Massage stroke adjustment method and device for a massager

Abstract

The application relates to the technical field of massagers, in particular to a massager, a massage stroke adjusting method and device of the massager. The method comprises the following steps: collecting a current motor load parameter in response to a first sensing signal triggered by a target sensor at a current mark position; wherein the target sensor moves synchronously with a massager transmission main shaft and marks the rotation angle of the massager transmission main shaft; comparing the current motor load parameter with a target threshold value, and determining a current control signal of a massager motor according to the comparison result; wherein the current control signal is used for controlling the motion direction of the massager motor. The scheme can realize self-adaptive adjustment of the massage stroke of the massager.

Description

Technical Field

[0001] This application relates to the field of massager technology, and in particular to a massager, and a method and apparatus for adjusting the massage stroke of a massager. Background Technology

[0002] To meet people's massage needs for different parts of the body, existing technologies offer a variety of massage devices, such as neck massagers, head massagers, and massage chairs. In existing massage devices, the movement of a single massage head is generally fixed and not adjustable; users can only adjust the speed of the massage head's movement via a controller to achieve different massage sensations. Current massage devices generally cannot achieve multi-level adjustment or adaptive adjustment of the massage head. Summary of the Invention

[0003] Therefore, it is necessary to provide a massager, a massage stroke adjustment method and device for the massager, which can achieve adaptive adjustment of the massage stroke of the massager in response to the above-mentioned technical problems.

[0004] In a first aspect, this application provides a method for adjusting the massage stroke of a massager, applied to a massager, the method comprising:

[0005] In response to a first sensing signal triggered by the target sensor at the current marked position, the current motor load parameters are collected; wherein, the target sensor moves synchronously with the massager drive shaft and marks the rotation angle of the massager drive shaft;

[0006] The current motor load parameters are compared with the target threshold, and the current control signal of the massager motor is determined based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor.

[0007] In one embodiment, the step of comparing the current motor load parameters with a target threshold and determining the current control signal of the massager motor based on the comparison result includes:

[0008] When the current motor load parameter is greater than or equal to the target threshold, a first motor control signal is generated; wherein, the first motor control signal is used to control the massager motor to move in the opposite direction; or

[0009] When the current motor load parameters are less than the target threshold, a second motor control signal is generated; wherein, the second motor control signal is used to control the forward movement of the massager motor.

[0010] In one embodiment, the current marker position is configured with an alignment marker position; the method further includes:

[0011] In response to a second sensing signal triggered by the target sensor at the alignment mark position, a first motor control signal is generated to control the massage motor to move in the opposite direction.

[0012] In one embodiment, the massager is configured with a plurality of marking groups, each marking group including a current marking position and a corresponding alignment marking position, and each marking group marks a different stroke of the massager's drive shaft.

[0013] In one embodiment, the target sensor includes a photoelectric sensor and a grating ruler configured at the marked position; wherein the grating ruler moves synchronously with the drive shaft of the massager.

[0014] In one embodiment, the target sensor includes an angle sensor; the target sensor moves synchronously with the drive shaft of the massager.

[0015] In one embodiment, the method further includes:

[0016] In response to the input intensity parameter, the value of the target threshold is configured according to the intensity parameter.

[0017] Secondly, this application provides a massage stroke adjustment device for a massager, which is applied to the massager and includes:

[0018] The current motor load parameter acquisition module is used to acquire the current motor load parameters in response to the first sensing signal triggered by the target sensor at the current marked position; wherein, the target sensor moves synchronously with the massager drive shaft and marks the rotation angle of the massager drive shaft;

[0019] The motor control signal input module is used to compare the current motor load parameters with the target threshold and determine the current control signal of the massager motor based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor.

[0020] Thirdly, this application also provides an electric massager, applied to the massage stroke adjustment method of the massager as described in the first aspect above, the massager comprising:

[0021] The electric motor is used to drive the transmission spindle;

[0022] A transmission spindle, wherein cam sets are respectively provided at both ends of the transmission spindle to follow the rotational motion of the transmission spindle;

[0023] The massage component is connected to the cam assembly via a swing arm and is used to perform reciprocating motion according to the rotation of the cam assembly;

[0024] The target sensor is used to move synchronously with the massager's drive shaft and to mark the rotation angle of the massager's drive shaft;

[0025] The main control unit is used to receive the first sensing signal triggered by the target sensor at the current marked position and the current motor load parameters, compare the current motor load parameters with the target threshold, and determine the current control signal of the massager motor based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor.

[0026] In one embodiment, the target sensor includes a photoelectric sensor and a grating ruler configured at the marked position; wherein the grating ruler is disposed on the cam assembly and moves synchronously with the main shaft of the massager drive.

[0027] In one embodiment, the target sensor includes an angle sensor; the target sensor moves synchronously with the drive shaft of the massager.

[0028] In one embodiment, the main control unit is further configured to configure the value of the target threshold according to the input intensity parameter in response to the input intensity parameter.

