviation angle acquisition unit is configured to acquire a deviation angle of the plurality of massage heads in a vertical direction.

[0069] A lumbar vertebra height obtaining unit is configured to determine the lumbar vertebra height according to the positions of the upper and lower massage heads of the lumbar massage instrument.

[0070] A lumbar vertebra length calculating unit is configured to calculate the lumbar vertebra length according to the lumbar vertebra height and the deviation angle.

[0071] In a third aspect, the embodiments of the present application further provide a massage instrument, which comprises a processor, a storage medium and a bus. The storage medium stores program instructions executable by the processor. When the massage instrument is running, the processor and the storage medium communicate through the bus. The processor executes the program instructions to perform the steps of the massage control method of the massage instrument according to any one of the first aspect.

[0072] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the steps of the massage control method of the massage instrument according to any one of the first aspect are performed.

[0073] The present application has the following beneficial effects:

[0074] The present application provides a massage control method and device of a massage instrument and the massage instrument. The size of a target massage area is obtained. The position of a bone in the target massage area is obtained according to the size of the target massage area and the type of the target massage area. The position of a preset acupoint is determined according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area. The massage head is controlled to perform massage according to the position of the preset acupoint. The position of the bone in the target massage area of a user is determined according to the size of the target massage area of the user. The position of the preset acupoint is accurately positioned according to the position of the bone. The problem that the acupoint cannot be accurately massaged due to individual differences is solved. The acupoint of the user is accurately positioned and massaged. The use experience of the user is improved. BRIEF DESCRIPTION OF DRAWINGS

[0075] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0076] Figure 1 The flowchart of the first embodiment of the massage control method of the massage instrument provided by the present application;

[0077] Figure 2 The flowchart of the second embodiment of the massage control method of the massage instrument provided by the present application;

[0078] Figure 3 A flowchart of a third embodiment of the massage control method of the massage device provided in the present application is provided.

[0079] Figure 4 A flowchart of a fourth embodiment of the massage control method of the massage device provided in the present application is provided.

[0080] Figure 5 A flowchart of a fifth embodiment of the massage control method of the massage device provided in the present application is provided.

[0081] Figure 6 A schematic diagram of an embodiment of the shoulder and neck massage device provided in the present application is provided.

[0082] Figure 7 A structural schematic diagram of an embodiment of the shoulder and neck massage device provided in the present application is provided.

[0083] Figure 8 A flowchart of a sixth embodiment of the massage control method of the massage device provided in the present application is provided.

[0084] Figure 9 A flowchart of a seventh embodiment of the massage control method of the massage device provided in the present application is provided.

[0085] Figure 10 A structural schematic diagram of an embodiment of the massage control device of the massage device provided in the present application is provided.

[0086] Figure 11 A structural schematic diagram of an embodiment of the massage device provided in the present application is provided. DETAILED DESCRIPTION

[0087] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0088] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts, fall within the scope of protection of the present application.

[0089] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. indicate the orientation or position relationship shown in the drawings, or the orientation or position relationship when the product of the present application is used, only for the convenience of describing the present application and simplifying the description, and it does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0090] In addition, the terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0091] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0092] The present application provides a massage instrument massage control method and device and massage instrument. The position of the skeleton in the target massage area is determined according to the size of the target massage area and the type of the target massage area, so as to accurately position the preset acupoint of the user according to the position of the skeleton and the position relationship between the preset acupoint and the skeleton in the target massage area, thereby controlling the massage head of the massage instrument to massage the preset acupoint.

[0093] The massage instrument comprises a main body, a controller, a plurality of massage heads and a plurality of connecting shafts. The controller is arranged in the interior of the main body. One end of each connecting shaft is adjustably connected with a corresponding massage head, so that each massage head can move through the connecting shaft. The other end of each connecting shaft is connected with the main body. The controller is in communication connection with each massage head, so as to control the massage head to move and massage.

[0094] It should be noted that the massage instrument provided by the embodiments of the present application can be a physical massage instrument, which can perform mechanical massage on the muscle layer where the preset acupoint is located through physical kneading. It can also be an electric stimulation massage instrument, which can relax the muscle at the preset acupoint through current stimulation by contacting the preset acupoint of the human body with the conductive sheet. The massage instrument can be a massage instrument for massaging different areas, such as cervical vertebra massage instrument, lumbar vertebra massage instrument, back massage instrument, leg massage instrument, etc. The corresponding massage head thereof can be a massage head for massaging the position, which is not limited specifically herein.

[0095] Based on the above massage instrument, the application provides a massage instrument massage control method and device applied to the controller in the above massage instrument.

