Automatic perineum massage device and system, massage control method, electronic equipment and storage medium

Abstract

The invention discloses an automatic perineum massage device and system, a massage control method, electronic equipment and a storage medium. The automatic perineum massage device comprises a massage part, a holding part, a driving mechanism, a main control module and a power module. The holding part comprises a shell, and the driving mechanism, the main control module and the power supply module are arranged in the shell; the driving mechanism is connected with the massage part through a transmission mechanism and can drive the massage part to act; the transmission mechanism is arranged on the basis of the shell through a rotating shaft, and the transmission mechanism can drive the massage part to act under the driving of the driving mechanism; the main control module is connected with the driving mechanism and can send a control signal to the driving mechanism; and the power supply module is connected with the main control module and the driving mechanism and provides electric energy required by work for the main control module and the driving mechanism. The massage convenience can be improved, and the massage effect is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of health care devices, and relates to a massage device, and in particular to an automatic perineum massage device, a system, a massage control method, an electronic device and a storage medium. Background Art

[0002] Massaging the perineum acupoints is a traditional Chinese medicine therapy that can relieve pain, improve constipation and regulate the reproductive system. For pregnant women, massaging the perineum acupoints can improve the elasticity and extensibility of the vaginal muscles and reduce the risk of vaginal tearing or the need for episiotomy during delivery.

[0003] The existing perineum massage method is usually massage with fingers; in addition, it also includes massage with special massage equipment. Finger massage requires the masseur to master professional massage methods. Pregnant women usually do not master professional massage methods, cannot massage themselves, and cannot perform daily massage. Existing massage equipment usually also requires the masseur to operate, and at the same time requires certain massage skills; in addition, pregnant women (especially pregnant women in the late pregnancy) also have certain inconveniences in operating massage equipment, which affects the massage effect.

[0004] In view of this, there is an urgent need to design a new perineum massage device to overcome at least part of the above-mentioned defects of the existing perineum massage devices. Summary of the invention

[0005] The present invention provides an automatic perineum massage device, a system, a massage control method, an electronic device and a storage medium, which can improve the convenience of massage and the massage effect.

[0006] To solve the above technical problem, according to one aspect of the present invention, the following technical solution is adopted:

[0007] An automatic perineum massage device, comprising: a massage part, a gripping part, a driving mechanism, a main control module and a power supply module;

[0008] The holding part includes a housing, and the driving mechanism, the main control module and the power module are arranged in the housing; the driving mechanism is connected to the massage part through a transmission mechanism, and can drive the massage part to move;

[0009] The transmission mechanism is arranged on the housing through a rotating shaft, and driven by the driving mechanism, the transmission mechanism can drive the massage part to move;

[0010] The main control module is connected to the driving mechanism and can send a control signal to the driving mechanism; the power supply module is connected to the main control module and the driving mechanism to provide them with the electric energy required for their work.

[0011] As an embodiment of the present invention, the driving mechanism includes a driving motor, and the transmission mechanism further includes a rotating mechanism, a connecting rod and a connecting shaft; the rotating mechanism includes a disc, a surface of which is distributed with a raised area and a recessed area, and a cam is fixedly provided in the recessed area; a groove body for the connecting shaft to move is formed between the raised area and the cam; the groove body can just accommodate the connecting shaft and allow the connecting shaft to move in the groove body;

[0012] The first end of the connecting rod is connected to the connecting shaft and can move following the movement of the connecting shaft; the second end of the connecting rod is fixedly connected to the first end of the massage part; the connecting rod and the massage part form a lever structure, and the rotating shaft serves as a fulcrum of the lever structure;

[0013] The output shaft of the driving motor is connected to the rotating shaft of the rotating mechanism, and can drive the rotating mechanism to rotate; the slot body includes a first point position pushing area, a first point position maintaining area, a second point position pushing area and a second point position maintaining area;

[0014] When the cam follows the disk to rotate to the first rotation angle range, the connecting shaft is located in the first point pushing area of ​​the slot body, and the connecting shaft is pushed from the point farthest from the center of the disk to the point closest to the center;

[0015] When the cam follows the disk to rotate to the second rotation angle range, the connecting shaft is located in the first point position maintaining area of ​​the slot body, and the connecting shaft is continuously at the point position closest to the center of the circle;

[0016] When the cam follows the disk to rotate to the third rotation angle range, the connecting shaft is located in the second point pushing area of ​​the slot body, and the connecting shaft is pushed from the point closest to the center of the disk to the point farthest from the center;

[0017] When the cam follows the disk to rotate to the fourth rotation angle range, the connecting shaft is located in the second point position maintaining area of ​​the slot body, and the connecting shaft continues to be at the point farthest from the center of the circle.

