Massage device active armrest control method, device, system and massage device

Abstract

The application provides a massage equipment movable handrail control method, device and system and massage equipment, and relates to the technical field of control. The method comprises the following steps: sending a motion instruction to a motor corresponding to a movable handrail of a massage equipment to be controlled, so that the motor drives the movable handrail to move; in the movement process of the movable handrail, a first sensing data change amount collected by a sensing device arranged in a movement area of the movable handrail is acquired; whether there is foreign matter obstruction in the movement area of the movable handrail is determined according to the first sensing data change amount; if there is foreign matter obstruction, a braking instruction is sent to the motor, so that the motor drives the movable handrail to stop moving. When there is foreign matter obstruction in the movement area of the movable handrail of the massage equipment to be controlled, the movable handrail is stopped moving according to the method, so that the user can be prevented from being injured.

Description

Technical Field

[0001] This application relates to the field of smart home appliance technology, and more specifically, to a method, device, system, and massage device for controlling the movable armrest of a massage device. Background Technology

[0002] Massage devices utilize the rolling and pressing forces of machinery to provide massage, which can relieve fatigue and play an important role in maintaining good health.

[0003] Taking massage chairs as an example, massage devices typically include fixed armrests and movable armrests. When a user needs to use the massage device, the movable armrests open; after the user sits on the massage device, the movable armrests close. In existing technology, during the opening or closing process of the movable armrests, it is not determined whether there are any foreign objects obstructing the movement area of ​​the movable armrests, which poses a risk of pinching and injuring the user. Summary of the Invention

[0004] The purpose of this application is to address the shortcomings of the prior art by providing a method, device, system, and massage device for controlling the movable armrests of a massage device, so as to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a method for controlling the movable armrest of a massage device, including:

[0007] Send a motion command to the motor corresponding to the movable armrest of the massage device to be controlled, so that the motor drives the movable armrest to move;

[0008] During the movement of the movable handrail, the change in first sensing data collected by the sensing device set for the movement area of ​​the movable handrail is obtained;

[0009] Based on the change in the first sensing data, determine whether there are any foreign objects obstructing the movement area of ​​the movable handrail;

[0010] If an object obstructs the movement, a braking command is sent to the motor, causing the motor to stop the movable handrail.

[0011] In one embodiment, determining whether there is an obstruction within the movement area of ​​the movable handrail based on the change in the first sensing data includes:

[0012] Determine whether the change in the first sensed data is within a preset range of sensed data changes;

[0013] If the change in the first sensing data is within the preset range of sensing data change, then it is determined that there are no foreign objects obstructing the movement area of ​​the movable handrail.

[0014] If the change in the first sensing data is not within the range of the sensing data change, then it is determined that there is a foreign object obstructing the movement area of ​​the movable handrail.

[0015] In one embodiment, before acquiring the change in first sensing data collected by a sensing device positioned over the movement area of ​​the movable handrail during its movement, the method further includes:

[0016] After sending the motion command, the change in the second sensing data collected by the sensing device is obtained;

[0017] If the change in the second sensing data does not change, and the speed of the motor is less than a preset speed threshold, then it is determined that the movement of the movable handrail has been blocked by a foreign object, and the braking command is sent to the motor.

[0018] In one embodiment, the method further includes:

[0019] During the movement of the movable handrail, the movement stroke of the movable handrail is obtained;

[0020] The stroke ratio of the movable handrail is determined based on the stroke distance and the preset total stroke distance of the movable handrail.

[0021] If the stroke ratio reaches the preset stroke ratio, a speed adjustment command is sent to the motor to adjust the speed of the motor;

[0022] If the change in the motor speed after adjustment is less than or equal to the preset speed change threshold, it is determined that the movement of the movable handrail has been blocked by a foreign object, and the braking command is sent to the motor.

[0023] Secondly, embodiments of this application provide a control device for the movable armrest of a massage device, comprising:

[0024] The first sending module is used to send a motion command to the motor corresponding to the movable armrest of the massage device to be controlled, so that the motor drives the movable armrest to move.

[0025] The acquisition module is used to acquire the first sensing data change amount collected by the sensing device set for the movement area of ​​the movable handrail during the movement of the movable handrail;

[0026] The determination module is used to determine whether there is a foreign object obstructing the movement area of ​​the movable handrail based on the change in the first sensing data.

[0027] The second sending module is used to send a braking command to the motor if there is an obstruction, so that the motor drives the movable handrail to stop moving.