[0096] Please refer to Figure 1 The flowchart of the first embodiment of the massage instrument massage control method provided by the application is shown in Figure 1 The method comprises the following steps.

[0097] S10: Obtain the size of the target massage area.

[0098] In this embodiment, the target massage area is the massage area targeted by the massage instrument. According to the massage area targeted by the massage instrument, the massage instrument is worn on the target massage area to obtain the size of the target massage area. The target massage area can be a shoulder and neck massage area, a waist massage area, a leg massage area, a foot massage area, etc., and the present embodiment does not limit it.

[0099] In one possible implementation, the size of the target massage area can be obtained by wearing a plurality of massage heads of the massage instrument on specified positions of the target massage area, and determining the size of the target massage area according to the distance between the plurality of massage heads.

[0100] S20: Obtain the position of the skeleton in the target massage area according to the size of the target massage area and the type of the target massage area.

[0101] In this embodiment, the massage areas are classified according to the massage areas supported by the massage instrument. The types and distribution of the skeletons in different massage areas are different. According to the type of the target massage area, the distribution position of the skeleton in the target massage area is calculated based on the size of the target massage area.

[0102] The types of different massage areas, such as shoulder and neck, waist, leg, and foot, can be pre-stored in the memory of the massage instrument. The type of the target massage area for which the massage instrument performs massage can be set by the user or determined by the massage instrument according to the size of the target massage area. Alternatively, for massage instruments with different functions, the type of the target massage area for which the massage instrument performs massage can be set by default, for example, a shoulder and neck massage instrument performs massage, and it can be determined that the target massage area is a shoulder and neck massage area.

[0103] In some embodiments, the position of the skeleton in the target massage area of the wearer can be determined according to the relationship between the standard size of the target massage area and the position of the skeleton in the standard human body diagram.

[0104] S30: Determine the position of the preset acupoint according to the position of the skeleton in the target massage area and the position relationship between the preset acupoint and the skeleton in the target massage area.

[0105] In this embodiment, according to the acupoint distribution table summarized by the traditional Chinese medicine industry, the positional relationship between the preset acupoints and the bones in the target massage area in the standard human body diagram is determined, and according to the position of the bones in the target massage area and the positional relationship between the preset acupoints and the bones, the positions of the preset acupoints in the target massage area are determined.

[0106] In some embodiments, if multiple preset acupoints in the target massage area need to be massaged, the positional relationship between at least one preset acupoint and the bones that can be positioned through the bones can be determined from the multiple preset acupoints according to the acupoint distribution table, and the positions of the at least one preset acupoint in the target massage area are determined according to the position of the bones in the target massage area and the positional relationship between the at least one preset acupoint and the bones; then the positions of the other preset acupoints are determined according to the positional relationship between the at least one preset acupoint and the other preset acupoints in the acupoint distribution table, and the positions of the at least one preset acupoint in the target massage area and the positional relationship between the at least one preset acupoint and the other preset acupoints.

[0107] S40: controlling the massage head to massage according to the positions of the preset acupoints.

[0108] In this embodiment, after the positions of the preset acupoints are determined, the massage head is controlled to move to the positions of the preset acupoints and then massage the preset acupoints.

[0109] In a possible implementation, if the number of preset acupoints is equal to the number of massage heads, each massage head is controlled to massage the corresponding preset acupoint, and after the massage is completed, each massage head is controlled to stop massaging and wait for the user to re-input a massage instruction to the controller.

[0110] It should be noted that the input of each massage instruction can be input before the controller executes S10, that is, after the user inputs the massage instruction, the controller executes the processes of S10-S40 to complete the positioning and massage of the preset acupoints; or the user can first input an acupoint determination instruction after wearing the massage instrument, the controller executes the processes of S10-S30 to determine the positions of the preset acupoints, and then the user inputs a massage instruction, and the controller executes the process of S40 to massage the preset acupoints.

[0111] In another possible implementation, if the number of preset acupoints is greater than the number of massage heads, each massage head is controlled to massage the corresponding first group of preset acupoints, and after the massage is completed, each massage head is controlled to move to the positions of the second group of preset acupoints to massage the corresponding first group of preset acupoints.

[0112] In some embodiments, the massage device further comprises a plurality of connecting shafts, one end of each of the connecting shafts is adjustably connected with a corresponding massage head, the other end of the connecting shaft is connected with the main body of the massage device, and the controller of the massage device is in communication connection with each massage head; please refer to Figure 2 The flowchart of the second embodiment of the massage control method of the massage device provided in the present application is shown in Figure 2 The process of controlling the massage heads to massage according to the positions of the preset acupoints in S40 can include:

[0113] S41: controlling each massage head to move to the position of the preset acupoint with the connecting shaft as the center according to the position of the preset acupoint.

