Massage apparatus and control method thereof

Abstract

The application relates to the field of electronic equipment applications and discloses a massage instrument and a control method thereof, wherein the massage instrument is characterized by comprising a controller, a driving assembly, a position detection assembly and a massage head; the position detection assembly is used for generating position information when the massage head moves to a set position; the controller is used for calculating real-time position information of the massage head according to the position information; and after judging that the massage head reaches a preset position according to the real-time position information, the controller adjusts control parameters of the driving assembly, and controls the driving assembly to move according to the adjusted control parameters, so that the massage work of the massage head is adjusted. Through the massage instrument, the position of the massage head can be positioned in real time during the massage process, the massage process is adjusted through the real-time positioned position, the corresponding control parameters are adjusted at different positions, various massage modes are realized, and the user experience of users is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electronic equipment application, and in particular to a massage instrument and a control method thereof. BACKGROUND

[0002] The massage instrument is a new generation of health care equipment developed according to physics, bionics, bioelectricity, traditional Chinese medicine and years of clinical practice. At present, the output power of most massage instruments at any time is unique, that is, at any time during the massage process, the massage mode of the massage instrument for different massage parts, such as massage intensity, massage speed or massage path, is mostly consistent, and it is found in practice that the tolerance of different body parts of users is often different. In the prior art, the user generally selects the corresponding massage mode for adjustment according to his own situation, but this requires the user to pay attention to the massage process of the massage instrument in real time, and many users do not know which massage mode should be used at different body parts to achieve better massage effect, resulting in poor massage effect. SUMMARY

[0003] The main purpose of the present application is to solve the technical problem that the existing massage instrument needs to be adjusted by the user according to the corresponding massage mode, resulting in poor massage effect.

[0004] The first aspect of the present application provides a massage instrument, comprising:

[0005] a controller, a driving assembly, a position detection assembly, a massage head;

[0006] The position detection assembly is configured to generate position information when the massage head moves to a set position.

[0007] The controller is configured to calculate real-time position information of the massage head according to the position information, and to adjust control parameters of the driving assembly after the massage head reaches a preset position according to the real-time position information, and to control the driving assembly to move according to the adjusted control parameters, so as to adjust the massage work of the massage head.

[0008] Optionally, in the first implementation manner of the first aspect of the present application, the driving assembly comprises a motor, and the control parameters comprise a level signal, a duty cycle, a voltage value and a current value for controlling the motor.

[0009] Optionally, in the second implementation manner of the first aspect of the present application, the controller is specifically configured to control the driving assembly to move according to the preset control parameters, so as to drive the massage head to move to the set position.

[0010] Optionally, in a third implementation form of the first aspect of the present application, the controller is specifically configured to control the driving assembly to move according to the level signal, duty cycle, voltage value and current value of the motor, so as to drive the massage head to perform massage work at a corresponding massage speed and / or massage force and / or massage path, and to move to the set position.

[0011] Optionally, in a fourth implementation form of the first aspect of the present application, the driving assembly further comprises a rotating shaft, an eccentric shaft mounted on the rotating shaft, and a shaft sleeve sleeved with the eccentric shaft, wherein the shaft sleeve is fixedly connected with the massage head.

[0012] The controller is specifically configured to control the rotating shaft to rotate at a corresponding rotating speed according to the level signal, duty cycle, voltage value and current value of the motor.

[0013] The eccentric shaft is configured to convert the rotating movement of the rotating shaft into swinging movement of the shaft sleeve, and control the shaft sleeve to swing at a swinging speed according to the rotating speed.

[0014] The shaft sleeve is configured to drive the massage head to perform massage work at a corresponding massage speed according to the swinging movement and the swinging speed.

[0015] Optionally, in a fifth implementation form of the first aspect of the present application, the controller is specifically configured to control the rotating shaft to rotate at a corresponding rotating force according to the level signal, duty cycle, voltage value and current value of the motor.

[0016] The eccentric shaft is further configured to convert the rotating movement of the rotating shaft into swinging movement of the shaft sleeve, and control the shaft sleeve to swing at a swinging force according to the rotating force.

[0017] The shaft sleeve is further configured to drive the massage head to perform massage work at a corresponding massage force according to the swinging movement and the swinging force.