[0028] Thirdly, embodiments of this application provide a control system for the movable armrest of a massage device, including: a sensing device, a control module, and a drive module;

[0029] The sensing device is installed within the monitoring area corresponding to the movement area of ​​the movable armrest on the massage device to be controlled.

[0030] The control module is connected to the sensing device; the control module is connected to the motor corresponding to the movable handrail through the drive module.

[0031] In one embodiment, the sensing device includes: a photodiode, a first resistor, a second resistor, a third resistor, and a capacitor;

[0032] The output pin of the control module is connected to the cathode of the photodiode through the first resistor, and the anode of the photodiode is grounded through the second resistor;

[0033] The anode of the photodiode is also connected to the input pin of the control module through the capacitor, and the capacitor is also grounded through the third resistor.

[0034] In one embodiment, the control module includes: a control chip and a communication interface;

[0035] The data pins of the control chip are respectively connected to the data pins of the communication interface, which is used to connect to external devices.

[0036] In one embodiment, the control module further includes: a filter capacitor;

[0037] The power supply pin of the control module is grounded through the filter capacitor.

[0038] Fourthly, this application provides a massage device, including: the control system, motor, and movable armrests described in the above embodiments;

[0039] The control module in the control system is connected to the motor via a drive module, and the motor is connected to the movable handrail.

[0040] The beneficial effects of this application are as follows: This application provides a control method, device, system, and massage device for a movable armrest. The method includes: sending a motion command to a motor corresponding to the movable armrest of the massage device to be controlled, causing the motor to drive the movable armrest to move; during the movement of the movable armrest, acquiring a first sensing data change amount collected by a sensing device set for the movement area of ​​the movable armrest; determining whether there is a foreign object obstructing the movement area of ​​the movable armrest based on the first sensing data change amount; if there is a foreign object obstructing the movement, sending a braking command to the motor, causing the motor to stop the movement of the movable armrest. This application uses a sensing device to collect a first data change amount to determine whether there is a foreign object obstructing the movement area of ​​the movable armrest. When a foreign object obstructs the movement, a braking command is sent to the motor to brake and stop the movement of the movable armrest, which can prevent the user from being pinched due to the continued movement of the movable armrest. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 One of the flowcharts illustrating a control method for the movable armrest of a massage device according to an embodiment of this application;

[0043] Figure 2 A second schematic flowchart illustrating the control method for the movable armrest of a massage device according to an embodiment of this application;

[0044] Figure 3 A third schematic flowchart illustrating the control method for the movable armrest of a massage device according to an embodiment of this application;

[0045] Figure 4 A fourth schematic flowchart illustrating the control method for the movable armrest of a massage device according to an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of the structure of the control device for the movable armrest of a massage device provided in an embodiment of this application;

[0047] Figure 6 A schematic diagram of the control system for the movable armrest of a massage device provided in an embodiment of this application;

[0048] Figure 7 This is a circuit diagram of a sensing device provided in an embodiment of this application. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0050] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0051] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0052] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0053] The following, in conjunction with the accompanying drawings, provides specific examples illustrating the control method, device, system, and massage device for the movable armrests of the massage device provided in this application.

[0054] First, the massage device is described. The massage device provided in this application includes a control system, a motor, and a movable armrest. The motor is connected to the movable armrest and can drive the movable armrest to move within its movement area. The control module in the control system is connected to the motor through the drive module. The control module can send commands to the motor through the drive module to control the movement state of the motor, so that the motor can drive the movable armrest to start moving, stop moving, move at a specific speed, adjust the movement speed, etc.

[0055] Based on this, the control method for the movable armrest of the massage device provided in this application will be described. It should be noted that the control method for the movable armrest of the massage device provided in this application is executed by the control module in the control system.

[0056] Figure 1This is one of the flowcharts illustrating a method for controlling the movable armrest of a massage device according to an embodiment of this application, such as... Figure 1 As shown, the method includes:

[0057] S101. Send a motion command to the motor corresponding to the movable armrest of the massage device to be controlled, so that the motor drives the movable armrest to move.

[0058] First, when the movable armrest needs to be opened or closed, a motion command is sent to the motor corresponding to the movable armrest of the massage device to be controlled, causing the motor to move the movable armrest. For example, if the movable armrest needs to be opened, a first command is sent to the motor, and the motor moves according to the first command to open the movable armrest; if the movable armrest needs to be closed, a second command is sent to the motor, and the motor moves according to the second command to close the movable armrest.