[0029] The aforementioned massage stroke adjustment method, device, and massager utilize a target sensor to collect a first sensing signal generated at a designated marked position during the massager's operation. This triggers the acquisition of current motor load parameters, which are then compared with a preset target threshold. Based on the parameter comparison result, the degree of resistance encountered by the massager during movement is determined. Furthermore, based on the parameter comparison result, a current control signal is generated to control the direction of the massager motor's movement, achieving adaptive adjustment of the massage stroke. For neck massagers, this achieves the recognition of different human cervical spine sizes and adaptive changes in massage stroke, without requiring manual adjustment by the user. Attached Figure Description

[0030] Figure 1 This is a flowchart illustrating a massage stroke adjustment method for a massager in one embodiment;

[0031] Figure 2 This is a schematic diagram of the massager in one embodiment;

[0032] Figure 3 This is a schematic diagram showing the distribution of the touch sensors on the massager in one embodiment;

[0033] Figure 4 This is a schematic diagram of the massager in a tensioned state in one embodiment;

[0034] Figure 5This is a schematic diagram of the massager in a relaxed state in one embodiment;

[0035] Figure 6 This is an exploded view of the rocker arm and cam assembly in one embodiment;

[0036] Figure 7 This is a schematic diagram showing the assembly position of the grating ruler on the cam assembly in one embodiment;

[0037] Figure 8 This is a schematic diagram of the assembly position between the grating ruler and the photoelectric sensor in one embodiment;

[0038] Figure 9 This is a schematic diagram of the assembly of the angle sensor in one embodiment;

[0039] Figure 10 This is a schematic diagram illustrating the relative position of the angle sensor's angle division and the Hall signal sensing in one embodiment;

[0040] Figure 11 This is a flowchart illustrating a massage stroke adjustment method in one embodiment;

[0041] Figure 12 This is a flowchart illustrating the massage stroke adjustment method in another embodiment;

[0042] Figure 13 This is a structural diagram of the massage stroke adjustment device in one embodiment.

[0043] The reference numerals in the attached drawings include: 201: motor; 202: transmission spindle; 203: massage head; 204: cam assembly; 204a: first cam (cam A); 204b: second cam (cam B); 205: swing arm; 206: inner housing; 207: outer housing; 208: main control unit; 209: worm gear; 210: turbine; 211: reduction gear; 212: swing arm sleeve; 213: photoelectric sensor; 214: grating ruler; 215: magnet; 216: Hall sensor; 217: angle sensor; 218: end cover; 219: bushing; 220: large grooved wheel; 221: small grooved wheel. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] The massager provided in this application embodiment can be a cervical spine massager. (See reference...) Figure 2As shown, the massager may include: a motor 201 for driving a transmission shaft 202; a transmission shaft 202, with cam sets 204 at both ends that rotate with the transmission shaft; a massage assembly, connected to the cam sets 204 via a swing arm 205, for reciprocating motion according to the rotation of the cam sets 204; a target sensor for synchronously moving with the massager's transmission shaft 202 and marking the rotation angle of the massager's transmission shaft 202; and a main control unit 208 for receiving a first sensing signal triggered by the target sensor at the current marked position, current motor load parameters, comparing the current motor load parameters with a target threshold, and determining the current control signal for the massager motor based on the comparison result; wherein the current control signal is used to control the movement direction of the massager motor 201. The massager achieves massage of the cervical spine area through the repetitive movement of massage heads symmetrically arranged on both sides.

[0046] In one embodiment, the target sensor includes a photoelectric sensor and a grating ruler configured at the marked position; wherein the grating ruler is disposed on the cam assembly and moves synchronously with the main shaft of the massager drive.

[0047] For details, please refer to Figure 2 , Figure 3 , Figure 4 As shown, the massager may include: a motor 201, a transmission spindle 202, a massage assembly, a cam assembly 204, a swing arm 205, an inner housing 206, an outer housing 207, a main control unit 208, a worm gear 209, a turbine 210, a reduction gear 211, a swing arm sliding sleeve 212; a photoelectric sensor 213, a grating ruler 214, a magnet 215, a Hall sensor 216; an end cover 218, and a bushing 219. The motor 201 may be a brushless motor. The massage assembly may include a pair of massage heads 203.

[0048] The rotor spindle output of motor 201 is connected to worm gear 209. Through worm gear 209, worm wheel 210, and reduction gear 211, the output is reduced in speed and transmitted to transmission spindle 202, driving transmission spindle 202 to rotate. (Reference) Figure 4 As shown, the reduction gear 211 is mounted on the transmission main shaft 202 and meshes with the worm gear 210; the worm 209 engages with the worm gear 210. Cam assemblies 204 are fixed at both ends of the transmission main shaft 202, and the left and right cam assemblies 204 rotate together with the transmission main shaft 202. A rocker arm 205 is sleeved on the cam assembly 204, and the massage head 203 is fixed on the rocker arm 205; when the cams rotate, they drive the rocker arm 205 to perform a regular tilting movement. (Reference) Figure 4 As shown, a swing arm slide sleeve 212 is provided below the swing arm 205. The protruding part at the bottom of the swing arm 205 is used to move within the swing arm slide sleeve 212, thereby limiting the movement trajectory and stroke of the swing arm. (Reference) Figure 4The diagram illustrates the massager in a tensioned state, with the protruding portion at the bottom of the swing arm 205 positioned on the outer side of the swing arm slide 212; Reference Figure 5 The diagram illustrates the massager in a relaxed state, with the protruding portion at the bottom of the swing arm 205 positioned inside the swing arm slide 212.