[0018] As an embodiment of the present invention, pressure sensors are respectively arranged in the set areas of the massage part to sense the pressure data of the set areas; the output end of each pressure sensor is connected to the input end of the main control module, and the sensed pressure data can be sent to the main control module;

[0019] The main control module includes a posture recognition unit for determining the squeezed state of the set area of ​​the massage part according to the pressure data sensed by each pressure sensor, and thereby identifying the posture of the massage part entering the set space; the main control module can control the driving mechanism only when the preset posture is met.

[0020] As an embodiment of the present invention, the transmission mechanism includes a lever unit, and the lever unit is arranged through the rotating shaft; the second end of the lever unit is connected to the massage part.

[0021] As an embodiment of the present invention, the automatic perineum massage device further includes a shell, and the lever unit is arranged based on the shell; the shell limits the movable range of the first end of the lever unit so that it can only move within a set range, thereby limiting the movable range of the massage part.

[0022] As an embodiment of the present invention, the driving mechanism includes a driving motor, and the output shaft of the driving motor is the rotating shaft; the transmission mechanism rotates in different directions respectively under the drive of the driving motor to realize the massage and resetting actions of the massage part.

[0023] The massage part is provided with a convex surface.

[0024] According to another aspect of the present invention, the following technical solution is adopted: an automatic perineum massage system, the automatic perineum massage system includes a server and at least one of the above-mentioned automatic perineum massage devices, and the server is respectively connected to each automatic perineum massage device.

[0025] As an embodiment of the present invention, the server includes a massage part posture intelligent recognition mathematical model construction module, and the massage part posture intelligent recognition mathematical model construction module is used to construct a massage part posture intelligent recognition mathematical model;

[0026] The massage part posture intelligent recognition mathematical model construction module extracts features from the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and uses this to construct a massage part posture intelligent recognition mathematical model to identify the posture of the massage part entering the set space;

[0027] The main control module is provided with a posture recognition unit for recognizing the posture of the massage part entering the set space through the massage part posture intelligent recognition mathematical model according to the pressure data sensed by each pressure sensor; the main control module can control the driving mechanism only when the preset posture is met.

[0028] According to another aspect of the present invention, the following technical solution is adopted: a massage control method of the above-mentioned automatic perineum massage device, the massage control method comprising the following steps:

[0029] Each pressure sensor senses the pressure data of the set area and sends the sensed pressure data to the main control module;

[0030] The main control module determines the squeezed state of the set area of ​​the massage part according to the pressure data sensed by each pressure sensor, and thereby identifies the posture of the massage part entering the set space;

[0031] The main control module can control the driving mechanism only when the posture of the massage part entering the set space conforms to the preset posture.

[0032] As an implementation mode of the present invention, the main control module identifies the posture of the massage part entering the set space through the intelligent recognition mathematical model of the massage part posture according to the pressure data sensed by each pressure sensor;

[0033] The massage part posture intelligent recognition mathematical model is constructed by a massage part posture intelligent recognition mathematical model construction module; the massage part posture intelligent recognition mathematical model construction module extracts features of the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and constructs a massage part posture intelligent recognition mathematical model based on this, so as to identify the posture of the massage part entering the set space.

[0034] According to another aspect of the present invention, the following technical solution is adopted: an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0035] According to another aspect of the present invention, the following technical solution is adopted: a storage medium stores computer program instructions, and the computer program instructions implement the steps of the above method when executed by a processor.

[0036] The beneficial effects of the present invention are as follows: the automatic perineum massage device, system, massage control method, electronic device and storage medium proposed in the present invention can improve the convenience of massage and improve the massage effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the structure of an automatic perineum massage device in one embodiment of the present invention.

[0038] Figure 2 Schematic diagram of the working principle of the automatic perineum massage device in one embodiment of the present invention.

[0039] Figure 3 Schematic diagram of the working principle of the automatic perineum massage device in one embodiment of the present invention.

[0040] Figure 4 Schematic diagram of the composition of the control part of the automatic perineum massage device in one embodiment of the present invention.