[0059] S102. During the movement of the movable handrail, acquire the first sensing data change amount collected by the sensing device set for the movement area of ​​the movable handrail.

[0060] The control system also includes a sensing device, which is installed in the monitoring area corresponding to the movement area of ​​the movable armrest on the massage device to be controlled. During the opening or closing of the movable armrest, the control module can determine whether there is a foreign object obstructing the movement area of ​​the movable armrest by acquiring the first sensing data change amount collected by the sensing device set for the movement area of ​​the movable armrest.

[0061] S103. Based on the change in the first sensing data, determine whether there are any foreign objects obstructing the movement area of ​​the movable handrail.

[0062] After the control module acquires the first change in sensing data, it determines whether there is an obstruction within the movement area of ​​the movable handrail. Specific methods for determining whether an obstruction exists can be found in S201-S203.

[0063] S104. If there is an obstruction, a braking command is sent to the motor to stop the movement of the movable handrail.

[0064] If it is determined that there is an obstruction in the movement area of ​​the movable handrail, the control module sends a braking command to the motor, causing the motor to stop the movement of the movable handrail.

[0065] In practical applications, massage devices can have multiple movable armrests. Each movable armrest is equipped with a motor and a sensor. A control module can simultaneously acquire the sensor data collected by multiple sensors and send motion commands or braking commands to the motors corresponding to multiple movable armrests.

[0066] In summary, during the movement of the movable handrail, this embodiment collects the first data change through a sensing device to determine whether there is a foreign object obstructing the movement area of ​​the movable handrail. When a foreign object is obstructing the movement, a braking command is sent to the motor to brake the motor and stop the movement of the movable handrail. When the foreign object is any part of the user's body, it can prevent the user from being pinched due to the continued movement of the movable handrail.

[0067] Another embodiment of this application provides a possible implementation of a method for determining whether there are foreign objects obstructing the movement area of ​​a movable handrail.

[0068] Figure 2 This is a second schematic flowchart illustrating the control method for the movable armrest of a massage device according to an embodiment of this application. Figure 2 As shown, in S103, based on the change in the first sensing data, it is determined whether there is an obstruction within the movement area of ​​the movable handrail, including:

[0069] S201. Determine whether the change in the first sensing data is within the preset range of sensing data changes.

[0070] S202. If the change in the first sensing data is within the preset range of sensing data change, then it is determined that there are no foreign objects obstructing the movement area of ​​the movable handrail.

[0071] S203. If the change in the first sensing data is not within the range of sensing data change, then it is determined that there is a foreign object obstructing the movement area of ​​the movable handrail.

[0072] Specifically, the sensing device can be, for example, a light sensor. The first sensing data is the light intensity within the moving area of ​​the movable handrail collected by the light sensor. When there are no foreign objects obstructing the moving area of ​​the movable handrail, the normal movement of the movable handrail is uniform. The change in light intensity collected by the light sensor should also change uniformly, that is, the change is within the range of sensing data. When the change in light intensity suddenly increases or decreases, and the change is not within the range of sensing data, it can be determined that there are foreign objects obstructing the moving area of ​​the movable handrail.

[0073] The sensing device can also be a distance sensor. The distance between the movable handrail and its target position is preset. The distance sensor can detect the distance between the movable handrail and other objects. When the movable handrail has not yet moved to the target position, but the distance between it and other objects is less than the preset range, it can be determined that there is a foreign object blocking the movement area of ​​the movable handrail.

[0074] Another embodiment of this application provides a possible implementation of a method for determining whether there are foreign objects obstructing the movement area of ​​a movable handrail.

[0075] Figure 3This is the third flowchart illustrating the control method for the movable armrest of a massage device according to an embodiment of this application. Figure 3 As shown, before S102 acquires the first sensing data change amount collected by the sensing device set for the movement area of ​​the movable handrail, the control method of the movable handrail further includes:

[0076] S301. After sending the motion command, acquire the change in the second sensing data collected by the sensing device.

[0077] In this embodiment, after a motion command is sent to the motor corresponding to the movable armrest of the massage device to be controlled, the system begins to acquire the second sensing data change value collected by the sensing device. The system can determine whether the movable armrest is obstructed by a foreign object based on the second sensing data change value. The difference between the second and first sensing data change values ​​lies in the corresponding motion state and time of the movable armrest. The first sensing data change value is acquired during the movement of the movable armrest, when the armrest is in motion. The second sensing data change value is acquired after the motion command is sent, when the armrest has not yet started moving.