[0049] refer to Figure 3 As shown, an inner housing 206 is provided on the massager, positioned above and covering the motor 201, drive shaft 202, and reduction gear 211. The main control unit 208 can be a main control board, such as a PCBA (Printed Circuit Board Assembly). Hall sensor 216 and photoelectric sensor 213 are connected to the main control unit. (Reference) Figure 3 As shown, the main control unit 208 can be fixed on the inner housing 206. A magnet 215 is mounted on the cam assembly 204 on one side of the transmission main shaft 202. On the main control board on this side, a Hall sensor 216 is arranged at the corresponding position of the magnet. On the other side of the transmission main shaft 202, a grating ruler 214 is set on the cam assembly 204. On the main control board on this side, a photoelectric sensor 213 is arranged at the position corresponding to the grating ruler 214.

[0050] refer to Figure 6 As shown, the cam assembly 204 may include a first cam (cam A) 204a and a second cam (cam B) 204b that cooperate with each other. On one side of the cam assembly 204, a magnet 215 may be fixed on the first cam 204a; an end cap 218 may be provided on the outside of the rocker arm 205 and fixed to the transmission main shaft 202 by means of a bushing 219.

[0051] refer to Figure 7 As shown, on the other side of the cam assembly 204, the grating ruler 214 can be mounted on the first cam 204a. (Reference) Figure 8 As shown, six effective reflection zones (regions 1, 2, 3, 4, 5, and 6 arranged clockwise, with the remaining portion being ineffective reflection zones that do not generate signals to the photoelectric sensor) can be set on the grating ruler. Regions 1 and 6 are positioned where the massage heads are evenly spaced, as are regions 2 and 5, and regions 3 and 4. Of course, in other exemplary embodiments of this disclosure, the outer diameter of the grating ruler can be configured to other sizes, and correspondingly, other numbers of effective reflection zones can be divided; for example, 10, 12, or 18 effective reflection zones can be set, thereby increasing the sensitivity of the massage stroke adjustment of the massager.

[0052] For example, refer to Figure 11As shown, after the massager is turned on, the motor starts and begins to rotate forward, driving the transmission shaft to rotate. The transmission shaft drives the cam assemblies on both sides to rotate, which in turn drives the magnets and grating rulers on both sides to rotate clockwise. The main control unit can first determine whether it has received a Hall signal triggered by the Hall sensor. When the Hall sensor overlaps with the magnet, it triggers the Hall sensor to send a Hall signal to the main control unit. Based on this Hall signal, the main control unit first confirms and marks the starting position, indicating that the current direction of the motor's movement is forward. When the photoelectric sensor overlaps with the effective reflection area of ​​the grating ruler, it triggers the sending of a grating signal to the main control unit. Based on the setting order of the effective reflection areas on the grating ruler, the first grating signal corresponding to area 1 can be triggered first. For example, when the photoelectric sensor overlaps with area 1, a first grating signal is generated and sent to the main control unit. Based on this first grating signal, the main control unit determines whether the current load current of the motor is greater than a preset threshold. If it is less, it maintains forward rotation and can trigger full-cycle forward operation. During full-cycle operation, for example when the user is not wearing the massager, the photoelectric sensor sequentially overlaps with the effective reflective areas of regions 1, 2, 3, 4, 5, and 6 sequentially set on the grating ruler. The photoelectric sensor can then sequentially trigger the first, second, third, fourth, fifth, and sixth grating signals. Furthermore, when the sixth grating signal is triggered, the main control unit can respond to this sixth grating signal to re-trigger the judgment process.

[0053] For example, when a user wears the massager, the main control unit, after receiving a Hall signal from the Hall sensor, marks the location and can continue to keep the motor rotating forward; or, in the initial state, it can keep the motor rotating forward even when no Hall signal is received. During the forward rotation of the motor, when the photoelectric sensor overlaps with area 1, it can first receive the first grating signal triggered by the photoelectric sensor. At this time, the main control unit can read the current load current of the motor and compare the current load current value with a preset current threshold. For example, the current threshold can be preset to 2A; if it is determined that the current load current of the motor is greater than or equal to 2A, a motor reversal control signal is generated and executed to control the motor to reverse. The motor executes a reverse control signal and reverses after deceleration, causing the grating ruler to rotate counterclockwise. When the motor reverses, the Hall sensor overlaps with the magnet, triggering a Hall signal. The motor reverses, causing the grating ruler to rotate counterclockwise. When the photoelectric sensor overlaps with area 1 of the grating ruler again, it triggers the first grating signal again. The drive shaft continues to reverse. When the photoelectric sensor overlaps with area 6 of the grating ruler, it triggers the sixth grating signal and sends it to the active unit. When the main control unit receives the sixth grating signal, it can generate a forward rotation control signal for the motor and control the motor to rotate forward. At this time, the motor repeatedly moves within the range of area 1 to area 6 of the grating ruler.