[0114] S42: controlling each massage head to massage the preset acupoint according to the preset massage mode for the preset acupoint.

[0115] In the present embodiment, after the controller calculates the positions of the preset acupoints, it controls each massage head to move to the position of the corresponding preset acupoint with the connecting shaft as the center, and after determining that each massage head reaches the position of the corresponding preset acupoint, it massages the corresponding preset acupoint according to the preset massage mode for the preset acupoint.

[0116] In one embodiment, if the massage device is a physical massage device, the massage mode is similar to the massage method in the traditional Chinese medicine industry, and can include kneading massage, pounding massage, hammering massage, finger pressure massage, stretching massage, etc. In addition, the controller also sets a plurality of massage frequencies corresponding to various massage modes for the user to select. If the user does not select, a massage frequency is determined as the default massage frequency from the plurality of massage frequencies.

[0117] In another embodiment, if the massage device is an electric stimulation massage device, the massage mode includes electric stimulation currents of a plurality of different current values. The current value of the electric stimulation current for different preset acupoints in the target massage area can be determined according to the type of the target massage area. In addition, the controller also sets a plurality of current values for the user to adjust. If the user does not adjust, a current value is determined as the default current value from the plurality of current values.

[0118] The massage control method of the massage device provided in the above embodiments determines the positions of the bones in the target massage area of the user according to the size of the target massage area of the user, accurately positions the positions of the preset acupoints according to the positions of the bones, solves the problem of being unable to accurately massage the acupoints due to individual differences, accurately positions and massages the acupoints of the user, and improves the user experience.

[0119] In some embodiments, please refer to Figure 3A flowchart of a third embodiment of the massage instrument massage control method provided in the present application is shown in FIG. 8. As shown in FIG. 8, there are multiple preset acupoints, and the process of controlling the massage heads to massage according to the positions of the preset acupoints in S40 can include: Figure 3

[0120] S43: determining the displacement and / or rotation angle of each massage head for massage according to the positions of the multiple preset acupoints.

[0121] S44: controlling each massage head to massage according to the preset massage sequence according to the displacement and / or rotation angle of each massage head for massage.

[0122] In this embodiment, after the positions of the multiple preset acupoints are calculated, the controller can control each massage head to move or rotate to the positions of the multiple preset acupoints in turn with the respective connecting shaft as the axis. Considering that the distances between the positions of the multiple preset acupoints in different target massage areas are different, the displacement or rotation angle for massage is also different. Therefore, each massage head can be controlled to massage according to the preset massage sequence according to the displacement or rotation angle of each massage head for massage.

[0123] The massage instrument massage control method provided in the above embodiments can determine the displacement and / or rotation angle of each massage head for massage according to the positions of the multiple preset acupoints, control each massage head to move to the preset acupoints according to the displacement and / or rotation angle for massage, complete the massage of the multiple preset acupoints, and improve the user experience by accurately positioning and massaging the acupoints of the user.

[0124] Based on the above embodiments, the present embodiment further provides a massage instrument massage control method for a shoulder and neck massage instrument. Please refer to FIG. 9. Figure 4 A flowchart of a fourth embodiment of the massage instrument massage control method provided in the present application is shown in FIG. 10. As shown in FIG. 10, the size of the target massage area of the shoulder and neck massage instrument includes the length of the cervical vertebrae, and the method includes: Figure 4

[0125] S11: obtaining the length of the cervical vertebrae.

[0126] In this embodiment, the target massage area is a shoulder and neck massage area, and the massage instrument is worn on the shoulder and neck massage area to obtain the length of the cervical vertebrae of the shoulder and neck massage area.

[0127] In one possible implementation, the length of the cervical vertebrae of the shoulder and neck massage area can be obtained by wearing multiple massage heads of the shoulder and neck massage instrument at specified positions of the shoulder and neck massage area and determining the length of the cervical vertebrae of the shoulder and neck massage area according to the distance between the multiple massage heads. The specified positions of the shoulder and neck massage area can include specified positions of the shoulder and specified positions of the neck. ​​

[0128] S12: Calculate the positions of the plurality of cervical vertebrae according to the length of the cervical vertebrae.

[0129] In this embodiment, the cervical vertebrae are composed of seven cervical vertebrae, and the positions of the plurality of cervical vertebrae can be calculated according to the length of the cervical vertebrae according to the length proportion of each of the seven cervical vertebrae in the whole cervical vertebrae of the human body.

[0130] For example, assuming that the length of the cervical vertebrae is L, then the position of each cervical vertebra is wherein n = 1, 2, 3, 4, 5, 6, 7.

