Vehicle-mounted massage instrument, control method and device

Abstract

The embodiment of the present disclosure relates to the technical field of massage instruments, and more particularly, to a vehicle-mounted massage instrument, a control method and a device. The vehicle-mounted massage instrument comprises a first moving part, which is horizontally slidably arranged on a track of a roof; a second moving part is arranged on the first moving part, and the second moving part is used for moving in a vertical direction; a massage part is arranged on the second moving part; wherein the second moving part has a first state close to the roof and a second state away from the roof, and the second moving part is in the first state when the vehicle-mounted massage instrument is in a non-working state. The vehicle-mounted massage instrument can determine a motion trajectory according to the obtained control instruction, and monitor the safety of the vehicle environment in real time, and then move to the position of any person in the vehicle based on the monitored safety situation, and provide massage service for the person, thereby greatly meeting the needs of the person in the vehicle.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of massage devices, and more particularly, to a vehicle-mounted massage device, a control method and apparatus. BACKGROUND

[0002] In modern society, cars have penetrated into all aspects of people's lives, bringing great convenience to people's lives, but cars also have many potential hazards while bringing convenience. For example, long-time driving of a car can cause fatigue and thus pose a safety hazard, or long-time riding in a small space can also cause fatigue.

[0003] Existing vehicle-mounted massage devices are mostly massage cushions or massage headrests. These vehicle-mounted massage devices are fixed in position and can only massage one of the driver or the passenger, which cannot meet the needs of the driver and the passenger. SUMMARY

[0004] An object of embodiments of the present disclosure is to provide a new technical solution for a vehicle-mounted massage device, a control method and apparatus.

[0005] According to a first aspect of the present disclosure, a vehicle-mounted massage device is provided, comprising:

[0006] a first moving part, which is horizontally slidably arranged on a track of a roof;

[0007] a second moving part, which is arranged on the first moving part and is used to move in a vertical direction;

[0008] a massage part, which is arranged on the second moving part;

[0009] The second moving part has a first state close to the roof and a second state away from the roof, and the second moving part is in the first state when the vehicle-mounted massage device is in a non-working state.

[0010] Optionally, a rack is arranged on the roof, the track is connected to the roof through a suspension fixing part, and the rack is arranged in parallel with the track.

[0011] Optionally, the first moving part further comprises:

[0012] a moving body;

[0013] a gear, which is arranged on the moving body, is engaged with the rack and is used to drive the moving body to move on the rack;

[0014] a ball, which is arranged between the moving body and the track, is used to reduce resistance.

[0015] Optionally, the vehicle-mounted massage instrument further comprises an acceleration sensor and a gyroscope sensor, and the acceleration sensor and the gyroscope sensor are arranged inside the massage part.

[0016] According to a second aspect of the present disclosure, a control method of a vehicle-mounted massage instrument is provided, and the control method comprises:

[0017] obtaining a control instruction, wherein the control instruction is a massage instruction sent by a user to the vehicle-mounted massage instrument, and the control instruction comprises a target position of the massage part;

[0018] determining a motion trajectory of the massage part in response to the control instruction, wherein the motion trajectory comprises a horizontal motion trajectory and a vertical motion trajectory of the massage part from an initial position to the target position;

[0019] controlling the first moving part to drive the massage part to move to above the target position according to the horizontal motion trajectory, and then controlling the second moving part to drive the massage part to move to the target position according to the vertical motion trajectory;

[0020] controlling the massage part to massage a person in the target position.

[0021] Optionally, before the control of the first moving part to drive the massage part to move to above the target position according to the horizontal motion trajectory, the control method further comprises:

[0022] detecting whether the surrounding environment of the target position is safe;

[0023] if yes, controlling the first moving part to drive the massage part to move according to the horizontal motion trajectory.

[0024] Optionally, during the control of the first moving part to drive the massage part to move according to the horizontal motion trajectory, the control method further comprises:

[0025] detecting whether the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe;

[0026] if the surrounding environment of the current position of the massage part and the surrounding environment of the target position are both safe, controlling the first moving part to drive the massage part to move to above the target position according to the horizontal motion trajectory;

[0027] otherwise, controlling the first moving part to drive the massage part to stop moving.

[0028] Optionally, after the control of the first moving part to drive the massage part to stop moving, the control method further comprises:

[0029] detecting whether the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe in real time within a preset time length;

[0030] in a case where the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe, controlling the first moving part to drive the massage part to move laterally to above the target position;

[0031] otherwise, controlling the massage part to return to the initial position.