[0054] Alternatively, upon receiving the sixth grating signal, the main control unit can again sample the current motor load current and make another judgment. If the current motor load current is still greater than or equal to 2A, it indicates that the massager's travel range corresponding to areas 1-6 of the grating ruler matches the user's current cervical spine dimensions. A forward rotation control command is then generated, controlling the motor to change from reverse to forward rotation, and the motor repeats its movement within the range corresponding to areas 1-6 of the grating ruler. Alternatively, upon receiving the sixth grating signal, the main control unit can sample the current motor load current and make a judgment. If the current motor load current is less than 2A, it indicates that the massager's current travel range does not match the user's cervical spine dimensions. A reverse rotation control command is then generated, keeping the motor in reverse rotation, and the grating ruler continues to rotate counterclockwise. When the photoelectric sensor overlaps with area 5 of the grating ruler, the fifth grating signal is triggered. The main control unit responds to this fifth grating signal, samples the current motor load current, and compares it with a preset current threshold. If the main control unit determines that the current load current is greater than or equal to 2A, a forward rotation command is generated, controlling the motor to change from reverse to forward rotation. During forward rotation, the grating ruler rotates clockwise. The photoelectric sensor overlaps with the area of ​​the grating ruler and triggers the sixth grating signal. Then, the Hall sensor overlaps with the magnet and triggers the Hall signal. After that, the photoelectric sensor overlaps with area 1 and triggers the first grating signal. Then, the photoelectric sensor overlaps with area 2 and triggers the second grating signal. The main control unit responds to the second grating signal and generates a motor reversal command, controlling the motor to switch from forward rotation to reverse rotation, so that the motor reciprocates cyclically between the travel distance of the grating ruler area 5 and area 2.

[0055] Alternatively, when the photoelectric sensor overlaps with grating ruler area 5, the fifth grating signal is triggered. The main control unit responds to this fifth grating signal, collects the current load current of the motor, and compares it with a preset current threshold. If the main control unit determines that the current load current is less than 2A, it generates a motor reverse command to keep the motor continuously rotating in reverse. When the photoelectric sensor overlaps with grating ruler area 4, the fourth grating signal is triggered and sent to the main control unit. The main control unit responds to this fourth grating signal, collects the current load current of the motor, and compares it with a preset current threshold. If it determines that the current load current is greater than or equal to 2A, it generates a motor forward command to control the motor to rotate forward, driving the grating ruler and magnet to rotate clockwise. This will sequentially trigger the fifth grating signal, the sixth grating signal, the Hall signal, the first grating signal, the second grating signal, and the third grating signal. The main control unit responds to this third grating signal to generate a motor reverse control command, controlling the motor to switch from forward to reverse rotation, causing the motor to reciprocate cyclically between grating ruler area 5 and area 2, thus controlling the massage stroke of the massager.

[0056] Alternatively, the main control unit responds to the fourth grating signal, collects the current load current of the motor, and compares it with a preset current threshold. If it determines that the current load current is less than 2A, it generates a motor reversal command to keep the motor reversing. At this time, the grating ruler and magnet rotate counterclockwise, which can trigger the third grating signal, the second grating signal, the first grating signal, the Hall signal, the sixth grating signal, the fifth grating signal, and the fourth grating signal in sequence, realizing full-cycle operation based on motor reversal.

[0057] In one embodiment, the target sensor includes an angle sensor; the target sensor moves synchronously with the drive shaft of the massager.

[0058] For details, please refer to Figure 3 , Figure 9 As shown, the massager may include: a motor 201, a transmission spindle 202, a massage assembly, a cam assembly 204, a swing arm 205, an inner housing 206, an outer housing 207, a main control unit 208, a worm gear 209, a turbine 210, a reduction gear 211, a swing arm sliding sleeve 212; a magnet 215, a Hall sensor 216; an end cap 218, a bushing 219; a large grooved wheel 220; a small grooved wheel 221; and an angle sensor 217. The motor 201 may be a brushless motor. The massage assembly may include a pair of massage heads 203.

[0059] For example, a Hall sensor 216 and a magnet 215 can be retained on one side of the drive shaft; an angle sensor 217 can be provided on the other side. The angle sensor 217 is connected to the main control unit 208, and the angle signal collected by the angle sensor 217 can be directly sent to the main control unit 208. (Reference) Figure 9 As shown, a large grooved wheel 220 can be installed on the transmission spindle 202, and a small grooved wheel 221 can be connected to an angle sensor 217 via a shaft with a flat section. The power output from the motor 201 is transmitted to the transmission spindle 201 through the reduction gear 211, which drives the large grooved wheel 220 and the small grooved wheel 221 to rotate in sequence. The angle sensor 217 rotates synchronously with the small grooved wheel 221 and records the angle value.