[0131] S13: Determine the position of the preset shoulder-neck acupoint according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder-neck acupoint and the plurality of cervical vertebrae.

[0132] In this embodiment, the positional relationship between the preset shoulder-neck acupoint and the cervical vertebrae in the shoulder-neck massage area in the standard human body diagram is determined according to the acupoint distribution table summarized by the traditional Chinese medicine industry, and the position of the preset shoulder-neck acupoint in the shoulder-neck massage area is determined according to the positions of the cervical vertebrae in the shoulder-neck massage area and the positional relationship between the preset shoulder-neck acupoint and the cervical vertebrae.

[0133] S14: Control the massage head to perform massage according to the position of the preset shoulder-neck acupoint.

[0134] In this embodiment, after the position of the preset shoulder-neck acupoint is determined, the massage head is controlled to move to the position of the preset shoulder-neck acupoint and then massage the preset shoulder-neck acupoint.

[0135] In one possible implementation, the process of determining the position of the preset shoulder-neck acupoint according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder-neck acupoint and the plurality of cervical vertebrae in S13 can include:

[0136] determining the position of the preset neck acupoint according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset neck acupoint and the plurality of cervical vertebrae, and determining the position of the preset shoulder acupoint according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder acupoint and the plurality of cervical vertebrae.

[0137] In this embodiment, the positional relationship between the preset shoulder acupoint and the cervical vertebrae and the positional relationship between the preset neck acupoint and the cervical vertebrae in the shoulder-neck massage area in the standard human body diagram are determined according to the acupoint distribution table summarized by the traditional Chinese medicine industry, the position of the preset shoulder acupoint in the shoulder-neck massage area is determined according to the positions of the cervical vertebrae in the shoulder-neck massage area and the positional relationship between the preset shoulder acupoint and the cervical vertebrae, and the position of the preset neck acupoint in the shoulder-neck massage area is determined according to the positions of the cervical vertebrae in the shoulder-neck massage area and the positional relationship between the preset neck acupoint and the cervical vertebrae.

[0138] In another possible implementation, the position of the preset shoulder acupoint in the shoulder-neck massage area can be determined according to the position of the cervical vertebra in the shoulder-neck massage area and the position relationship between the preset shoulder acupoint and the cervical vertebra, and then the position of the preset neck acupoint in the shoulder-neck massage area can be determined according to the position relationship between the preset shoulder acupoint and the preset neck acupoint. Alternatively, the position of the preset neck acupoint in the shoulder-neck massage area can be determined according to the position of the cervical vertebra in the shoulder-neck massage area and the position relationship between the preset neck acupoint and the cervical vertebra, and then the position of the preset shoulder acupoint in the shoulder-neck massage area can be determined according to the position relationship between the preset shoulder acupoint and the preset neck acupoint.

[0139] For example, if the preset shoulder-neck acupoints include a group of shoulder well acupoints as the shoulder acupoints and a group of wind pool acupoints and a group of celestial window acupoints as the neck acupoints, and the massage instrument includes a group of massage heads, the massage heads can be controlled to massage the wind pool acupoints, the celestial window acupoints and the shoulder well acupoints in sequence according to the positions of the preset shoulder-neck acupoints, and the user can adjust the massage frequency or the current value of the massage instrument during the massage at each acupoint. If the massage instrument includes two groups of massage heads, i.e., shoulder massage heads and neck massage heads, the shoulder massage heads can massage the shoulder well acupoints, and the neck massage heads can massage the wind pool acupoints and the celestial window acupoints respectively, and the wind pool acupoints are generally massaged first and then the celestial window acupoints.

[0140] The massage control method provided by the above embodiment can determine the position of the cervical vertebra in the user's shoulder-neck massage area according to the length of the cervical vertebra in the user's shoulder-neck massage area, accurately position the preset shoulder-neck acupoints according to the position of the cervical vertebra, solve the problem that the shoulder-neck acupoints cannot be accurately massaged due to individual differences, and improve the user's experience by accurately positioning and massaging the user's shoulder-neck acupoints.

[0141] On the basis of the above embodiment, the present embodiment further provides a massage control method of a massage instrument. Please refer to Figure 5 The flowchart of the fifth embodiment of the massage control method of the massage instrument provided by the present application is shown in Figure 5 For the shoulder-neck massage instrument, the plurality of massage heads include shoulder massage heads and neck massage heads, and the process of obtaining the length of the cervical vertebra in S11 can include:

[0142] S111: Obtain the power arm included angle between the neck massage heads and the shoulder massage heads.