[0032] Optionally, the process of controlling the second moving part to drive the massage part to move according to the vertical movement track further comprises:

[0033] detecting whether the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe;

[0034] in a case where the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe, controlling the second moving part to drive the massage part to move to the target position according to the vertical movement track;

[0035] otherwise, controlling the second moving part to drive the massage part to stop moving.

[0036] Optionally, the process of controlling the second moving part to drive the massage part to stop moving further comprises:

[0037] detecting whether the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe in real time within a preset time length;

[0038] in a case where the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe, controlling the second moving part to drive the massage part to move vertically to the target position;

[0039] otherwise, controlling the second moving part to return to the first state.

[0040] Optionally, the process of determining the vertical movement track of the massage part comprises: determining the vertical movement track of the massage part according to the starting height of the massage part and the sitting height of the vehicle occupant at the target position, the vertical movement track comprising a moving amount of moving downward along a vertical direction.

[0041] Optionally, the process of determining whether the surrounding environment of the current position of the massage part is safe comprises:

[0042] obtaining video information captured by a camera and ranging information output by a ranging device;

[0043] The current position is determined based on the video information and the ranging information.

[0044] Optionally, the control method further comprises:

[0045] When the vehicle collides, a target parameter value of the vehicle is acquired, the target parameter value comprising at least one of an acceleration value and an angular velocity value;

[0046] The target parameter value is compared with a plurality of preset parameter values to determine a preset parameter value that is most matched with the target parameter value;

[0047] The massage part is controlled to move according to a preset processing mode corresponding to the preset parameter value that is most matched.

[0048] According to a third aspect of the present disclosure, a control device of a vehicle-mounted massage instrument is provided, comprising a processor and a memory, and performing the control method of the vehicle-mounted massage instrument according to any one of the above aspects.

[0049] An advantage of the present disclosure is that the vehicle-mounted massage instrument can be flexibly moved on the track on the roof of the vehicle, and can be moved to the position of any person in the vehicle and provide massage service, thereby solving the problem of the conventional vehicle-mounted massage instrument that is fixed in position and can only provide massage service to the person in a single seat.

[0050] An advantage of the present disclosure is that the vehicle-mounted massage instrument can determine a motion track according to the acquired control instruction, and monitor the safety of the environment in the vehicle in real time, and then move to the position of any person in the vehicle based on the monitored safety and provide massage service, thereby greatly meeting the needs of the person in the vehicle.

[0051] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure, with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0053] Figure 1 is a structural schematic diagram of a vehicle-mounted massage instrument according to an embodiment;

[0054] Figure 2 is a flowchart of a control method of a vehicle-mounted massage instrument according to an embodiment;

[0055] Figure 3 is a schematic diagram of a track to which the vehicle-mounted massage instrument according to an embodiment can be applied;

[0056] Figure 4 This is a schematic diagram of the system composition of a car massager according to one embodiment;

[0057] Figure 5 This is a schematic diagram of the control device of a car massager according to one embodiment.

[0058] Explanation of reference numerals in the attached figures:

[0059] 1. Roof; 2. Suspension fixing part; 3. Track; 4. Rack; 5. Gear; 6. First moving part; 7. Second moving part; 8. Massage part; 9. Ball bearing. Detailed Implementation

[0060] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0061] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0062] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0063] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0064] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0065] <Hardware Configuration>

[0066] Figure 1 This is a structural schematic diagram of a car massager according to one embodiment, such as... Figure 1As shown, this invention discloses a car-mounted massager, which is applied to a track 3 on the roof 1 of a vehicle and can slide along the track 3 to reach any seat position inside the vehicle. The track 3 installed on the roof 1 can be hidden inside the interior trim of the roof 1, or it can be integrated with the roof 1 via a suspension fixing part 2. The car-mounted massager includes a first moving part 6 slidably disposed on the track 3, and a second moving part 7 connected to the first moving part 6. The second moving part 6 is used for vertical movement inside the vehicle, and a massage part 8 is disposed on the second moving part 7 to provide massage services to occupants of the vehicle. The second moving part 7 has a first state close to the roof 1 and a second state away from the roof 1. When the car-mounted massager is not in operation, the second moving part 7 is in the first state. That is, in its initial state, the car-mounted massager is retracted onto the roof 1 to free up space inside the vehicle.