[0018] Optionally, in a sixth implementation form of the first aspect of the present application, the controller is specifically configured to control the rotating shaft to move at a corresponding movement path according to the level signal, duty cycle, voltage value and current value of the motor.

[0019] The eccentric shaft is further configured to convert the movement of the rotating shaft into movement of the shaft sleeve, and control the shaft sleeve to move at a movement path according to the movement path.

[0020] The shaft sleeve is further configured to drive the massage head to perform massage work at a corresponding massage path according to the movement and the movement path.

[0021] Optionally, in a seventh implementation form of the first aspect of the present application, the position detection assembly comprises a stroke switch and a protruding positioning point arranged on the shaft sleeve, wherein the shaft sleeve drives the protruding positioning point to rotate when the massage head is working.

[0022] The controller is further configured to acquire a contact time and a contact frequency of the protruding positioning point with the stroke switch when the protruding positioning point rotates, and calculate initial position information and positioning information of the massage head when the massage head is working according to the contact time and the contact frequency; and calculate real-time position information of the massage head when the massage head is working according to the initial position information and the positioning information.

[0023] Optionally, in an eighth implementation form of the first aspect of the present application, the preset position comprises a preset position before a minimum position of the massage head when the massage head is working, and the controller is further configured to determine whether the massage head reaches the preset position before the minimum position of the massage head when the massage head is working according to the real-time positioning information.

[0024] Optionally, in a ninth implementation form of the first aspect of the present application, after the massage head reaches the preset position before the minimum position of the massage head when the massage head is working, the controller is further configured to adjust the level signal, the duty cycle, the voltage value and the current value of the motor according to a preset massage mode, so as to reduce the massage speed of the massage head to a preset minimum massage speed, and / or reduce the massage intensity of the massage head to a preset minimum massage intensity, and / or adjust the massage path to a reciprocating motion path.

[0025] Optionally, in a tenth implementation form of the first aspect of the present application, when the number of the massage heads is two, the controller is further configured to control the level signal, the duty cycle, the voltage value and the current value of the motor to be adjusted, so as to control the motor to be reversed, and make the massage heads move in the reciprocating motion path at the minimum position of the massage head, so as to realize a pinching and kneading massage work of the massage heads.

[0026] Optionally, in an eleventh implementation form of the first aspect of the present application, the controller is further configured to calculate the real-time position information of the massage head according to one or more of the rotational speed of the motor, the rotation time of the motor, the motion time of the massage head, and the positional relationship between the set position and the preset position.

[0027] The second aspect of the present application provides a control method of a massage instrument, the massage instrument comprising a controller, a driving assembly, a position detection assembly and a massage head, the control method being applied to the controller, and the control method comprising:

[0028] The controller acquires position information generated by the position detection component, and calculates real-time position information of the massage head according to the position information.

[0029] The controller adjusts control parameters of the driving component according to the real-time position information after determining that the massage head reaches a preset position, and controls movement of the driving component according to the adjusted control parameters, so as to adjust massage work of the massage head.

[0030] The massage instrument and the control method thereof disclosed in the technical solution of the present application, wherein the massage instrument comprises a controller, a driving component, a position detection component and a massage head; the position detection component is configured to generate position information when the massage head moves to a set position; the controller is configured to calculate real-time position information of the massage head according to the position information, and adjust control parameters of the driving component according to the real-time position information after determining that the massage head reaches a preset position, and control movement of the driving component according to the adjusted control parameters, so as to adjust massage work of the massage head. Through the massage instrument, the position of the massage head can be positioned in real time during the massage process, the massage process is adjusted according to the real-time positioned position, a plurality of massage modes are realized by adjusting corresponding control parameters at different positions, and user experience of users is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 An embodiment of the massage instrument in the present application is shown in the figure;

[0032] Figure 2 A flowchart of the control method of the massage instrument in the present application is shown in the figure. DETAILED DESCRIPTION

[0033] The massage instrument and the control method thereof disclosed in the technical solution of the present application, wherein the massage instrument comprises a controller, a driving component, a position detection component and a massage head; the position detection component is configured to generate position information when the massage head moves to a set position; the controller is configured to calculate real-time position information of the massage head according to the position information, and adjust control parameters of the driving component according to the real-time position information after determining that the massage head reaches a preset position, and control movement of the driving component according to the adjusted control parameters, so as to adjust massage work of the massage head. Through the massage instrument, the position of the massage head can be positioned in real time during the massage process, the massage process is adjusted according to the real-time positioned position, a plurality of massage modes are realized by adjusting corresponding control parameters at different positions, and user experience of users is improved.