[0143] For example, please refer to Figure 6 The schematic diagram of one embodiment of the shoulder-neck massage instrument provided by the present application is shown in Figure 7 The structural schematic diagram of one embodiment of the shoulder-neck massage instrument provided by the present application is shown in Figure 6 and Figure 7As shown, one neck massage head 11 and one shoulder massage head 12 are adjustably connected with one connecting shaft 13, and the neck massage head and the shoulder massage head are movable around the corresponding connecting shaft as the center. By adjusting the wearing position of the neck massage head and the shoulder massage head in the preset shoulder-neck region, a certain power arm included angle a is formed between the neck massage head and the shoulder massage head.

[0144] S112: Determine the cervical spine height of the user according to the positions of the neck massage head and the shoulder massage head.

[0145] In this embodiment, the cervical spine height h of the user is determined by acquiring the distance between the upper part of the neck massage head and the lower part of the shoulder massage head.

[0146] In some embodiments, a standard coordinate system is established, the distance between the neck massage head and the shoulder massage head in the initial default state is calculated according to the positions of the neck massage head and the shoulder massage head in the initial default state as the initial distance, after the shoulder-neck massage instrument is worn on the shoulder-neck region, the positions of the neck massage head and the shoulder massage head in the wearing state are calculated according to the included angles between the neck massage head and the connecting shaft and between the shoulder massage head and the connecting shaft, and the distance between the neck massage head and the shoulder massage head in the wearing state is calculated according to the positions of the neck massage head and the shoulder massage head in the wearing state as the cervical spine height of the user.

[0147] S113: Calculate the cervical spine length according to the cervical spine height and the power arm included angle.

[0148] In this embodiment, the power arm included angle between the neck massage head and the shoulder massage head is taken as the inclination angle a of the cervical spine of the user, and the cervical spine length L of the user is calculated according to the cervical spine height h and the inclination angle a of the cervical spine. For example, the cervical spine length L of the user is L = h / tan(a).

[0149] In a possible implementation, the massage instrument further includes a running mechanism, the running mechanism is adjustably connected with the main body of the massage instrument through the connecting shaft, and based on the running mechanism, the process of acquiring the cervical spine length in S11 can further include:

[0150] Controlling the running mechanism to move from the shoulder limit position to the intersection of the neck and the head, and determining the running distance of the running mechanism as the cervical spine length of the user.

[0151] In this embodiment, during the process of wearing the massage instrument, the running mechanism of the massage instrument is worn at the shoulder limit position, the controller controls the running mechanism to move upwards from the shoulder limit position, and when it is detected that the running resistance of the running mechanism increases, it is determined that the running mechanism moves to the intersection of the neck and the head. According to the running distance of the running mechanism, the cervical spine length of the user is determined.

[0152] The massage control method provided by the massage device in the above embodiment calculates the length of the cervical vertebrae according to the included angle of the power arm between the neck massage head and the shoulder massage head and the height of the cervical vertebrae, so that the position of the cervical vertebrae determined according to the length of the cervical vertebrae is used to determine the position of the preset shoulder-neck acupoint, thereby accurately calculating the length of the cervical vertebrae of different users in different postures, and accurately positioning the position of the preset shoulder-neck acupoint, and improving the user experience by accurately positioning and massaging the shoulder-neck acupoint of the user.

[0153] On the basis of the above embodiment, the massage control method of the massage device provided in the embodiment of the present application is also provided for a waist massage device. Please refer to Figure 8 The flowchart of the sixth embodiment of the massage control method of the massage device provided in the present application is shown in Figure 8 for a waist massage device, the size of the target massage area includes the length of the lumbar vertebrae, and the method includes the following steps:

[0154] S21: Obtain the length of the lumbar vertebrae.

[0155] In this embodiment, the target massage area is the waist massage area, and the massage device is worn on the waist massage area to obtain the length of the lumbar vertebrae of the waist massage area.

[0156] In a possible implementation, the length of the lumbar vertebrae of the waist massage area can be obtained by wearing a plurality of massage heads of the waist massage device at designated positions of the waist massage area, and determining the length of the lumbar vertebrae of the waist massage area according to the distance between the plurality of massage heads.

[0157] S22: Calculate the positions of a plurality of lumbar vertebrae according to the length of the lumbar vertebrae.

[0158] In this embodiment, the lumbar vertebrae are composed of five lumbar vertebrae, and the positions of the plurality of lumbar vertebrae can be calculated according to the length of the lumbar vertebrae and the length proportion of each of the five lumbar vertebrae in the entire lumbar vertebrae of the human body.