[0067] In one embodiment, a rack 4 is also provided on the roof 1, and the first moving part 6 slides between the rack 4 and the track 3. Specifically, the first moving part 6 includes a moving body, on which a gear 5 is provided that meshes with the rack 4, and a ball bearing 9 is also provided between the moving body and the track 3. When the moving body moves, the ball bearing 9 can greatly reduce frictional resistance.

[0068] When the car massager moves, the gear 5 on the first moving part 6 meshes tightly with the rack 4 set on the roof 1. The rotation of the gear 5 drives the first moving part 6 to move on the rack 4, thus enabling the entire car massager to move laterally. The ball bearings 9 located between the first moving part 6 and the track 3 reduce the resistance between them, making the lateral movement of the car massager on the track 3 more effortless and faster. The gear 5 and rack 4 can be installed inside or outside the suspension fixing part 2.

[0069] In another embodiment, the movable supporting structure associated with the first movable part 6 is a chain structure. Specifically, the massage part 8 can be fixed on the chain, and then the movement of the chain can drive the massage part 8 to move.

[0070] The second moving part 7 is a spatial telescopic device, the purpose of which is to further shorten the vertical distance between the massage part 8 and the occupants after the massage part 8 moves laterally above them, thereby providing massage services to the occupants.

[0071] In one embodiment, a pulley is installed inside the space telescopic device, and a steel wire is wound on the pulley. When the motor drives the pulley to rotate, it will cause the length of the steel wire to change, thereby causing the massage unit 8 to move in the vertical direction. Finally, the massage unit 8 provides massage services to the people in the vehicle at the target location.

[0072] In one embodiment, the spatial telescopic device uses a hydraulic device to achieve the vertical telescopic movement of the massage unit 8. Other methods can also be used to implement the spatial telescopic device.

[0073] Since the massage unit 8 is detachably connected to the second moving part 7, passengers can change different massage accessories according to different massage needs, such as head massage accessories, neck massage accessories, or waist massage accessories.

[0074] The massage unit 8 not only provides massage services to passengers at the target location, but also features LED lights as a movable and personalized lighting device for the vehicle interior. In actual use, the massage unit 8 can illuminate the passengers below it at a specific location on track 3, without affecting the lighting in other seats. The massage unit 8 can also be moved to a designated location to provide lighting services according to the specific needs of passengers. Normally, the massage unit 8 will remain in the center of track 3, thus providing lighting for the entire vehicle interior.

[0075] In one embodiment, the massage unit 8 is a detachable and replaceable structure, so the color temperature, power, and other properties of the LED lights connected to the massage unit 8 can also be changed accordingly. Therefore, the massage unit 8 can also provide various lighting conditions for occupants of the vehicle, enriching the lighting effect inside the vehicle.

[0076] In one embodiment, the massage unit 8 can also be used as a hanging accessory in the vehicle, such as by selecting a massage accessory with hooks. When the massage unit 8 is at rest, it can serve as a place to hang the clothes of the people in the vehicle; or, for example, when someone in the vehicle is receiving an IV drip, the IV bag can be hung on the massage unit 8, thus providing a hanging location for bottled medicines for the people in the vehicle.

[0077] The massage unit 8 is equipped with an accelerometer and a gyroscope sensor. The accelerometer and gyroscope sensor enable the massage unit 8 to move precisely to the target position of the people in the vehicle. In addition, it can detect road bumps or emergency braking in real time, and determine the status of the massage unit 8 based on these situations and take corresponding safety measures in a timely manner.

[0078] The massage unit 8 also includes a camera that captures images of the vehicle's interior to ensure safety during movement. In one example, the camera may include an infrared camera, which can capture images of the vehicle's interior even in relatively dark conditions.

[0079] The car massager may also include a microphone, which is used to receive voice control from people in the car, so that the car massager can operate according to voice control.

[0080] The massage unit 8 also includes a ranging device that outputs ranging information to detect the safety of the surrounding environment at the target location.

[0081] Regarding the installation method involved in the structure of the vehicle-mounted massager, as long as the structure is satisfied, it is acceptable. The above embodiment is just one possible assembly method.

[0082] <Method Implementation>

[0083] Figure 2 This is a flowchart illustrating a control method for a car massager according to one embodiment.

[0084] like Figure 2 As shown, the control method of the in-vehicle massager in this embodiment may include the following steps S10 to S40:

[0085] Step S10: Obtain control instructions, which are massage instructions sent by the user to the in-vehicle massager, and the control instructions include the target position of the massage unit.