[0041] Figure 5 Flow chart of a method for controlling automatic perineum massage in one embodiment of the present invention.

[0042] Figure 6 FIG. 4 is a schematic diagram of the composition of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0044] In order to further understand the present invention, preferred embodiments of the present invention are described below in conjunction with examples. However, it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0045] The description in this section is only for several typical embodiments, and the present invention is not limited to the scope of the embodiments. The same or similar prior art means and some technical features in the embodiments are mutually replaced within the scope of the present invention.

[0046] The description of the steps in each embodiment in the specification is only for the convenience of explanation, and the implementation method of the present application is not limited by the order of implementation of the steps.

[0047] The term “connection” in the specification includes both direct connection and indirect connection.

[0048] The present invention discloses an automatic perineum massage device. Figure 1 This is a schematic diagram of the structure of an automatic perineum massage device in one embodiment of the present invention. Figure 2 , Figure 3 This is a schematic diagram of the working principle of the automatic perineum massage device in one embodiment of the present invention. Figure 4 FIG. 1 is a schematic diagram showing the components of the control part of the automatic perineum massage device according to an embodiment of the present invention; Figures 1 to 4 , the automatic perineum massage device includes: a massage part 2, a grip part 4, a driving mechanism 6, a main control module 8 and a power module 10. The grip part 4 includes a housing 402, and the driving mechanism 6, the main control module 8 and the power module 10 are arranged in the housing 402; the driving mechanism 6 is connected to the massage part 2 through a transmission mechanism 12, and can drive the massage part 2 to move. The transmission mechanism 12 is arranged based on the housing 402 through a rotating shaft 1202. Under the drive of the driving mechanism 6, the transmission mechanism 12 can drive the massage part 2 to move. The main control module 8 is connected to the driving mechanism 6 and can send a control signal to the driving mechanism 6; the power module 10 is connected to the main control module 8 and the driving mechanism 6 to provide them with the electrical energy required for work.

[0049] In one embodiment of the present invention, the driving mechanism 6 includes a driving motor, and the transmission mechanism 12 further includes a rotating mechanism 1204, a connecting rod 1206 and a connecting shaft 1208; the rotating mechanism 1204 includes a disc, and a surface of the disc is distributed with a raised area 12042 and a recessed area 12044, and the recessed area 12044 is fixed with a cam 12046; a groove body 12048 is formed between the raised area 12042 and the cam 12046 for the connecting shaft 1208 to move; the groove body 12048 can just accommodate the connecting shaft 1208, and allow the connecting shaft 1208 to move in the groove body 12048.

[0050] The first end of the connecting rod 1206 is connected to the connecting shaft 1208 and can move following the movement of the connecting shaft 1208; the second end of the connecting rod 1206 is fixedly connected to the first end of the massage part 2; the connecting rod 1206 and the massage part 2 form a lever structure, and the rotating shaft 1202 serves as the fulcrum of the lever structure.

[0051] The output shaft of the driving motor is connected to the rotating shaft of the rotating mechanism 1204, and can drive the rotating mechanism 1204 to rotate; the slot body 12048 includes a first point position pushing area, a first point position maintaining area, a second point position pushing area and a second point position maintaining area.

[0052] When the cam 12046 follows the disk to rotate to the first rotation angle range, the connecting shaft 1208 is located in the first point position pushing area of ​​the slot body 12048, and the connecting shaft 1208 is pushed from the point farthest from the center of the disk to the point closest to the center; when the cam 12046 follows the disk to rotate to the second rotation angle range, the connecting shaft 1208 is located in the first point position maintaining area of ​​the slot body 12048, and the connecting shaft 1208 continues to be at the point closest to the center; when the cam 12046 follows the disk to rotate to the third rotation angle range, the connecting shaft 1208 is located in the second point position pushing area of ​​the slot body 12048, and the connecting shaft 1208 is pushed from the point closest to the center of the disk to the point farthest from the center; when the cam 12046 follows the disk to rotate to the fourth rotation angle range, the connecting shaft 1208 is located in the second point position maintaining area of ​​the slot body 12048, and the connecting shaft 1208 continues to be at the point farthest from the center.