[0060] For example, refer to Figure 10 As shown, position markings can be made on the cam assembly, wherein the angles between marking position a and the Hall signal position are equal to those between marking position A and the Hall signal position; the angles between marking position b and the Hall signal position are also equal to those between marking position B and the Hall signal position; and the angles between marking position c and the Hall signal position are also equal. Of course, in other exemplary embodiments of this disclosure, multiple angle detection values ​​mirrored around the Hall signal as a central axis can be predefined.

[0061] For example, refer to Figure 12As shown, after the massager is turned on, the motor starts and begins to rotate forward, driving the transmission shaft to rotate. The transmission shaft drives the cam assemblies on both sides to rotate, which in turn drives the magnets and grating rulers on both sides to rotate clockwise. The main control unit can first determine whether it has received a Hall signal triggered by the Hall sensor. If the main control unit does not receive a Hall signal after power-on, it keeps the motor rotating forward. When the Hall sensor and the magnet overlap, the Hall sensor is triggered to send a Hall signal to the main control unit. Based on this Hall signal, the main control unit first confirms and marks the position, and collects the current load current of the motor. It compares the current load current with a preset current threshold. If the current load current is less than the preset current threshold, no control command is generated, and the motor continues to rotate forward until the Hall sensor and the magnet overlap again, at which point the current load current is collected again, achieving full-cycle operation based on the forward rotation of the motor.

[0062] Alternatively, if the current load current is determined to be greater than or equal to a preset current threshold, the current angle value of the angle sensor is recorded as angle A, which can be the angle between the current position and the position marked by the Hall signal. Simultaneously, the main control unit generates a motor reversal control signal, controlling the motor to switch from forward to reverse operation. The reverse rotation of the motor drives the magnet on the cam assembly to rotate counterclockwise. When the Hall sensor and the magnet overlap again, a Hall signal is triggered. When the motor rotates to angle value a, the main control unit is triggered to collect the current motor load current and compare it with a preset current threshold. If the current motor load current is greater than or equal to the preset current threshold, a motor forward rotation command is generated, causing the motor to switch from reverse to forward rotation, thus causing the motor to operate cyclically between the marked angle A and angle a.

[0063] Alternatively, when the motor rotates to angle value 'a', the main control unit is triggered to collect the current motor load current and compare it with a preset current threshold. If the current motor load current is less than the preset current threshold, the motor continues to rotate in reverse, and the motor load current is collected in real time. When the main control unit determines that the motor load current is greater than or equal to the preset current threshold, it records the current angle value 'b' of the angle sensor and generates a forward rotation control command to switch the motor from reverse to forward rotation. At this time, the magnet on the cam assembly rotates clockwise, and a Hall signal is triggered when the Hall sensor and the magnet overlap. When the motor rotates to angle value 'B', the main control power supply is triggered to generate a reverse rotation control command to switch the motor from forward to reverse rotation, causing the motor to operate cyclically between the marked angle 'b' and angle 'B'.

[0064] Alternatively, when the motor rotates to angle value B, the main control unit can be triggered to collect the current motor load current. If the main control unit determines that the current motor load current is less than a preset current threshold, the motor can be kept rotating in reverse while the motor load current is collected in real time. If the motor load current is determined to be greater than or equal to the preset current threshold at a certain moment, the current angle sensor angle value c is recorded, and a motor forward rotation control command is generated, causing the motor to switch from reverse rotation to forward rotation. At this time, the magnet on the cam assembly rotates clockwise, and a Hall signal is triggered when the Hall sensor and the magnet overlap. When the motor rotates to angle value C, the main control power supply is triggered to generate a motor reverse rotation control command, causing the motor to switch from forward rotation to reverse rotation, so that the motor operates cyclically between the marked angle c and angle C. Alternatively, if the real-time motor load current is determined to be less than the preset current threshold, the motor will still be kept rotating in reverse, achieving full-cycle operation based on the motor's reverse rotation.

[0065] In one embodiment, the main control unit is further configured to configure the value of the target threshold according to the input intensity parameter in response to the input intensity parameter.

[0066] Specifically, the massager can also be equipped with intensity parameter input components, such as a level adjustment switch and a level selection button. Different levels and corresponding current thresholds can be pre-configured. When the user selects a level on the massager, the main control unit can reconfigure the corresponding current threshold. For example, the current threshold for the "strong" level can be pre-configured to be 2.5, or the current threshold for the "weak" level can be 1.5, and so on.

[0067] By pre-configuring the correspondence between the massager intensity parameters and the current threshold, users can automatically adjust the current threshold by adjusting the massage intensity, thereby achieving adaptive adjustment of the massager stroke at different massage intensity levels.