[0034] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, and above-mentioned drawings, if any, are used to distinguish between similar objects and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so-termed, data, can, where appropriate, be interchanged to enable the embodiments described herein to be carried out in an order other than that illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or apparatus that includes a list of steps or units not necessarily limited to those explicitly listed, but can include other steps or units not expressly listed or inherent to such processes, methods, products or apparatuses.

[0035] The present application provides a massage instrument, which can be a neck massage instrument, a waist massage instrument, a leg massage instrument, a head massage instrument, etc. The present application is described by taking the neck massage instrument as an example, but the present application is not limited to this.

[0036] For the convenience of understanding, the frame structure of the massage instrument of the embodiments of the present application is described below,

[0037] Please refer to Figure 1 The embodiments of the massage instrument in the embodiments of the present application include:

[0038] The position detection assembly, the controller, the driving assembly, and the massage head;

[0039] In the present embodiment, the carrying body 1, the driving device, the massage head 2, and the position detection assembly are included. The carrying body 1 is used as the carrying structure of the massage instrument, and its shape can be set according to the massage of different parts of the human body. For example, when the massage device is a neck massage instrument, the structure shape can be a semicircular structure, and a cotton pad is laid on the inner concave surface of the semicircular structure, so that the semicircular inner concave part of the carrying body 1 can match the neck of the human body after the user wears it. For another example, when the massage instrument is a leg massage instrument, the structure shape can be a structure of two parallel long strips, so that the user's legs can be placed between the two long strip structures.

[0040] The carrying body 1 has a skin side, the driving assembly is installed on the carrying body 1, and the massage head 2 is connected to the driving assembly through the rotating shaft in the driving assembly. The massage head 2 is located on the skin side. It should be understood that when the user wears the carrying body 1 on the body, the side of the carrying body 1 close to the massage part can be called the skin side of the carrying body 1.

[0041] Specifically, the driving assembly can be mounted on the bearing body 1 by various mounting methods, such as detachable mounting methods such as screw locking, clamping, etc.; the driving assembly can also be mounted on the bearing body 1 by non-detachable mounting methods, such as non-detachable mounting methods such as bonding, welding, etc. The specific mounting method of the driving assembly to the bearing body 1 is not limited here.

[0042] The position detection assembly is configured to generate position information when the massage head moves to a set position.

[0043] The controller is configured to calculate real-time position information of the massage head according to the position information, and adjust control parameters of the driving assembly after determining that the massage head reaches the preset position according to the real-time position information, and control the driving assembly to move according to the adjusted control parameters, thereby adjusting the massage work of the massage head.

[0044] In the embodiment, the driving assembly includes a motor, and the control parameters include a level signal, a duty cycle, a voltage value, and a current value for controlling the motor.

[0045] Specifically, the level signal refers to a signal represented by a level value, and the level value includes high and low values. By controlling the level signal, the forward and reverse rotation of the motor can be controlled. The duty cycle refers to the proportion of the conduction time to the total time in one pulse cycle of the motor output, for example, the pulse sequence with a pulse width of 1 μs and a signal period of 4 μs has a duty cycle of 0.25. In the embodiment, the controller controls the duty cycle of the voltage signal applied to the motor at a certain frequency, and controls the voltage average value of the voltage signal on the motor by controlling the ratio of the on and off of the simple switch circuit, thereby finally realizing the current control of the driving assembly and completing the control of the massage movement of the massage head.

[0046] In the embodiment, the controller is specifically configured to control the driving assembly to move according to the preset control parameters, thereby driving the massage head to move to the set position.

[0047] Specifically, after the user turns on the massage instrument, the controller controls the driving assembly to move according to the preset control parameters, i.e., the level signal, the duty cycle, the voltage value, and the current value of the motor, to perform normal massage work, such as massage work according to the default massage mode. During the movement of the driving assembly and the massage work of the massage head, the position detection assembly generates position information in real time when the massage head reaches the set position.