[0053] In one embodiment of the present invention, pressure sensors 14 are respectively provided in the set areas of the massage part 2 to sense the pressure data of the set areas; the output end of each pressure sensor 14 is connected to the input end of the main control module 8, and the sensed pressure data can be sent to the main control module 8. The massage part 2 is provided with a convex surface, which is used as a force application part for massage.

[0054] The main control module 8 includes a posture recognition unit 16, which is used to determine the state of the set area of ​​the massage part 2 being squeezed according to the pressure data sensed by each pressure sensor 14, and thereby identify the posture of the massage part 2 entering the set space; the main control module 8 can control the driving mechanism 6 only when it meets the preset posture.

[0055] In one embodiment of the present invention, the transmission mechanism 12 may include a lever unit, and the drive transmission of the massage part is realized by the lever. The lever unit is arranged through the rotating shaft; the second end of the lever unit is connected to the massage part. The perineum automatic massage device may further include a shell, and the lever unit is arranged based on the shell; the shell limits the range of movement of the first end of the lever unit, so that it can only move within a set range, thereby limiting the range of movement of the massage part. The driving mechanism includes a driving motor, and the output shaft of the driving motor is the rotating shaft; the transmission mechanism rotates in different directions under the drive of the driving motor to realize the massage and reset actions of the massage part.

[0056] In one use scenario of the present invention, the automatic perineum massage device is provided with mode control software, which is used to guide the user's operation and determine whether the user's operation is standard. In one embodiment, the mode control software guides the user to place the massage part 2 to control the massage part 2 to massage the lower part, left side, or right side of the perineum.

[0057] The present invention also discloses an automatic perineum massage system, which includes a server and at least one of the automatic perineum massage devices mentioned above, wherein the server is respectively connected to each automatic perineum massage device.

[0058] In one embodiment of the present invention, the server comprises a massage part posture intelligent recognition mathematical model construction module, and the massage part posture intelligent recognition mathematical model construction module is used to construct a massage part posture intelligent recognition mathematical model.

[0059] The massage part posture intelligent recognition mathematical model construction module extracts features from the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and uses this to construct a massage part posture intelligent recognition mathematical model to identify the posture of the massage part entering the set space. The main control module is provided with a posture recognition unit, which is used to identify the posture of the massage part entering the set space through the massage part posture intelligent recognition mathematical model according to the pressure data sensed by each pressure sensor; the main control module can control the driving mechanism only when the preset posture is met.

[0060] The present invention further discloses a massage control method of the above-mentioned automatic perineum massage device, Figure 5is a flow chart of a method for controlling automatic perineum massage according to an embodiment of the present invention; Figure 5 , the massage control method comprises the following steps:

[0061] [Step S1] Each pressure sensor senses the pressure data of a set area and sends the sensed pressure data to the main control module;

[0062] [Step S2] The main control module determines the squeezed state of the set area of ​​the massage part according to the pressure data sensed by each pressure sensor, and thereby identifies the posture of the massage part entering the set space;

[0063] [Step S3] The main control module can control the driving mechanism only when the posture of the massage part entering the set space meets the preset posture.

[0064] In one embodiment of the present invention, the main control module identifies the posture of the massage part entering the set space through the massage part posture intelligent recognition mathematical model according to the pressure data sensed by each pressure sensor;

[0065] The massage part posture intelligent recognition mathematical model is constructed by a massage part posture intelligent recognition mathematical model construction module; the massage part posture intelligent recognition mathematical model construction module extracts features of the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and constructs a massage part posture intelligent recognition mathematical model based on this, so as to identify the posture of the massage part entering the set space.

[0066] The present invention also discloses an electronic device, Figure 6 FIG. 1 is a schematic diagram of the composition of an electronic device in an embodiment of the present invention; please refer to FIG. Figure 6 At the hardware level, the electronic device includes a memory, a processor and at least one network interface; the processor may be a microprocessor, and the memory may include a memory, such as a random access memory (RAM), or a non-volatile memory, etc. Of course, the electronic device may also be provided with other hardware as required.

[0067] The processor, network interface and memory may be interconnected via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus may include an address bus, a data bus, a control bus, etc. The memory is used to store programs (which may include operating system programs and application programs); the program may include program code, which may include computer operation instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0068] In one embodiment, the processor can read the corresponding program from the non-volatile memory into the memory and then run it; the processor can execute the program stored in the memory and is specifically used to perform the following operations (such as Figure 5 shown):

[0069] [Step S1] Each pressure sensor senses the pressure data of a set area and sends the sensed pressure data to the main control module;

[0070] [Step S2] The main control module determines the squeezed state of the set area of ​​the massage part according to the pressure data sensed by each pressure sensor, and thereby identifies the posture of the massage part entering the set space;

[0071] [Step S3] The main control module can control the driving mechanism only when the posture of the massage part entering the set space meets the preset posture.