[0159] S23: Determine the position of the preset waist acupoint according to the positions of the plurality of lumbar vertebrae and the positional relationship between the preset waist acupoint and the plurality of lumbar vertebrae.

[0160] In this embodiment, the positional relationship between the preset waist acupoint and the lumbar vertebrae in the standard human body diagram is determined according to the acupoint distribution table summarized by the traditional Chinese medicine industry, and the position of the preset waist acupoint in the waist massage area is determined according to the positions of the lumbar vertebrae in the waist massage area and the positional relationship between the preset waist acupoint and the lumbar vertebrae.

[0161] S24: Control the massage head to massage according to the position of the preset waist acupoint.

[0162] In this embodiment, after determining the position of the preset lumbar acupoint, the massage head is controlled to move to the position of the preset lumbar acupoint, and then the preset lumbar acupoint is massaged.

[0163] The massage control method provided by the above embodiment determines the position of the lumbar vertebrae in the user's lumbar massage area according to the length of the lumbar vertebrae, accurately positions the position of the preset lumbar acupoint according to the position of the lumbar vertebrae, solves the problem that the lumbar acupoint cannot be accurately massaged due to individual differences, accurately positions and massages the user's lumbar acupoint, and improves the user's experience.

[0164] On the basis of the above embodiment, the massage control method of the massage instrument is also provided. Please refer to Figure 9 The flowchart of the seventh embodiment of the massage control method of the massage instrument provided by the present application is shown in Figure 9 The process of obtaining the length of the lumbar vertebrae in the above S21 can include:

[0165] S211: Obtain the deviation angle of the plurality of massage heads in the vertical direction.

[0166] S212: Determine the height of the user's lumbar vertebrae according to the positions of the upper and lower massage heads of the lumbar massage instrument.

[0167] S213: Calculate the length of the lumbar vertebrae according to the height of the lumbar vertebrae and the deviation angle.

[0168] In this embodiment, the gravity direction of the main body of the massage instrument is taken as the vertical direction, the deviation angle of the plurality of massage heads relative to the vertical direction is determined, the distance between the upper and lower massage heads centered on the main body among the plurality of massage heads is obtained, the height of the user's lumbar vertebrae is determined, the deviation angle of the plurality of massage heads in the vertical direction is taken as the inclination angle of the user's lumbar vertebrae, and the length of the user's lumbar vertebrae is calculated according to the height of the lumbar vertebrae and the inclination angle of the lumbar vertebrae.

[0169] In some embodiments, a standard coordinate system is established, the distance between the upper and lower massage heads in the initial default state is calculated as the initial distance according to the positions of the upper and lower massage heads in the initial default state, after the lumbar massage instrument is worn on the lumbar region, the positions of the upper and lower massage heads in the wearing state are calculated according to the included angles between the upper and lower massage heads and the connecting shaft, and the distance between the upper and lower massage heads in the wearing state is calculated according to the positions of the upper and lower massage heads in the wearing state, and the distance is taken as the height of the user's lumbar vertebrae.

[0170] The massage control method provided by the massage device in the above embodiment can calculate the length of the lumbar vertebrae according to the deviation angle of the massage head and the height of the lumbar vertebrae, so as to determine the position of the lumbar vertebrae according to the length of the lumbar vertebrae, and determine the position of the preset waist acupoint, thereby accurately calculating the length of the lumbar vertebrae of different users in different postures, and accurately positioning the position of the preset waist acupoint, and improving the user experience by accurately positioning and massaging the waist acupoint of the user.

[0171] It should be noted that, since the length of the cervical vertebrae and the length of the lumbar vertebrae are different, the shoulder and neck massage device and the waist massage device using the massage control method of the massage device provided in the embodiment of the present application have different sizes.

[0172] On the basis of the above method embodiment, the embodiment of the present application further provides a massage device massage control device applied to a controller of a massage device, wherein the massage device comprises a plurality of massage heads. Please refer to Figure 10 The structure diagram of one embodiment of the massage device massage control device provided by the present application is shown in Figure 10 The device comprises:

[0173] The size acquisition module 10 is configured to acquire the size of the target massage area.

[0174] The bone position acquisition module 20 is configured to acquire the position of the bone in the target massage area according to the size of the target massage area and the type of the target massage area.

[0175] The acupoint position determination module 30 is configured to determine the position of the preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area.

[0176] The massage control module 40 is configured to control the massage head to massage according to the position of the preset acupoint.

[0177] Optionally, the massage device further comprises a plurality of connecting shafts, one end of each connecting shaft is adjustably connected with the corresponding massage head, the other end of the connecting shaft is connected with the main body of the massage device, and the controller of the massage device is in communication connection with each massage head; the massage control module 40 comprises:

[0178] The movement control unit is configured to control each massage head to move to the position of the preset acupoint as the center of the connecting shaft according to the position of the preset acupoint.