[0068] The massage stroke adjustment method for the massager provided in this application embodiment can be applied to the massager described in the above embodiments. (Reference) Figure 1 As shown, the method for adjusting the massage stroke of the massager includes the following steps:

[0069] Step S11: In response to the first sensing signal triggered by the target sensor at the current marked position, the current motor load parameters are collected; wherein, the target sensor moves synchronously with the massager drive shaft and marks the rotation angle of the massager drive shaft.

[0070] Step S12: Compare the current motor load parameters with the target threshold, and determine the current control signal of the massager motor based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor.

[0071] In an exemplary embodiment, the target sensor described above may be the photoelectric sensor described in the above embodiment, and the target sensor includes a photoelectric sensor and a grating ruler configured corresponding to the marked position; wherein the grating ruler moves synchronously with the main shaft of the massager drive.

[0072] refer to Figure 3 The neck massager shown has a grating ruler 214 mounted on the first cam of the cam assembly 204 on one side. A photoelectric sensor can be fixed to the circuit board of the main control unit. The aforementioned current marking position can be the overlap between the effective reflective area of ​​the grating ruler and the photoelectric sensor. Specifically, when the cam assembly rotates, it drives the grating ruler to rotate; when the effective reflective area of ​​the grating ruler overlaps with the position of the photoelectric sensor, the photoelectric sensor generates a photoelectric signal and uploads it to the active unit, allowing the current effective reflective area of ​​the grating ruler to be used as the current marking position.

[0073] In an exemplary embodiment, the step of comparing the current motor load parameters with a target threshold and determining the current control signal of the massager motor based on the comparison result includes: generating a first motor control signal when the current motor load parameters are greater than or equal to the target threshold; wherein the first motor control signal is used to control the massager motor to move in the reverse direction; or generating a second motor control signal when the current motor load parameters are less than the target threshold; wherein the second motor control signal is used to control the massager motor to move in the forward direction.

[0074] Specifically, after receiving a photoelectric signal, the active unit can trigger the acquisition of the motor's current load current or load, or speed, as the current motor load parameter. The active unit can compare the acquired current motor load parameter with a preset target threshold to determine whether the massager's movement stroke is accurately matched to the user's body part based on the motor's current load state. For example, for cervical spine massage, referencing... Figure 4 , Figure 5 As shown, the massage head repeatedly moves between a tense and relaxed state, mimicking the massage motion of a hand on the cervical spine. When the current load parameter of the motor is less than the target threshold, it indicates that there is still a certain gap between the massage head and the user's cervical spine; or, when the current load parameter of the motor is greater than the target threshold, it indicates that the tension of the massager matches the size of the user's cervical spine, and the massage head is pressing firmly on the cervical spine.

[0075] For example, when the current motor load parameter is determined to be greater than or equal to the target threshold, it indicates that the tension of the massager matches the size of the user's cervical spine, and the massage head is pressing firmly against the cervical spine. At this time, a first motor control signal can be generated. This first motor control signal can be used to control the motor to move in the opposite direction. For example, if the current motor is rotating forward, the motor switches to reverse rotation after executing the first motor control signal. Or, if the current motor is rotating in reverse, the motor switches from reverse rotation to forward rotation after executing the first motor control signal.

[0076] For example, when the current motor load parameter is less than the target threshold, a second motor control signal is generated; this indicates that there is still a certain gap between the massage head of the massager and the user's cervical spine, at which point the motor can continue to execute the current running direction. For example, if the current motor is rotating forward, it will continue to rotate forward after executing the second motor control signal; or, if the current motor is rotating in reverse, it will continue to rotate in reverse after executing the second motor control signal. Alternatively, in some exemplary embodiments, the above-mentioned second motor control signal can be an empty signal; or, it can be a control signal that is ignored; thereby keeping the motor in the current direction of movement.

[0077] In one exemplary embodiment, the massager is configured with a plurality of marker groups, each marker group including a current marker position and a corresponding alignment marker position, and each marker group marks a different stroke of the massager's drive shaft.

[0078] In an exemplary embodiment, the method further includes: the current marker position is configured with an alignment marker position; the method further includes: in response to a second sensing signal triggered by the target sensor at the alignment marker position, generating a first motor control signal for controlling the massage motor to move in the opposite direction.

[0079] For example, refer to Figure 8 As shown, the grating ruler includes three sets of effective reflection areas; among them, areas 1 and 6 are positions where the massage head spacing is equal and serve as alignment markers for each other; similarly, areas 2 and 5 are positions where the massage head spacing is equal and serve as alignment markers for each other; areas 3 and 4 are positions where the massage head spacing is equal and serve as alignment markers for each other.

[0080] For example, if the motor load parameters collected by the photoelectric sensor when it first triggers the first photoelectric signal in region 1 are greater than the target threshold, the main control unit can use a buffer to hold regions 1 and 6. When the photoelectric sensor triggers the sixth photoelectric signal in region 6 (the sixth photoelectric signal serves as the second sensing signal), the active unit can generate the first motor control signal to control the massage motor to perform reverse motion. This enables the massager to reciprocate between regions 1 and 6, achieving massage of the cervical spine.