[0078] S302. If the change in the second sensing data does not change and the motor speed is less than the preset speed threshold, then it is determined that the movement of the movable handrail has been blocked by a foreign object, and a braking command is sent to the motor.

[0079] Taking a photosensitive sensor as an example, after sending a motion command, if the sensor continuously collects data showing no change in the second sensing data within a preset time, and the control module detects that the motor's rotation speed is less than a preset speed threshold, then it is determined that the movement of the movable handrail has been blocked by a foreign object, and a braking command is sent to the motor. The preset time refers to a certain duration, which can be set according to actual needs.

[0080] In this embodiment, after sending the motion command, the change in the second sensing data and the motor speed are used to determine whether the movable handrail has been blocked by a foreign object before it has started to move. If it has been blocked by a foreign object, a braking command is sent to the motor to prevent an accident from occurring.

[0081] One embodiment of this application also provides a method for controlling a movable handrail. Figure 4 This is the fourth flowchart illustrating the control method for the movable armrest of a massage device according to an embodiment of this application. Figure 4 As shown, the control method for the movable handrail may also include:

[0082] S401. During the movement of the movable handrail, obtain the movement range of the movable handrail.

[0083] During the movement of the handrail, the distance the handrail has moved, the distance between the starting position and the target position of the handrail, and the distance already moved are taken as the movement stroke of the handrail, and the distance between the starting position and the target position is taken as the preset total movement stroke of the handrail.

[0084] S402. Determine the stroke ratio of the movable handrail based on the stroke distance and the preset total stroke distance of the movable handrail.

[0085] The ratio of the movement distance to the preset total movement distance is used as the movement ratio of the active handrail.

[0086] S403. If the stroke ratio reaches the preset stroke ratio, a speed adjustment command is sent to the motor to adjust the motor speed.

[0087] A preset stroke ratio can be set. When the stroke ratio reaches the preset ratio, a speed adjustment command is sent to the motor to adjust the motor speed. For example, if the preset stroke ratio is set to two-thirds of the total stroke, when the movable handrail moves to two-thirds of the total stroke, a speed adjustment command is sent to the motor, causing the motor to start rotating at a uniform deceleration, thus driving the movable handrail to move at a uniform deceleration.

[0088] S404. If the change in motor speed after adjustment is less than or equal to the preset speed change threshold, it is determined that the movement of the movable handrail has been blocked by a foreign object, and a braking command is sent to the motor.

[0089] Taking a light sensor as an example, when the travel ratio reaches the preset travel ratio, the moving handrail is close to the target position. If a foreign object enters the sensing area of ​​the light sensor at this time, the difference in light reflection is small and the foreign object cannot be detected. At this time, the speed count of the motor corresponding to the moving handrail is used to determine whether there is a foreign object. When the speed count of the motor changes significantly, it is determined that there is a foreign object in the moving area of ​​the moving handrail or the moving handrail has been blocked by a foreign object. A braking command is sent to the motor to control the motor to brake urgently.

[0090] The method provided in this embodiment can make the motor decelerate uniformly when the movable handrail approaches the target position. When there is a foreign object, the motor speed will change significantly. The motor speed can be used to determine the obstruction of the foreign object, thus avoiding accidents caused by the small change in the difference of light reflection when the movable handrail approaches the target position, which may result in the inability to detect the foreign object.

[0091] This application also provides a control device for the movable armrest of a massage device. Figure 5 This is a schematic diagram of the structure of the control device for the movable armrest of a massage device provided in an embodiment of this application, as shown below. Figure 5 As shown, the device includes:

[0092] The first sending module 501 is used to send motion commands to the motor corresponding to the movable armrest of the massage device to be controlled, so that the motor drives the movable armrest to move.

[0093] The acquisition module 502 is used to acquire the first sensing data change amount collected by the sensing device set for the movement area of ​​the movable handrail during the movement of the movable handrail.

[0094] The determination module 503 is used to determine whether there are foreign objects obstructing the movement area of ​​the movable handrail based on the change in the first sensing data.

[0095] The second sending module 504 is used to send a braking command to the motor if there is a foreign object blocking the movement, so that the motor drives the movable handrail to stop moving.

[0096] In one embodiment, the determining module 503 is further configured to determine whether the change in the first sensing data is within a preset range of sensing data changes; if the change in the first sensing data is within the preset range of sensing data changes, then it is determined that there is no foreign object obstructing the movement area of ​​the movable handrail; if the change in the first sensing data is not within the range of sensing data changes, then it is determined that there is a foreign object obstructing the movement area of ​​the movable handrail.