[0072] In one embodiment of the present invention, the main control module identifies the posture of the massage part entering the set space through the massage part posture intelligent recognition mathematical model according to the pressure data sensed by each pressure sensor;

[0073] The massage part posture intelligent recognition mathematical model is constructed by a massage part posture intelligent recognition mathematical model construction module; the massage part posture intelligent recognition mathematical model construction module extracts features of the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and constructs a massage part posture intelligent recognition mathematical model based on this, so as to identify the posture of the massage part entering the set space.

[0074] The present invention further discloses a storage medium having computer program instructions stored thereon, which, when executed by a processor, implements the following steps of the method of the present invention (eg Figure 5 shown):

[0075] [Step S1] Each pressure sensor senses the pressure data of a set area and sends the sensed pressure data to the main control module;

[0076] [Step S2] The main control module determines the squeezed state of the set area of ​​the massage part according to the pressure data sensed by each pressure sensor, and thereby identifies the posture of the massage part entering the set space;

[0077] [Step S3] The main control module can control the driving mechanism only when the posture of the massage part entering the set space meets the preset posture.

[0078] In one embodiment of the present invention, the main control module identifies the posture of the massage part entering the set space through the massage part posture intelligent recognition mathematical model according to the pressure data sensed by each pressure sensor;

[0079] The massage part posture intelligent recognition mathematical model is constructed by a massage part posture intelligent recognition mathematical model construction module; the massage part posture intelligent recognition mathematical model construction module extracts features of the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and constructs a massage part posture intelligent recognition mathematical model based on this, so as to identify the posture of the massage part entering the set space.

[0080] In summary, the automatic perineum massage device, system and massage control method proposed in the present invention can improve the convenience of massage and enhance the massage effect.

[0081] It should be noted that the present application can be implemented in software and / or a combination of software and hardware; for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium; for example, a RAM memory, a magnetic or optical drive or a floppy disk and the like. In addition, some steps or functions of the present application can be implemented in hardware; for example, as a circuit that cooperates with a processor to perform various steps or functions.

[0082] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0083] The description and application of the present invention here are illustrative, and it is not intended to limit the scope of the present invention to the above-mentioned embodiments. The effects or advantages involved in the embodiments may not be embodied in the embodiments due to interference from various factors, and the description of the effects or advantages is not used to limit the embodiments. The deformation and change of the embodiments disclosed here are possible, and the replacement of the embodiments and the various equivalent parts are well known to those of ordinary skill in the art. It should be clear to those skilled in the art that the present invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials and parts without departing from the spirit or essential features of the present invention. Other deformations and changes can be made to the embodiments disclosed here without departing from the scope and spirit of the present invention.

Claims

1. An automatic perineum massage device, characterized in that: The automatic perineum massage device comprises: a massage part, a gripping part, a driving mechanism, a main control module and a power supply module; The holding part includes a housing, and the driving mechanism, the main control module and the power module are arranged in the housing; the driving mechanism is connected to the massage part through a transmission mechanism, and can drive the massage part to move; The transmission mechanism is arranged on the housing through a rotating shaft, and driven by the driving mechanism, the transmission mechanism can drive the massage part to move; The main control module is connected to the driving mechanism and can send a control signal to the driving mechanism; the power supply module is connected to the main control module and the driving mechanism to provide them with the electric energy required for their work.