[0081] In one exemplary embodiment, the target sensor includes an angle sensor; the target sensor moves synchronously with the drive shaft of the massager.

[0082] For example, as shown in reference 9, a large grooved wheel 220 can be provided on the transmission spindle 202, and a small grooved wheel 221 can be connected to an angle sensor 217 via a shaft with a flat section. The power output by the motor 201 is transmitted to the transmission spindle 202 through the reduction gear 211, which drives the large grooved wheel 220 and the small grooved wheel 221 to rotate in sequence. The angle sensor 217 rotates synchronously with the small grooved wheel 221 and records the angle value.

[0083] For example, when using an angle sensor, the current angle information can be used as the current marked position in real time, triggering the first sensing signal, which in turn triggers the main control unit to collect the current load parameters of the motor in real time; and when it is determined that the current motor load parameters are greater than or equal to the target threshold, a first motor control signal is generated to control the motor to switch the direction of movement, and the angle is marked as a valid current marked position. Similarly, refer to... Figure 10 As shown, the travel of the angle sensor can also be pre-divided based on the rotation angle. For example, the angle position A can be used as a marker group, and the angle position A and the angle position a can be used as corresponding marker positions. For example, if it is determined that the current load current is greater than or equal to a preset current threshold at angle A, the current angle value of the angle sensor is recorded as angle A; when the motor rotates to the angle value a, the second sensing signal is triggered to generate the first motor control signal, which is used to control the massage motor to move in the opposite direction.

[0084] For example, when the second sensing signal is triggered at the alignment mark position, the current motor load parameters can also be collected and compared and verified again. If the comparison result changes, the current parameter comparison result is used to control the motor's movement direction. For instance, in the initial state, if the current load current is determined to be greater than or equal to a preset current threshold at angle A, the current angle value of the angle sensor is recorded as angle A. When the motor rotates to angle value a, the current motor load current is collected again. If the current load current is determined to be less than the preset current threshold, a second motor control signal can be generated to control the massager motor to maintain the current movement direction until the judgment is made again at the next angle.

[0085] In one exemplary embodiment, the method further includes: configuring the value of the target threshold according to the input intensity parameter in response to the input intensity parameter.

[0086] For example, the massager can also be equipped with an intensity parameter input component, such as an intensity adjustment switch or an intensity selection button. Different intensity levels and corresponding current thresholds can be pre-configured. When the user selects an intensity level on the massager, the main control unit can reconfigure the corresponding current threshold. For example, the current threshold for the "strong" intensity level can be pre-configured to be 2.5, or the current threshold for the "weak" intensity level to be 1.5, and so on. By pre-configuring the correspondence between the massager's intensity parameters and current thresholds, the user can automatically adjust the current threshold by adjusting the massage intensity, thereby achieving adaptive adjustment of the massager's travel distance at different massage intensity levels.

[0087] The massager and massage stroke adjustment method provided in this application embodiment utilize a sensor to trigger a first sensing signal and collect the current load parameters of the motor when the motor rotates to a certain position. The parameters are then compared with a target threshold. Based on the comparison result, it can be determined whether the stroke of the massager matches the size of the user's cervical spine and control the direction of motor movement, thereby achieving adaptive massage stroke adjustment.

[0088] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0089] Based on the same inventive concept, this application also provides a massage stroke adjustment device for implementing the massage stroke adjustment method of the massager described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more storage management device embodiments provided below can be found in the limitations of the storage management method above, and will not be repeated here.

[0090] In one embodiment, such as Figure 13 As shown, a massage stroke adjustment device 110 for a massager is provided, which can be applied to a massager. The data transmission device 110 includes:

[0091] The current motor load parameter acquisition module 1101 is used to acquire the current motor load parameters in response to the first sensing signal triggered by the target sensor at the current marked position; wherein, the target sensor moves synchronously with the massager drive shaft and marks the rotation angle of the massager drive shaft;

[0092] The motor control signal input module 1102 is used to compare the current motor load parameters with the target threshold and determine the current control signal of the massager motor based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor.

[0093] In one embodiment, the motor control signal input module 1102 can also be used to generate a first motor control signal when the current motor load parameter is greater than or equal to a target threshold; wherein the first motor control signal is used to control the massager motor to move in the reverse direction; or, when the current motor load parameter is less than the target threshold, generate a second motor control signal; wherein the second motor control signal is used to control the massager motor to move in the forward direction.

[0094] In one embodiment, the current marker position is configured with an alignment marker position; the device further includes an alignment marker position response module, configured to generate a first motor control signal in response to a second sensing signal triggered by the target sensor at the alignment marker position, for controlling the massage motor to move in the opposite direction.

[0095] In one embodiment, the massager is configured with a plurality of marking groups, each marking group including a current marking position and a corresponding alignment marking position, and each marking group marks a different stroke of the massager's drive shaft.