[0048] In the embodiment, the controller is specifically configured to control the driving assembly to move according to the level signal, duty cycle, voltage value and current value of the motor, so as to drive the massage head to perform massage work at a corresponding massage speed and / or massage force and / or massage path and move to the set position.

[0049] Specifically, when a user wears the massage instrument to perform massage, the massage head used to massage the user is subjected to the force applied by the user. The force applied by users with different body types to the massage head is different, and the force applied to the massage head is also different when the massage head moves to different parts of the same user. For example, the force applied by a user with a larger body type to the massage head is larger, and the force applied by a user with a smaller body type to the massage head is smaller. The force applied to the massage head is also fed back to other components in the massage instrument. According to the principle of action and reaction, the greater the force applied by the user to the massage head, the greater the massage force of the massage head felt by the user. The smaller the force applied by the user to the massage head, the smaller the massage force of the massage head felt by the user. In the embodiment, during the process in which the controller controls the driving assembly to move according to the voltage value and current value of the motor, the current value of the motor driving the massage head to move is different due to the different forces applied. When the force applied to the massage head is larger, the controller applies a smaller current value to the motor. When the force applied to the massage head is smaller, the controller applies a larger current value to the motor. Similarly, different massage forces exist. During the process in which the controller controls the driving assembly to move according to the voltage value and current value of the motor, in order to ensure that the massage head maintains a consistent massage speed during massage, the controller controls the motor to output different current values for driving the massage head to move. In order to achieve different massage paths, the controller also needs to control the motor to output different current values for driving the massage head to move.

[0050] In the embodiment, the driving assembly further includes a rotating shaft, an eccentric shaft installed on the rotating shaft, and a shaft sleeve sleeved on the eccentric shaft, wherein the shaft sleeve is fixedly connected with the massage head; the controller is specifically configured to control the rotating shaft to move at a corresponding rotating speed according to the level signal, duty cycle, voltage value and current value of the motor; the eccentric shaft is configured to convert the rotating movement of the rotating shaft into the swinging movement of the shaft sleeve and control the shaft sleeve to swing at a swinging speed; and the shaft sleeve is configured to drive the massage head to perform massage work at a corresponding massage speed through the swinging movement and the swinging speed.

[0051] Specifically, the driving assembly is installed in the shell of the massage instrument, and specifically, in this embodiment, the output end of the motor can be formed as the rotating shaft, or the output end of the motor and the rotating shaft are two different structural members, and the output end of the motor and the rotating shaft can be directly connected or connected through some transmission structure (such as a gear and a rack), which is not specifically limited here.

[0052] Specifically, the eccentric shaft includes a first transmission section and a second transmission section connected at an angle, the first transmission section is connected with the rotating shaft, an abutting inclined surface is formed on the end face adjacent to the second transmission section of the first transmission section, the abutting inclined surface is arranged at an angle with the axis of the first transmission section, the abutting inclined surface is also arranged vertically with the axis of the second transmission section, and the outer diameter of the abutting inclined surface is greater than the outer diameter of the second transmission section. When the rotating shaft rotates, the first transmission section can rotate with the rotating shaft at this time, and the second transmission section can make a rotating motion around the rotating shaft of the first transmission section under the driving of the first transmission section. It should be noted that, since the axis of the first transmission section is arranged at an angle with the axis of the second transmission section, the second transmission section makes a rotating motion around the rotating shaft of the first transmission section at this time. One side of the shaft sleeve protrudes a sliding member, the shell is provided with a guide groove with an opening facing the shaft sleeve, the sliding member can be inserted into the guide groove and can reciprocate in the length of the guide groove, the sliding member is limited in position with the groove side wall of the guide groove to limit the rotation of the shaft sleeve relative to the second transmission section, and the groove bottom wall of the guide groove is arranged as a concave arc surface matching the moving track of the sliding member. When the rotating shaft performs a rotating motion, the shaft sleeve sleeved on the second transmission section cannot rotate with the second transmission section due to the limiting action of the guide groove at this time, and the first transmission section and the second transmission section both rotate relative to the shaft sleeve in this process. In this process, the abutting inclined surface rotates and abuts the shaft sleeve to move in the axial direction of the second transmission section, thereby driving the massage head on the shaft sleeve to make a kneading action on the human skin.