[0086] First, the user sends a massage command to the car massager. After receiving the massage command, the car massager will determine the initial position and target position of the massage unit. The initial position is the initial position of the massage unit, and the target position is the position of the person in the car who sent the control command to the car massager.

[0087] Step S20: In response to the control command, determine the motion trajectory of the massage unit, wherein the motion trajectory includes the lateral motion trajectory and the vertical motion trajectory of the massage unit from the initial position to the target position.

[0088] After determining the initial and target positions, the car massager uses centralized calculations to determine the horizontal and vertical movement trajectories of the massage head.

[0089] In one embodiment, determining the lateral movement trajectory can be based on the initial position, the target position, and the track layout. If multiple lateral movement trajectories are determined based on the initial position, the target position, and the track layout, the lateral movement trajectory with the shortest movement distance can be selected.

[0090] Step S30: After controlling the first moving part to move the massage part to above the target position according to the horizontal movement trajectory, control the second moving part to move the massage part to the target position according to the vertical movement trajectory.

[0091] After the massage unit has determined its horizontal and vertical movement trajectories, it moves in a logical order of first horizontal movement and then vertical movement. That is, the first moving part is controlled to move the massage unit to the target position above the person in the car according to the horizontal movement trajectory, and then the second moving part is controlled to move the massage unit to the target position of the person in the car according to the vertical movement trajectory.

[0092] Step S40: Control the massage unit to massage the occupants inside the vehicle at the target location.

[0093] After receiving the control command, the massage department arrives at the target location and provides massage services to the person inside the vehicle.

[0094] In one embodiment, before step S30 controls the first moving part to move the massage part above the target position along the lateral movement trajectory, the following steps S301 to S302 may be included:

[0095] Step S301: Detect whether the surrounding environment of the target location is safe;

[0096] Step S302: If yes, then control the first moving part to drive the massage part to move according to the lateral movement trajectory.

[0097] Before the first moving part of the car massager moves, it checks whether the surrounding environment of the target location is safe. The safety of the surrounding environment is determined by whether the massager will have an unsafe impact on people around it during its movement. This method greatly ensures the safety of people in the car when using the car massager.

[0098] When the surrounding environment of the target location is safe, the massage unit will move to above the target location along a lateral movement trajectory; when the surrounding environment of the target location is unsafe, the massage unit will remain stationary to prevent accidents.

[0099] In one embodiment, step S30, which controls the first moving part to drive the massage part to move along the lateral movement trajectory, may include the following steps S310 to S312:

[0100] Step S310: Detect whether the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe;

[0101] Step S311: When both the surrounding environment of the current position and the surrounding environment of the target position are safe, control the first moving part to drive the massage part to move laterally to above the target position according to the lateral movement trajectory.

[0102] Step S312: Otherwise, control the first moving part to stop the massage part from moving.

[0103] The massage unit will begin moving only after detecting that the surrounding environment of the target location is safe. During its lateral movement, the massage unit continuously monitors the safety of the surrounding environment. If the environment is safe, the massage unit will move to a position above the target location; if the environment is unsafe, the massage unit will stop moving to ensure the safety of the occupants.

[0104] In one embodiment, after step S312 controls the first moving part to stop the massage part from moving, the following steps S3121 to S3122 may be included:

[0105] Step S3121: Within a preset time period, detect in real time whether the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe.

[0106] Step S3122: When both the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe, control the first moving unit to move the massage unit laterally above the target position.

[0107] Step S3123, otherwise, control the massage part to return to the initial position.

[0108] If the massage unit detects an unsafe environment around the target location while moving laterally along its lateral trajectory, it will first stop moving. Then, it will remain stationary for a preset time. This preset time can be set according to actual needs. During this waiting period, the massage unit continuously monitors the safety of the target location's surroundings. If the environment is deemed safe within the preset time, the massage unit will continue moving laterally to above the target location. If the environment remains unsafe after the preset time, the massage unit will return to its current position to ensure the safety of the occupants.

[0109] In one embodiment, step S30, which controls the second moving part to drive the massage part to move along the vertical motion trajectory, may include the following steps S3001 to S3003:

[0110] S3001, Detect whether the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe;

[0111] S3002, when both the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe, control the second moving unit to move the massage unit to the target position according to the vertical movement trajectory;

[0112] S3003, otherwise, control the second moving part to stop the massage part from moving.