[0097] In one embodiment, the acquisition module 502 is further configured to acquire the change in second sensing data collected by the sensing device after sending the motion command; if the change in the second sensing data does not change and the rotational speed of the motor is less than a preset rotational speed threshold, then it is determined that the movement of the movable handrail has been blocked by a foreign object, and the braking command is sent to the motor.

[0098] In one embodiment, the acquisition module 502 is further configured to acquire the movement stroke of the movable handrail during the movement of the movable handrail.

[0099] The determining module 503 is further configured to determine the stroke ratio of the movable handrail based on the stroke and the preset total stroke of the movable handrail.

[0100] The first sending module 501 is further configured to send a speed adjustment command to the motor to adjust the speed of the motor if the stroke ratio reaches a preset stroke ratio.

[0101] The second sending module 504 is further configured to determine that the movement of the movable handrail has been blocked by a foreign object if the change in the speed of the motor after adjustment is less than or equal to a preset speed change threshold, and to send the braking command to the motor.

[0102] 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.

[0103] 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).

[0104] This application also provides a control system for the movable armrest of a massage device. Figure 6 This is a schematic diagram of the control system for the movable armrest of a massage device provided in one embodiment of this application, as shown below. Figure 6 As shown, the control system includes: a sensing device 10, a control module 20, and a drive module 30;

[0105] The sensor is installed in the monitoring area corresponding to the movement area of ​​the movable armrest on the massage device to be controlled. It is used to collect the sensor data (parameters such as light and distance) of the movement area of ​​the movable armrest. The control module is connected to the sensor and is used to determine whether there is a foreign object obstructing the movement area of ​​the movable armrest based on the change in the sensor data collected by the sensor. The control module is connected to the motor corresponding to the movable armrest through the drive module and is used to control the motor to brake when a foreign object is detected.

[0106] Figure 7 This is a circuit diagram of a sensing device provided in an embodiment of this application, as shown below. Figure 7 As shown, the sensing device includes: a photodiode D1, a first resistor R1, a second resistor R2, a third resistor R3, and a capacitor C1.

[0107] The output pin of the control module is connected to the cathode of photodiode D1 through the first resistor R1. The anode of photodiode D1 is grounded through the second resistor R2. The anode of photodiode D2 is also connected to the input pin of the control module through capacitor C1. Capacitor C1 is also grounded through the third resistor R3.

[0108] The output pin of the control module is used to power the sensing device, and the input pin of the control module is used to acquire the sensing data collected by the sensing device. The first resistor R1 and the second resistor R2 are voltage divider resistors, and the third resistor R3 is a reference resistor, which is used to ensure that the level of the input pin connected to the resistor is low when the sensing device does not collect sensing data. The capacitor C1 is the coupling capacitor for AC signals.

[0109] In one embodiment, the control module includes a control chip and a communication interface. The data pins of the control chip are respectively connected to the data pins of the communication interface. The communication interface is used to connect to external devices. The external devices can store program code for executing the above method embodiments into the control module through the communication interface.

[0110] In one embodiment, the control module may further include a filter capacitor, and the power supply pin of the control module is grounded through the filter capacitor.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0112] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0113] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0114] The integrated units implemented as software functional units described above can be stored in a readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the movable armrest of a massage device, characterized in that, include: Send a motion command to the motor corresponding to the movable armrest of the massage device to be controlled, so that the motor drives the movable armrest to move; During the movement of the movable handrail, the change in first sensing data collected by the sensing device set for the movement area of ​​the movable handrail is obtained; The sensing device is either a light sensor or a distance sensor; when the sensing device is a light sensor, the first sensing data is the light intensity within the active area of ​​the moving handrail collected by the light sensor; when the sensing device is a distance sensor, the first sensing data is the distance between the moving handrail and other objects collected by the distance sensor. Based on the change in the first sensing data, determine whether there are any foreign objects obstructing the movement area of ​​the movable handrail; If there is an obstruction, a braking command is sent to the motor, causing the motor to stop the movement of the movable handrail; The method further includes: During the movement of the movable handrail, the movement stroke of the movable handrail is obtained; The stroke ratio of the movable handrail is determined based on the stroke distance and the preset total stroke distance of the movable handrail. If the stroke ratio reaches the preset stroke ratio, a speed adjustment command is sent to the motor to adjust the speed of the motor; If the change in the motor speed after adjustment is less than or equal to the preset speed change threshold, it is determined that the movement of the movable handrail has been blocked by a foreign object, and the braking command is sent to the motor. Before acquiring the change in first sensing data collected by the sensing device set for the movement area of ​​the movable handrail during the movement of the movable handrail, the method further includes: After sending the motion command, the change in the second sensing data collected by the sensing device is obtained; If the change in the second sensing data does not change, and the speed of the motor is less than a preset speed threshold, then it is determined that the movement of the movable handrail has been blocked by a foreign object, and the braking command is sent to the motor.