[0053] In this embodiment, the controller is specifically further used for controlling the rotating shaft to perform a rotating motion with a corresponding rotating force according to the level signal, the duty cycle, the voltage value and the current value of the motor; the eccentric shaft is further used for converting the rotating motion of the rotating shaft into a swinging motion of the shaft sleeve, and controlling the swinging motion of the shaft sleeve through the rotating force; and the shaft sleeve is further used for driving the massage head to perform a massage work with a corresponding massage force through the swinging motion and the swinging force of the swinging motion.

[0054] In the embodiment, the controller is further configured to control the rotating shaft to move along a corresponding movement path according to the level signal, the duty cycle, the voltage value and the current value of the motor; the eccentric shaft is further configured to convert the movement of the rotating shaft into the movement of the sleeve, and control the sleeve to move along a movement path; and the sleeve is further configured to drive the massage head to perform massage along a corresponding massage path.

[0055] In the embodiment, the position detection assembly comprises a travel switch and a protruding positioning point arranged on the sleeve, wherein the sleeve drives the protruding positioning point to rotate when the massage head performs massage; the controller is further configured to acquire the contact time and the contact frequency of the protruding positioning point with the travel switch when the protruding positioning point rotates; calculate the initial position information and the positioning information of the massage head when the massage head performs massage according to the contact time and the contact frequency; and calculate the real-time position information of the massage head when the massage head performs massage according to the initial position information and the positioning information.

[0056] Specifically, when the travel switch is triggered, the controller can identify the position to which the contacts of the massage head that contact the human body rotate or swing to by receiving and processing the detection signal, and then make corresponding adjustment. For example, when the controller identifies that the contacts of the massage head move to the acupoint that can be pressed to the deep part of the human skin, it is defined that the contacts of the massage head are located at the optimal massage position at this time, and the controller can control the motor to reverse at this time to make the contacts of the massage head move back and forth in a small range at the optimal massage position. For another example, the controller can also reduce the rotating speed of the motor when the contacts of the massage head are located at the optimal massage position, so as to ensure the staying time of the contacts of the massage head at the optimal massage position.

[0057] In addition, because the program switch is triggered every time the convex positioning point rotates one circle, and the battery power on the massage instrument affects the rotation speed of the motor, the controller can determine the battery power on the massage instrument through the time difference of the triggering of the program switch, and then adaptively make some adjustments to ensure the user's massage experience. For example, assuming that in the case of sufficient battery power, the time for the convex positioning point to rotate one circle is 1 second, when the time for the program switch to be triggered twice before and after is 1 second, the controller can identify that the battery power is sufficient at this time, and when the time for the program switch to be triggered twice before and after exceeds 1 second, such as 1.3 seconds, 1.5 seconds, or 2 seconds, etc., the controller can identify that the battery power is insufficient at this time, and then adjust the rotation speed of the motor to ensure that the massage head can massage the human body at the same rotation or swing frequency, which is beneficial to avoid user discomfort. In addition, when the battery power is insufficient, the controller can also control some components to send a reminder signal (such as sound, light, vibration, etc.) to remind the user to charge the massage instrument.

[0058] Preferably, the program switch is a push switch (such as a micro switch, etc.), and the triggering piece 52 is a convex positioning point installed on the outer peripheral wall of the transmission shaft 3, and the side of the convex positioning point away from the transmission shaft 3 is provided in an arc-shaped convex manner. It can be understood that the arc-shaped surface can reduce the generation of edges and corners, and can avoid the occurrence of scratches between the triggering piece 52 and the program switch, which is beneficial to improve the service life of the detection assembly 5.

[0059] In the embodiment, the preset position includes a preset position before a preset distance from the position at which the massage head works for massage, and the controller is specifically further configured to determine whether the massage head reaches the preset position before a preset distance from the position at which the massage head works for massage according to the real-time positioning information.