[0113] Similarly, after the massage unit moves along a horizontal trajectory and is positioned above the target location, it needs to move along a vertical trajectory. During this vertical movement, the massage unit must continuously monitor the safety of the surrounding environment at the target location. If the environment is safe, the massage unit will move to the target location along the vertical trajectory; if the environment is unsafe, the massage unit will stop moving to ensure the safety of the occupants.

[0114] In one embodiment, after step S3003 controls the second moving part to stop the massage part from moving, the following steps S30031 to S30033 may be included:

[0115] S30031, within a preset time period, detect in real time whether the surrounding environment of the current position of the massage part and the surrounding environment of the target position are safe;

[0116] S30032, when both the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe, control the second moving unit to drive the massage unit to move vertically to the target position;

[0117] S30033, otherwise, control the second moving part to return to the first state.

[0118] Similarly, if the massage unit detects an unsafe environment around the target location while moving along its vertical trajectory, it will first stop moving. Then, it will remain stationary for a preset time period. This preset time period can be set according to actual conditions. During this waiting period, the massage unit continuously monitors the safety of the target location's surroundings. If the environment becomes safe within the preset time period, the massage unit will continue moving along its vertical trajectory to the target location. If the environment remains unsafe after the preset time period, the second moving part will return the massage unit to its first state, ensuring the safety of the occupants.

[0119] In one embodiment, the accelerometer and gyroscope sensors can also detect road bumps or emergency braking in real time, and determine the state of the massage unit based on these conditions and take appropriate safety measures in a timely manner.

[0120] In one example, an experimental group and a control group were pre-set up to conduct a crash test on the vehicle. The experimental group moved the massage unit to the position of the dummy, while the control group moved the massage unit away from the dummy. The acceleration and angular velocity values ​​of the vehicle were acquired during multiple collisions, and the degree of injury to the dummies in the experimental and control groups was compared under the same parameter values. Under the same parameter values, if the dummy in the experimental group suffered less injury, the preset treatment for that parameter value was to move the massage unit towards the occupants; if the dummy in the control group suffered less injury, the preset treatment for that parameter value was to move the massage unit away from the occupants.

[0121] This disclosure embodiment may further include the following steps:

[0122] When a vehicle collision occurs, the target parameter values ​​of the vehicle are acquired, and the target parameter values ​​include at least one of acceleration value and angular velocity value;

[0123] The target parameter value is compared with multiple preset parameter values ​​to determine the preset parameter value that best matches the target parameter value.

[0124] The massage unit is moved according to the preset processing method corresponding to the most matching preset parameter value.

[0125] The acquired parameter values ​​are compared with preset parameter values ​​to determine the preset parameter values ​​that best match the acquired parameter values. The massage unit is then controlled to move according to the preset processing method corresponding to the best matching preset parameter values. In other words, if the massage unit can ensure the safety of the people in the car when it is close to them, then the massage unit is controlled to move closer to the people in the car; otherwise, the massage unit is controlled to move away from the people in the car.

[0126] Figure 3This is a schematic diagram of the track for a car massager according to one embodiment. The four points ABCD on the roof of the car are projected onto the four seats inside the car, with point E being the center point of the four seats. The track includes segments AB, BC, CD, AD, AEC, and BED. When the massage unit is at point A, it can provide massage services to the person in the seat corresponding to point A. When the massage unit 5 needs to massage the person in the car at point C, it can move along the track along the movement trajectories AEC, ABC, and ADC to perform the corresponding massage operation. Generally, the massage unit will preferentially choose the optimal path AEC for movement. Similarly, regardless of the starting position of the massage unit, it can move along the track to massage any person in the car. The movement and stopping of the massage unit are not limited to the five fixed points ABCDE; any point on the track can be used as the starting or stopping position of the massage unit. During the movement of the massage unit, the movement trajectory is determined based on the current position of the massage unit and the safety conditions of the surrounding environment of the target position, so as to ensure that the massage unit will not injure the people in the vehicle during the movement.

[0127] In one embodiment, the first moving part drives the massage part to slide on a track via a rack and pinion structure. Therefore, the amount of movement of the massage part on the track can be calculated using the number of teeth on the rack and pinion. Figure 3 Point A is taken as the origin of the coordinate system. The direction of the line connecting points A and B is taken as the X-axis direction, and the distance between points A and B is D1. The direction of the line connecting points A and D is taken as the Y-axis direction, and the distance between points A and D is D2.