2. The automatic perineum massage device according to claim 1, characterized in that: The driving mechanism includes a driving motor, and the transmission mechanism further includes a rotating mechanism, a connecting rod and a connecting shaft; the rotating mechanism includes a disc, a surface of which is provided with a raised area and a recessed area, and a cam is fixedly provided in the recessed area; a groove body for the connecting shaft to move is formed between the raised area and the cam; the groove body can just accommodate the connecting shaft and allow the connecting shaft to move in the groove body; The first end of the connecting rod is connected to the connecting shaft and can move following the movement of the connecting shaft; the second end of the connecting rod is fixedly connected to the first end of the massage part; the connecting rod and the massage part form a lever structure, and the rotating shaft serves as a fulcrum of the lever structure; The output shaft of the driving motor is connected to the rotating shaft of the rotating mechanism, and can drive the rotating mechanism to rotate; the slot body includes a first point position pushing area, a first point position maintaining area, a second point position pushing area and a second point position maintaining area; When the cam follows the disk to rotate to the first rotation angle range, the connecting shaft is located in the first point pushing area of ​​the slot body, and the connecting shaft is pushed from the point farthest from the center of the disk to the point closest to the center; When the cam follows the disk to rotate to the second rotation angle range, the connecting shaft is located in the first point position maintaining area of ​​the slot body, and the connecting shaft is continuously at the point position closest to the center of the circle; When the cam follows the disk to rotate to the third rotation angle range, the connecting shaft is located in the second point pushing area of ​​the slot body, and the connecting shaft is pushed from the point closest to the center of the disk to the point farthest from the center; When the cam follows the disk to rotate to the fourth rotation angle range, the connecting shaft is located in the second point position maintaining area of ​​the slot body, and the connecting shaft continues to be at the point farthest from the center of the circle.

3. The automatic perineum massage device according to claim 1 or 2, characterized in that: The set areas of the massage part are respectively provided with pressure sensors for sensing pressure data of the set areas; the output end of each pressure sensor is connected to the input end of the main control module, and the sensed pressure data can be sent to the main control module; The main control module includes a posture recognition unit for determining the state of the massage part set area being squeezed according to the pressure data sensed by each pressure sensor, and thereby recognizing the posture of the massage part entering the set space; The main control module can control the driving mechanism only when the preset posture is met.

4. The automatic perineum massage device according to claim 1, characterized in that: The transmission mechanism includes a lever unit, and the lever unit is arranged through the rotating shaft; the second end of the lever unit is connected to the massage part; The automatic perineum massage device further comprises a housing, the lever unit is arranged based on the housing; the housing limits the range of movement of the first end of the lever unit so that it can only move within a set range, thereby limiting the range of movement of the massage part; The driving mechanism comprises a driving motor, and the output shaft of the driving motor is the rotating shaft; the transmission mechanism rotates in different directions respectively under the drive of the driving motor to realize the massaging and resetting actions of the massage part.

5. An automatic perineum massage system, characterized in that: The automatic perineum massage system comprises a server and at least one automatic perineum massage device according to any one of claims 1 to 4, wherein the server is connected to each automatic perineum massage device respectively.

6. The automatic perineum massage system according to claim 5, characterized in that: The server comprises a massage part posture intelligent recognition mathematical model construction module, and the massage part posture intelligent recognition mathematical model construction module is used to construct a massage part posture intelligent recognition mathematical model; The massage part posture intelligent recognition mathematical model construction module extracts features from the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and uses this to construct a massage part posture intelligent recognition mathematical model to identify the posture of the massage part entering the set space; The main control module is provided with a posture recognition unit for recognizing the posture of the massage part entering the set space through the massage part posture intelligent recognition mathematical model according to the pressure data sensed by each pressure sensor; The main control module can control the driving mechanism only when the preset posture is met.

7. A massage control method for the perineum automatic massage device according to claim 3, characterized in that: The massage control method comprises the following steps: Each pressure sensor senses the pressure data of a set area and sends the sensed pressure data to the main control module; The main control module determines the squeezed state of the set area of ​​the massage part according to the pressure data sensed by each pressure sensor, and thereby identifies the posture of the massage part entering the set space; The main control module can control the driving mechanism only when the posture of the massage part entering the set space meets the preset posture.

8. The massage control method according to claim 7, characterized in that: The main control module identifies the posture of the massage part entering the set space through the intelligent recognition mathematical model of the massage part posture according to the pressure data sensed by each pressure sensor; The massage part posture intelligent recognition mathematical model is constructed by a massage part posture intelligent recognition mathematical model construction module; the massage part posture intelligent recognition mathematical model construction module extracts features of the pressure data of each area sensed by each pressure sensor corresponding to each posture in the historical data, and constructs a massage part posture intelligent recognition mathematical model based on this, so as to identify the posture of the massage part entering the set space.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 7 to 8 are implemented.

10. A storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the steps of the method according to any one of claims 7 to 8 are implemented.

Images