[0060] Specifically, in actual application, the preset position is a preset position before the position at which the massage head performs massage work by a preset distance. In the process of the massage head working, the massage head performs massage work at each massage site, and before reaching the preset position before the minimum position by a preset distance, in the massage process from the preset position to the minimum position, the massage instrument gradually clamps the massage site. In order to avoid affecting the massage experience of the user, the massage process needs to be adjusted. Therefore, positioning detection needs to be performed at the preset position. Whether the massage head reaches the preset position before the minimum position of the massage head performing massage work by a preset distance is determined by real-time positioning information. Specifically, the minimum position of massage can be set when the massage instrument is shipped. The minimum position can be set as a massage position after the massage position at which the protruding positioning point contacts the travel switch by a certain angle, for example, 30 degrees. The preset position is a position before the minimum position by a preset distance, for example, a massage position after the massage position at which the protruding positioning point contacts the travel switch by another certain angle, for example, 15 degrees.

[0061] In the embodiment, after the massage head reaches the preset position before the position at which the massage head performs massage work by a preset distance, the controller is specifically further configured to adjust the level signal, duty cycle, voltage value and current value of the motor according to the preset massage mode, so that the massage speed of the massage head is reduced to a preset minimum massage speed and / or the massage intensity is reduced to a preset minimum massage intensity and / or the massage path is adjusted to a reciprocating motion path.

[0062] Specifically, in the process of reaching the minimum position, the massage instrument gradually clamps the massage site. In order to avoid affecting the massage experience of the user, the massage process needs to be adjusted. Since the massage instrument gradually clamps the massage site, in the massage process after the massage head reaches the preset position before the position by a preset distance, the massage speed and massage intensity of the massage head are gradually reduced to the minimum massage speed and minimum massage intensity according to the degree of gradual clamping of the massage site by the massage instrument, rather than being directly reduced.

[0063] In the embodiment, when the number of the massage heads is two, the controller is specifically further configured to control the adjustment of the level signal, duty cycle, voltage value and current value of the motor, and further control the motor to perform forward and reverse rotation, so that the massage head moves in the reciprocating motion path at the minimum position of the massage work, and realizes the clamping kneading massage work of the massage head.

[0064] Specifically, the motor rotates clockwise and counterclockwise. The clockwise rotation of the motor is the forward rotation of the motor, and the counterclockwise rotation of the motor is the reverse rotation of the motor. According to the forward and reverse rotation control circuit diagram and its principle analysis, to realize the forward and reverse rotation of the motor, only the connection of any two phases in the motor three-phase power supply line is adjusted, and the purpose of reverse rotation is achieved. Through the motor reverse rotation, the massage head is moved in the minimum position of the massage work along the reciprocating motion path, and the massage head is controlled to perform the massage work through the duty ratio, voltage value and current value.

[0065] In the embodiment, the controller is further configured to calculate the real-time position information of the massage head according to one or more of the rotational speed of the motor, the rotation time of the motor, the movement time of the massage head, and the positional relationship between the set position and the preset position.

[0066] Specifically, in addition to being able to calculate the real-time position information of the massage head according to the position information generated by the position detection assembly, the controller can also calculate the real-time position information of the massage head according to one or more of the rotational speed of the motor, the rotation time of the motor, the movement time of the massage head, and the positional relationship between the set position and the preset position in the driving assembly, for example, calculating the rotational speed of the rotating shaft in the driving assembly according to the rotational speed of the motor, and calculating the real-time position information in combination with the positional relationship between the set position and the preset position, or calculating the rotational speed of the rotating shaft according to the rotation time of the motor or the movement time of the massage head and the circumference of the rotating shaft rotating one turn, and calculating the real-time position information in combination with the positional relationship between the set position and the preset position, etc., or the real-time position information of the massage head can also be calculated according to the calculation method of the above parameters, which is not limited by the present application.