[0128] Assuming the initial position is point A and the target position is point β on the track, after receiving the control command, the vehicle-mounted massager determines that the distance between point β and the origin A is L, the component of the distance between point β and the origin A in the X-axis direction is Lx, and the component of the distance between point β and the origin A in the Y-axis direction is Ly.

[0129] If the distance between every two teeth of the rack and pinion is d, then the number of tooth pitches N that the massage unit moves on the track is calculated as follows:

[0130] When point β is located on line AB, the movement trajectory of the massage part is A-β, and the number of tooth pitches that move on the track is N = Lx / d;

[0131] When point β is located on line BC, the movement trajectory of the massage part is AB-β, and the number of tooth pitches moving on the track is N=(D1+Ly) / d;

[0132] When point β is located on line CD, the movement trajectory of the massage part is AD-β, and the number of tooth pitches that move on the track is N=(D2+Lx) / d;

[0133] When point β is located on line AD, the movement trajectory of the massage part is A-β, and the number of tooth pitches that move on the track is N = Ly / d;

[0134] When point β is located on line AC, the movement trajectory of the massage part is A-β, and the number of tooth pitches that move on the track is N = L / d;

[0135] When point β is located on line BD, the movement trajectory of the massage unit is AB-β or AD-β, and the number of tooth pitches moving on the track is according to... Figure 3 The geometric relationships are calculated accordingly.

[0136] Figure 4 This is a schematic diagram of the system composition of a car massager according to one embodiment, such as... Figure 4 As shown, the central control unit is the main control component of the in-vehicle massager, responsible for the centralized processing and aggregation of various information. It primarily receives data detected and uploaded from the microphone, camera, and ranging device. The central control unit performs centralized calculations based on the received information and generates a control command, which is then sent to the power source. The central control unit connects to the vehicle's control network and can receive commands from the vehicle's head unit. Generally, the central control unit receives commands from the head unit via the vehicle's CAN network, microphone, Ethernet, or in-vehicle wireless LAN. Additionally, the central control unit can also receive control from external adapter controllers or network-adapted apps via a wireless network.

[0137] The microphone collects voice commands from passengers, meaning the car massager can be voice-controlled. Additionally, the massager has a speaker unit that provides real-time updates on its status to passengers.

[0138] The camera, similar to human eyes, is responsible for recording the environment around the massage unit in real time and uploading it to the central control unit. The camera is the most critical unit of the in-vehicle massager; whether the massage unit can successfully avoid obstacles and accurately reach the target location depends on the information uploaded by the camera.

[0139] The distance measuring device is used to measure the distance between the massage unit and other objects in the surrounding environment in real time, and upload the data to the central control unit. The uploaded data is used to assist in the safe operation of the massage unit.

[0140] The massage section is the terminal device of a car massager, used to provide massage services to people inside the car at the target location.

[0141] In this invention, the camera and ranging device can be understood as spatial detection devices for the vehicle-mounted massager. These devices ensure the safety of the massage unit as it moves along the roof track, while also enabling the massage unit to accurately reach the target location within the vehicle. Once the camera and ranging device collect safety information about the surrounding environment, the vehicle-mounted massager, under precise control of the power source, moves to the target location. Accelerometers and gyroscopes installed inside the massage unit further enhance its accuracy in reaching the target position. Finally, the massage unit controls the massage unit to complete the massage service.

[0142] In addition, the car massager also has a speaker to report the status and location of the massage area in real time, so that passengers can be aware of its status at any time. Of course, the car massager can also receive control signals from the vehicle's network, thus achieving integrated functionality between the car and the massager.

[0143] <Equipment Example>

[0144] Corresponding to the above embodiments, this embodiment also provides a control device for a car massager. This control device may include a memory and a processor. The memory stores instructions, and when executed by the processor, the instructions implement the control method for the car massager as described in the previous embodiment.

[0145] In one embodiment, the control device for the in-vehicle massager may be the aforementioned central control unit.

[0146] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0147] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0148] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0149] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0150] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0151] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0152] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0153] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0154] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A car-mounted massager, characterized in that, The vehicle-mounted massager includes: The first moving part is laterally slidably disposed on a track on the roof of the vehicle; A second moving part is disposed on the first moving part, and the second moving part is used to move in the vertical direction; A massage section is disposed on the second movable section; The second movable part has a first state near the roof and a second state away from the roof. When the in-vehicle massager is not in operation, the second movable part is in the first state; and... A control device is configured to: when a vehicle collision occurs, compare a target parameter value with multiple preset parameter values, determine the preset parameter value that best matches the target parameter value, and control the massage unit to move according to a preset processing method corresponding to the best-matching preset parameter value; wherein the target parameter value includes at least one of acceleration value and angular velocity value.