2. The method according to claim 1, characterized in that, The step of determining whether there is an obstruction within the movement area of ​​the movable handrail based on the change in the first sensing data includes: Determine whether the change in the first sensed data is within a preset range of sensed data changes; If the change in the first sensing data is within the preset range of sensing data change, then it is determined that there are no foreign objects obstructing the movement area of ​​the movable handrail. If the change in the first sensing data is not within the range of the sensing data change, then it is determined that there is a foreign object obstructing the movement area of ​​the movable handrail.

3. A control device for the movable armrest of a massage device, characterized in that, include: The first sending module is used to send a motion command to the motor corresponding to the movable armrest of the massage device to be controlled, so that the motor drives the movable armrest to move. The acquisition module is used to acquire the first sensing data change amount collected by the sensing device set for the movement area of ​​the movable handrail during the movement of the movable handrail; The sensing device is either a light sensor or a distance sensor; when the sensing device is a light sensor, the first sensing data is the light intensity within the active area of ​​the moving handrail collected by the light sensor; when the sensing device is a distance sensor, the first sensing data is the distance between the moving handrail and other objects collected by the distance sensor. The determination module is used to determine whether there is a foreign object obstructing the movement area of ​​the movable handrail based on the change in the first sensing data. The second sending module is used to send a braking command to the motor if there is a foreign object blocking the movement, so that the motor drives the movable handrail to stop moving. The acquisition module is also used to acquire the movement stroke of the movable handrail during the movement of the movable handrail; The determining module is further configured to determine the stroke ratio of the movable handrail based on the stroke and the preset total stroke of the movable handrail; The first sending module is further configured to send a speed adjustment command to the motor to adjust the speed of the motor if the stroke ratio reaches a preset stroke ratio; The second sending module is further configured to determine that the movement of the movable handrail has been blocked by a foreign object if the change in the speed of the motor after adjustment is less than or equal to a preset speed change threshold, and to send the braking command to the motor. Before acquiring the first change in sensing data collected by the sensing device set for the movement area of ​​the movable handrail during the movement of the movable handrail, the acquisition module is further configured to acquire the second change in sensing data collected by the sensing device after sending the movement command; if the second change in sensing data does not change and the speed of the motor is less than a preset speed threshold, it is determined that the movement of the movable handrail has been blocked by a foreign object, and the braking command is sent to the motor.

4. A control system for the movable armrest of a massage device, characterized in that, include: Sensing device, control module, and drive module; The sensing device is installed within the monitoring area corresponding to the movement area of ​​the movable armrest on the massage device to be controlled. The sensing device is either a light sensor or a distance sensor; the light sensor is used to collect the light intensity within the active area of ​​the movable handrail; the distance sensor is used to collect the distance between the movable handrail and other objects. The control module is connected to the sensing device; the control module is connected to the motor corresponding to the movable armrest through the drive module; the control module is used to execute the control method of the movable armrest of the massage device according to any one of claims 1 to 2.

5. The control system according to claim 4, characterized in that, The sensing device includes: a photodiode, a first resistor, a second resistor, a third resistor, and a capacitor; The output pin of the control module is connected to the cathode of the photodiode through the first resistor, and the anode of the photodiode is grounded through the second resistor; The anode of the photodiode is also connected to the input pin of the control module through the capacitor, and the capacitor is also grounded through the third resistor.

6. The control system according to claim 5, characterized in that, The control module includes: a control chip and a communication interface; The data pins of the control chip are respectively connected to the data pins of the communication interface, which is used to connect to external devices.

7. The control system according to claim 6, characterized in that, The control module also includes: a filter capacitor; The power supply pin of the control module is grounded through the filter capacitor.

8. A massage device, characterized in that, include: The control system, motor, and movable handrail as described in any one of claims 4 to 7; The control module in the control system is connected to the motor via a drive module, and the motor is connected to the movable handrail.

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