[0096] In one embodiment, the target sensor includes a photoelectric sensor and a grating ruler configured at the marked position; wherein the grating ruler moves synchronously with the drive shaft of the massager.

[0097] In one embodiment, the target sensor includes an angle sensor; the target sensor moves synchronously with the drive shaft of the massager.

[0098] In one embodiment, the apparatus further includes an intensity parameter configuration module, which can be used to configure the value of the target threshold according to the intensity parameter in response to an input intensity parameter.

[0099] Each module in the aforementioned data transmission device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0100] In one embodiment, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0101] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0102] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0103] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0104] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic resistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for adjusting the massage stroke of a massager, characterized in that, Applied to a massager, the method includes: In response to a first sensing signal triggered by the target sensor at the current marked position, the current motor load parameters are collected; wherein, the target sensor moves synchronously with the massager drive shaft and marks the rotation angle of the massager drive shaft; The current motor load parameters are compared with the target threshold, and the current control signal of the massager motor is determined based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor; The direction of motion of the massager motor is controlled using any of the following methods: When the current motor load parameter is greater than or equal to the target threshold, a first motor control signal is generated; wherein the first motor control signal is used to control the massager motor to move in the reverse direction; or, when the current motor load parameter is less than the target threshold, a second motor control signal is generated; wherein the second motor control signal is used to control the massager motor to move in the forward direction. In response to a second sensing signal triggered by the target sensor at the alignment mark position, a first motor control signal is generated to control the massage motor to move in the opposite direction; wherein, the massager is configured with a plurality of mark groups, each mark group including a current mark position and a corresponding alignment mark position, and each mark group marks a different stroke of the massager drive shaft; the current mark position is configured with an alignment mark position.

2. The method according to claim 1, characterized in that, The target sensor includes a photoelectric sensor and a grating ruler configured at the marked position; wherein the grating ruler moves synchronously with the main shaft of the massager.

3. The method according to claim 1, characterized in that, The target sensor includes an angle sensor; the target sensor moves synchronously with the drive shaft of the massager.

4. The method according to claim 1, characterized in that, The method further includes: In response to the input intensity parameter, the value of the target threshold is configured according to the intensity parameter.

5. A massage stroke adjustment device for a massager, characterized in that, Applied to a massager, the device includes: The current motor load parameter acquisition module is used to acquire the current motor load parameters in response to the first sensing signal triggered by the target sensor at the current marked position; wherein, the target sensor moves synchronously with the massager drive shaft and marks the rotation angle of the massager drive shaft; The motor control signal input module is used to compare the current motor load parameters with the target threshold and determine the current control signal of the massager motor based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor; The motor control signal input module controls the movement direction of the massager motor using any of the following methods: When the current motor load parameter is greater than or equal to the target threshold, a first motor control signal is generated; wherein the first motor control signal is used to control the massager motor to move in the reverse direction; or, when the current motor load parameter is less than the target threshold, a second motor control signal is generated; wherein the second motor control signal is used to control the massager motor to move in the forward direction. In response to a second sensing signal triggered by the target sensor at the alignment mark position, a first motor control signal is generated to control the massage motor to move in the opposite direction; wherein, the massager is configured with a plurality of mark groups, each mark group including a current mark position and a corresponding alignment mark position, and each mark group marks a different stroke of the massager drive shaft; the current mark position is configured with an alignment mark position.

6. The apparatus according to claim 5, characterized in that, The target sensor includes a photoelectric sensor and a grating ruler configured at the marked position; wherein the grating ruler moves synchronously with the main shaft of the massager.

7. A massager, applied to the massage stroke adjustment method of the massager as described in any one of claims 1-4, characterized in that, The massager includes: The electric motor is used to drive the transmission spindle; A transmission spindle, wherein cam sets are respectively provided at both ends of the transmission spindle to follow the rotational motion of the transmission spindle; The massage component is connected to the cam assembly via a swing arm and is used to perform reciprocating motion according to the rotation of the cam assembly; The target sensor is used to move synchronously with the massager's drive shaft and to mark the rotation angle of the massager's drive shaft; The main control unit is used to receive the first sensing signal triggered by the target sensor at the current marked position and the current motor load parameters, compare the current motor load parameters with the target threshold, and determine the current control signal of the massager motor based on the parameter comparison result; wherein, the current control signal is used to control the movement direction of the massager motor.

8. The massager according to claim 7, characterized in that, The target sensor includes a photoelectric sensor and a grating ruler configured at the marked position; wherein the grating ruler is mounted on the cam assembly and moves synchronously with the main shaft of the massager drive.

9. The massager according to claim 7, characterized in that, The target sensor includes an angle sensor; the target sensor moves synchronously with the drive shaft of the massager.

10. The massager according to claim 7, characterized in that, The main control unit is also configured to, in response to the input intensity parameter, configure the value of the target threshold according to the intensity parameter.

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