2. The in-vehicle massager according to claim 1, characterized in that, A rack is provided on the roof of the vehicle, and the track is connected to the roof through a suspension fixing part. The rack is arranged parallel to the track.

3. The in-vehicle massager according to claim 2, characterized in that, The first moving part further includes: Moving the main body; A gear is disposed on the movable body, and the gear meshes with the rack and is used to drive the movable body to move on the rack. Ball bearings are disposed between the moving body and the track to reduce resistance.

4. The in-vehicle massager according to claim 1, characterized in that, The in-vehicle massager also includes an accelerometer and a gyroscope sensor, which are disposed inside the massage unit.

5. A control method for a vehicle-mounted massager as described in any one of claims 1-4, characterized in that, The control method includes: Obtain control commands, which are massage commands sent by the user to the in-vehicle massager, and the control commands include the target position of the massage unit; In response to the control command, the motion trajectory of the massage unit is determined, wherein the motion trajectory includes the lateral motion trajectory and the vertical motion trajectory of the massage unit from the initial position to the target position; After controlling the first moving part to move the massage part to above the target position according to the horizontal movement trajectory, the second moving part is controlled to move the massage part to the target position according to the vertical movement trajectory; The massage unit is controlled to massage the occupants of the vehicle at the target location.

6. The control method for the vehicle-mounted massager according to claim 5, characterized in that, Before controlling the first moving part to move the massage part to above the target position according to the lateral movement trajectory, the method further includes: Detect whether the surrounding environment of the target location is safe; If so, the first moving part is controlled to drive the massage part to move according to the lateral movement trajectory.

7. The control method for the vehicle-mounted massager according to claim 5, characterized in that, The process of controlling the first moving part to drive the massage part to move according to the lateral movement trajectory also includes: Detect whether the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe; When both the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe, the first moving unit is controlled to move the massage unit to above the target position according to the lateral movement trajectory; Otherwise, control the first moving part to stop the massage part from moving.

8. The control method for the vehicle-mounted massager according to claim 7, characterized in that, After the first moving part is controlled to stop the massage part from moving, the method further includes: Within a preset time period, the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are monitored in real time to determine whether they are safe. When both the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe, the first moving unit is controlled to move the massage unit laterally above the target position. Otherwise, control the massage unit to return to the initial position.

9. The control method for the vehicle-mounted massager according to claim 5, characterized in that, During the process of controlling the second moving part to drive the massage part to move along the vertical motion trajectory, the method further includes: Detect whether the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe; When both the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe, the second moving unit is controlled to move the massage unit to the target position according to the vertical movement trajectory; Otherwise, control the second moving part to stop the massage part from moving.

10. The control method for the vehicle-mounted massager according to claim 9, characterized in that, After the second moving part is controlled to stop the massage part from moving, the method further includes: Within a preset time period, the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are monitored in real time to determine whether they are safe. If both the surrounding environment of the current position of the massage unit and the surrounding environment of the target position are safe, then the second moving part is controlled to move the massage unit vertically to the target position; Otherwise, the second moving part is controlled to return to the first state; wherein the second moving part has a first state close to the roof and a second state away from the roof.

11. The control method for the vehicle-mounted massager according to claim 5, characterized in that, Determining the vertical movement trajectory of the massage unit includes: determining the vertical movement trajectory of the massage unit based on the starting height of the massage unit and the sitting height of the occupant at the target position, wherein the vertical movement trajectory includes a downward movement along the vertical direction.

12. The control method for the vehicle-mounted massager according to any one of claims 6-10, characterized in that, The vehicle-mounted massager is also equipped with a camera and a distance measuring device; Determining whether the surrounding environment of the current location of the massage unit is safe includes: Acquire video information captured by the camera and ranging information output by the ranging device; The safety of the surrounding environment at the current location is determined by analyzing the video information and the ranging information.

13. A control device for a vehicle-mounted massager, comprising a processor and a memory; characterized in that, The memory stores instructions that, when executed by the processor, implement the control method for the vehicle-mounted massager as described in any one of claims 5-12.

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