[0067] For the convenience of understanding, the specific process of the embodiment of the present application is described below. Please refer to Figure 2 The control method of the massage instrument in the embodiment of the present application comprises a controller, a driving assembly, a position detection assembly and a massage head, and the control method is applied to the controller. One embodiment of the control method of the massage instrument in the embodiment of the present application comprises:

[0068] 201, the controller acquires the position information generated by the position detection assembly, and calculates the real-time position information of the massage head according to the position information;

[0069] In the embodiment, the position detection assembly includes a travel switch and a protruding positioning point arranged on the shaft sleeve. When the travel switch is triggered, the controller can identify the position to which the contact points on the massage head in contact with the human body are rotated or swung to by receiving and processing the detection signal, and make corresponding adjustment. For example, when the controller identifies that the contact points on the massage head are moved to the acupoint that can be pressed to the deep part of the human skin, it is defined that the contact points on the massage head are located at the optimal massage position. At this time, the controller can control the motor to reverse to make the contact points on the massage head move back and forth in a small range at the optimal massage position. For another example, the controller can also reduce the rotation speed of the motor when the contact points on the massage head are located at the optimal massage position to ensure the residence time of the contact points on the massage head at the optimal massage position.

[0070] 202. The controller adjusts the control parameter of the driving assembly according to the real-time position information after the massage head reaches the preset position, and controls the driving assembly to move according to the adjusted control parameter, so as to adjust the massage work of the massage head.

[0071] In the embodiment, the driving assembly includes a motor, and the control parameter includes a level signal, a duty cycle, a voltage value and a current value for controlling the motor.

[0072] Specifically, the level signal refers to a signal represented by a level value, and the level value includes high level and low level. By controlling the level signal, the forward and reverse rotation of the motor can be controlled. The duty cycle refers to the proportion of the conduction time to the total time in a pulse cycle of the motor output. For example, the pulse sequence with a pulse width of 1 μs and a signal period of 4 μs has a duty cycle of 0.25. In the embodiment, the controller controls the duty cycle of the voltage signal applied to the motor. By controlling the ratio of the on and off of the simple switch circuit, the average voltage of the voltage signal on the motor is controlled, so that the current control of the driving assembly is finally realized, and the control of the massage movement of the massage head is completed.

[0073] In the embodiment, the controller obtains the position information generated by the position detection assembly, and calculates the real-time position information of the massage head according to the position information. The controller adjusts the control parameter of the driving assembly according to the real-time position information after the massage head reaches the preset position, and controls the driving assembly to move according to the adjusted control parameter, so as to adjust the massage work of the massage head. By positioning the position of the massage head in real time during the massage process, adjusting the massage process according to the real-time positioning position, and adjusting the corresponding control parameter at different positions, various massage modes are realized, and the user experience of the user is improved.

[0074] The above-described embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A massage device, characterized in that, include: The controller, drive assembly, position detection assembly, and massage head are included. The drive assembly includes a motor, a rotating shaft, an eccentric shaft mounted on the rotating shaft, and a bushing sleeved on the eccentric shaft. The bushing sleeve is fixedly connected to the massage head. The position detection component is used to generate position information when the massage head moves to a set position. The position detection component includes a limit switch and a protruding positioning point provided on the bushing. The protruding positioning point will trigger the limit switch every time it rotates. The controller is used to calculate the real-time position information of the massage head based on the position information; and after determining that the massage head has reached the preset position based on the real-time position information, it adjusts the control parameters of the drive component according to the degree of gradual clamping of the massage area by the massage instrument, and controls the movement of the drive component according to the adjusted control parameters, thereby adjusting the massage work of the massage head, and gradually reducing the massage speed and massage intensity of the massage head to the minimum massage speed and minimum massage intensity. The preset position is a preset position at a preset distance before the minimum position of the massage head performing the massage work. The controller determines the battery level of the massager by the time difference when the limit switch is triggered. If the battery level is insufficient, it adjusts the rotation speed of the motor to ensure that the massage head can massage the human body at the same rotation or oscillation frequency.

2. The massage instrument according to claim 1, characterized in that, The control parameters include the level signal, duty cycle, voltage value, and current value used to control the motor.

3. The massage instrument according to claim 1, characterized in that, The controller is specifically used to control the movement of the drive component according to preset control parameters, thereby driving the massage head to move to the set position.

4. The massage instrument according to claim 2, characterized in that, The controller is specifically used to control the movement of the drive component according to the level signal, duty cycle, voltage value and current value of the motor, thereby driving the massage head to perform massage work at the corresponding massage speed and / or massage intensity and / or massage path, and move to the set position.