[0179] The massage control unit is configured to control each massage head to massage the preset acupoint according to the preset massage mode for the preset acupoint.

[0180] Optionally, there are a plurality of preset acupoints, and the massage control module 40 comprises:

[0181] The massage head parameter control unit is configured to determine the displacement and / or rotation angle of each massage head for massage according to the positions of the plurality of preset acupoints.

[0182] The massage control unit is configured to control each massage head to perform massage according to the preset massage sequence according to the displacement and / or rotation angle of each massage head for massage.

[0183] Optionally, the massage instrument is a shoulder and neck massage instrument; the size of the target massage region includes a cervical vertebra length; the bone position acquisition module 20 is specifically configured to calculate the positions of a plurality of cervical vertebrae according to the cervical vertebra length.

[0184] The acupoint position determination module 30 is specifically configured to determine the positions of preset shoulder and neck acupoints according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder and neck acupoints and the positions of the plurality of cervical vertebrae.

[0185] Optionally, the acupoint position determination module 30 includes:

[0186] The cervical acupoint position determination unit is configured to determine the positions of preset cervical acupoints according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset cervical acupoints and the positions of the plurality of cervical vertebrae.

[0187] The shoulder acupoint position determination unit is configured to determine the positions of preset shoulder acupoints according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder acupoints and the positions of the plurality of cervical vertebrae.

[0188] Optionally, the plurality of massage heads includes shoulder massage heads and cervical massage heads; the size acquisition module 10 includes:

[0189] The included angle acquisition unit is configured to acquire the power arm included angle between the cervical massage head and the shoulder massage head.

[0190] The cervical vertebra height acquisition unit is configured to determine the cervical vertebra height of the user according to the positions of the cervical massage head and the shoulder massage head.

[0191] The cervical vertebra length calculation unit is configured to calculate the cervical vertebra length according to the cervical vertebra height and the power arm included angle.

[0192] Optionally, the massage instrument further includes a running mechanism, the running mechanism is connected to the main body of the massage instrument through a connecting shaft; the size acquisition module 10 is further configured to control the running mechanism to move from a shoulder limit position to the intersection of the neck and the head, and determine the running distance of the running mechanism as the cervical vertebra length of the user.

[0193] Optionally, the massage instrument is a waist massage instrument; the size of the target massage region includes a lumbar vertebra length; the bone position acquisition module 20 is specifically configured to calculate the positions of a plurality of lumbar vertebrae according to the lumbar vertebra length.

[0194] The acupoint location determination module 30 is specifically used to determine the location of preset lumbar acupoints based on the positions of multiple lumbar vertebrae and the positional relationship between preset lumbar acupoints and multiple lumbar vertebrae.

[0195] Optionally, the size acquisition module 10 includes:

[0196] The deviation angle acquisition unit is used to acquire the deviation angle of multiple massage heads in the vertical direction;

[0197] The lumbar spine height acquisition unit is used to determine the user's lumbar spine height based on the position of the upper and lower massage heads of the lumbar massager;

[0198] The lumbar spine length calculation unit is used to calculate the lumbar spine length based on the lumbar spine height and deviation angle.

[0199] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0200] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0201] Please refer to Figure 11 This is a schematic diagram of the structure of one embodiment of the massager provided in this application, as shown below. Figure 11 As shown, the massager 100 includes a processor 101, a storage medium 102, and a bus.

[0202] Storage medium 102 stores program instructions executable by processor 101. When massager 100 is running, processor 101 communicates with storage medium 102 via a bus, and processor 101 executes the program instructions to perform the above-described method embodiment. The specific implementation and technical effects are similar and will not be described in detail here.

[0203] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, including a program that, when executed by a processor, is used to perform the above-described method embodiments.