5. The massage device according to claim 4, characterized in that, The controller is further configured to control the rotating shaft to rotate at a corresponding rotation speed based on the motor's level signal, duty cycle, voltage value, and current value. The eccentric shaft is used to convert the rotational motion of the rotating shaft into the oscillating motion of the bushing, and to control the oscillating speed of the bushing by the rotational speed. The bushing is used to drive the massage head to perform massage at a corresponding massage speed through the swinging motion and the swinging speed of the swinging motion.

6. The massage device according to claim 5, characterized in that, The controller is further configured to control the rotating shaft to rotate with a corresponding rotational force based on the motor's level signal, duty cycle, voltage value, and current value. The eccentric shaft is also used to convert the rotational motion of the rotating shaft into the oscillating motion of the bushing, and to control the oscillating force of the bushing through the rotational force. The bushing is also used to drive the massage head to perform massage with a corresponding massage intensity through the swinging motion and the swinging force of the swinging motion.

7. The massage instrument according to claim 5, characterized in that, The controller is further configured to control the rotating shaft to move along a corresponding motion path based on the motor's level signal, duty cycle, voltage value, and current value. The eccentric shaft is also used to convert the movement of the rotating shaft into the movement of the bushing, and to control the movement path of the bushing through the movement path; The bushing is also used to drive the massage head to perform massage work along the corresponding massage path by moving and the movement path during movement.

8. The massage device according to any one of claims 5-7, characterized in that, When the massage head is performing massage, the bushing drives the protruding positioning point to rotate; The controller is further configured to acquire the contact time and number of contacts between the protruding positioning point and the limit switch when the protrusion positioning point rotates; calculate the initial position information and positioning information of the massage head when it performs massage based on the contact time and number of contacts; and calculate the real-time position information of the massage head when it performs massage based on the initial position and positioning information.

9. The massage instrument according to claim 8, characterized in that, The controller is further configured to determine, based on the real-time location information, whether the massage head has reached a preset position at a preset distance before the minimum position for the massage head to perform massage operations.

10. The massage instrument according to claim 9, characterized in that, After the massage head reaches a preset position at a preset distance before the massage operation begins, the controller is further configured to adjust the motor's level signal, duty cycle, voltage value, and current value according to a preset massage mode, so that the massage speed of the massage head is reduced to a preset minimum massage speed and / or the massage intensity is reduced to a preset minimum massage intensity and / or the massage path is adjusted to a reciprocating motion path.

11. The massage device according to claim 10, characterized in that, When there are two massage heads, the controller is further used to adjust the level signal, duty cycle, voltage value and current value of the motor, thereby controlling the motor to rotate forward and backward, so that the massage head moves along the reciprocating motion path at the minimum position of the massage operation, thereby realizing the clamping and kneading massage operation of the massage head.

12. The massage instrument according to any one of claims 2-7, characterized in that, The controller is also used to calculate the real-time position information of the massage head based on one or more of the following: the rotation speed of the motor, the rotation time of the motor, the movement time of the massage head, and the positional relationship between the set position and the preset position.

13. A control method for a massage instrument, characterized in that, The massage instrument includes a controller, a drive assembly, a position detection assembly, and a massage head. The drive assembly includes a motor, a rotating shaft, an eccentric shaft mounted on the rotating shaft, and a bushing fitted onto the eccentric shaft. The bushing is fixedly connected to the massage head. The position detection assembly includes a limit switch and a protruding positioning point on the bushing. Each rotation of the protruding positioning point triggers the limit switch. The control method is applied to the controller and includes: The controller acquires the position information generated by the position detection component and calculates the real-time position information of the massage head based on the position information; After the controller determines that the massage head has reached the preset position based on the real-time position information, it adjusts the control parameters of the drive component according to the degree of gradual clamping of the massage area by the massage instrument, and controls the movement of the drive component according to the adjusted control parameters, thereby adjusting the massage work of the massage head. The massage speed and massage intensity of the massage head are also gradually reduced to the minimum massage speed and minimum massage intensity. The preset position is a preset position at a preset distance before the minimum position of the massage head performing the massage work. The controller determines the battery level of the massager by the time difference when the limit switch is triggered. If the battery level is insufficient, it adjusts the rotation speed of the motor to ensure that the massage head can massage the human body at the same rotation or oscillation frequency.

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