[0204] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the described apparatus embodiments are merely schematic. The units as divided can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0205] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0206] In addition, each functional unit in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0207] The integrated unit implemented in the form of software functional units can be stored in a computer readable storage medium. The software functional units stored in the storage medium include a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in the various embodiments of the present application. The foregoing storage medium includes a variety of media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0208] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A massage control method of a massage instrument, characterized in that, The massage instrument comprises a plurality of massage heads; the method comprises: acquiring the size of a target massage area; acquiring the position of a bone in the target massage area according to the size of the target massage area and the type of the target massage area; determining the position of a preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area; controlling the massage heads to perform massage according to the position of the preset acupoint; if the massage instrument is a shoulder and neck massage instrument, the size of the target massage area comprises the length of a cervical vertebra, and the plurality of massage heads comprise shoulder massage heads and neck massage heads; the acquiring of the size of the target massage area comprises: acquiring the power arm included angle between the neck massage heads and the shoulder massage heads; determining the height of the cervical vertebra according to the positions of the neck massage heads and the shoulder massage heads; calculating the length of the cervical vertebra according to the height of the cervical vertebra and the power arm included angle; if the massage instrument is a waist massage instrument, the size of the target massage area comprises the length of a lumbar vertebra; the acquiring of the size of the target massage area comprises: acquiring the deviation angle of the plurality of massage heads in the vertical direction; determining the height of the lumbar vertebra according to the positions of the upper and lower massage heads of the waist massage instrument; calculating the length of the lumbar vertebra according to the height of the lumbar vertebra and the deviation angle.

2. The method of claim 1, wherein, The massage instrument further comprises a plurality of connecting shafts, one end of each connecting shaft is adjustably connected with a corresponding massage head, the other end of the connecting shaft is connected with the main body of the massage instrument, and the controller of the massage instrument is in communication connection with each massage head; the controlling of the massage heads to perform massage according to the position of the preset acupoint comprises: controlling each massage head to move to the position of the preset acupoint with the connecting shaft as the center according to the position of the preset acupoint; controlling each massage head to perform massage on the preset acupoint according to a preset massage mode for the preset acupoint.

3. The method of claim 1, wherein, There are a plurality of preset acupoints, and the controlling of the massage heads to perform massage according to the position of the preset acupoint comprises: determining the displacement and / or rotation angle of each massage head for tuina according to the positions of the plurality of preset acupoints; controlling each massage head to perform tuina massage in a preset tuina sequence according to the displacement and / or rotation angle of each massage head for tuina.

4. The method according to any one of claims 1 to 3, characterized in that, The acquiring of the position of a bone in the target massage area according to the size of the target massage area and the type of the target massage area comprises: calculating the positions of a plurality of cervical vertebrae according to the length of the cervical vertebra; The determining of the position of a preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area comprises: determining the position of a preset shoulder and neck acupoint according to the positions of the plurality of cervical vertebrae and the positional relationship between the preset shoulder and neck acupoint and the plurality of cervical vertebrae.

5. The method of claim 2, wherein, The massage instrument further comprises a running mechanism, and the running mechanism is connected with the main body of the massage instrument through the connecting shafts; the acquiring of the size of a target massage area comprises: The operation mechanism is controlled to move from a shoulder limit position to a neck and head intersection, and a running distance of the operation mechanism is determined as the cervical length.

6. The method according to any one of claims 1 to 3, wherein The position of the bone in the target massage area is acquired according to the size of the target massage area and the type of the target massage area. The positions of the lumbar vertebrae are calculated according to the lumbar length. The position of the preset acupoint is determined according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area. The position of the preset lumbar acupoint is determined according to the positions of the lumbar vertebrae and the positional relationship between the preset lumbar acupoint and the lumbar vertebrae.

7. A massage control device for a massage instrument, characterized in that, The controller applied to the massage instrument includes a plurality of massage heads. A size acquisition module is configured to acquire the size of the target massage area. A bone position acquisition module is configured to acquire the position of the bone in the target massage area according to the size of the target massage area and the type of the target massage area. An acupoint position determination module is configured to determine the position of the preset acupoint according to the position of the bone in the target massage area and the positional relationship between the preset acupoint and the bone in the target massage area. A massage control module is configured to control the massage heads to perform massage according to the position of the preset acupoint. If the massage instrument is a shoulder and neck massage instrument, the size of the target massage area includes a cervical length, and the plurality of massage heads include shoulder massage heads and neck massage heads. An included angle acquisition unit is configured to acquire a power arm included angle between the neck massage heads and the shoulder massage heads. A cervical height acquisition unit is configured to determine a cervical height according to the positions of the neck massage heads and the shoulder massage heads. A cervical length calculation unit is configured to calculate the cervical length according to the cervical height and the power arm included angle. If the massage instrument is a lumbar massage instrument, the size of the target massage area includes a lumbar length, and the size acquisition module includes: A deviation angle acquisition unit is configured to acquire a deviation angle of the plurality of massage heads in a vertical direction. A lumbar height acquisition unit is configured to determine a lumbar height according to the positions of the upper and lower massage heads of the lumbar massage instrument. A lumbar length calculation unit is configured to calculate the lumbar length according to the lumbar height and the deviation angle.

8. A massage device, characterized in that, The processor, the storage medium, and the bus are included. The processor, the storage medium, and the bus are included.

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