Control method and control device of massage equipment and massage equipment

Abstract

The invention provides a control method and device of massage equipment and the massage equipment. The massage equipment comprises a first massage part which comprises a first massage head and a second massage head which are arranged in a spaced mode in the first direction, and the first massage head and the second massage head are controlled to swing in a reciprocating mode and conduct kneading motion on the human body; the control method comprises the steps that pressure borne by the first massage head and / or the second massage head in the running process of the first massage piece is obtained; according to the pressure borne by the first massage head and / or the second massage head, the working postures of the first massage head and the second massage head are adjusted so as to change the position distribution of the first massage head and the second massage head in the first direction. Thus, the subsequent massage process can be controlled according to the current running condition of the first massage piece, the accuracy of massage control is improved, and the user experience feeling is optimized.

Description

Technical Field

[0001] The present application relates to the technical field of health care equipment, and in particular to a control method, a control device and a massage device. Background Art

[0002] As a health care device for relieving or eliminating physical fatigue, massage equipment is becoming more and more popular due to its flexible and convenient use. Compared with massage equipment with fixed massage programs, in order to obtain better massage effects, massage equipment in the related art is provided with massage modes with different massage programs, and users can choose massage modes to meet their own massage needs. However, this method of controlling the massage process by switching massage modes cannot be adaptively adjusted according to the actual needs of the user at the moment, resulting in unsatisfactory massage. Summary of the invention

[0003] The present application provides a control method, a control device and a massage device for improving the control accuracy of the massage device and optimizing the massage effect.

[0004] The present application provides a control method for a massage device, the massage device comprising: a first massage component, comprising a first massage head and a second massage head spaced apart along a first direction, the first massage head and the second massage head being controlled to swing back and forth to perform kneading motions on a human body; the control method comprising: obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component; adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head to change the position distribution of the first massage head and the second massage head in the first direction.

[0005] Optionally, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the position distribution of the first massage head and the second massage head in the first direction, including: according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

[0006] Optionally, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction, including: determining the mean pressure according to the pressure exerted on the first massage head and the second massage head; adjusting the working posture of the first massage head and the second massage head according to the mean pressure to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

[0007] Optionally, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction, including: according to the pressure exerted on the first massage head and / or the second massage head, the swing angle of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction; and / or, according to the pressure exerted on the first massage head and / or the second massage head, the position of the first massage head and the second massage head in the first direction is adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

[0008] Optionally, obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component includes: obtaining the first pressure exerted on the first massage head and / or the second massage head during the process in which the first massage head and the second massage head move closer to each other; adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head, including: adjusting the swing angle of the first massage head and the second massage head according to the first pressure exerted on the first massage head and / or the second massage head to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head; and / or adjusting the position of the first massage head and the second massage head in the first direction according to the first pressure exerted on the first massage head and / or the second massage head to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head.

[0009] Optionally, adjusting the working posture of the first massage head and the second massage head to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction includes: adjusting the swing angle of the first massage head and the second massage head to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction; and / or adjusting the position of the first massage head and the second massage head in the first direction to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

[0010] Optionally, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the position distribution of the first massage head and the second massage head in the first direction, including: according to the pressure exerted on the first massage head and the second massage head, the working posture of the first massage head and the second massage head is adjusted so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from the one of the first massage head and the second massage head subjected to less force to the one subjected to greater force.

[0011] Optionally, according to the pressure exerted on the first massage head and the second massage head, the working postures of the first massage head and the second massage head are adjusted so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from the one of the first massage head and the second massage head subjected to less force to the one subjected to greater force, including: calculating the pressure difference between the pressure exerted on the first massage head and the pressure exerted on the second massage head; when the pressure difference is greater than a pressure threshold, adjusting the working postures of the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from the one of the first massage head and the second massage head subjected to less force to the one subjected to greater force.

[0012] Optionally, obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component includes: obtaining the first pressure exerted on the first massage head and / or the second massage head during the process in which the first massage head and the second massage head move closer to each other; adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in a first direction, and the direction of translation is the direction in which the one of the first massage head and the second massage head subjected to less force points to the direction in which the one of the first massage head and the second massage head subjected to greater force, including: adjusting the working posture of the first massage head and the second massage head according to the first pressure exerted on the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction in which the one of the first massage head and the second massage head subjected to less force points to the direction in which the one of the first massage head and the second massage head subjected to greater force.

[0013] Optionally, the first massage piece is used to massage a first area of ​​the human body; the massage device also includes a second massage piece for massaging a second area of ​​the human body, and the first massage piece is movably connected to the second massage piece along a second direction; the control method also includes: adjusting the working posture of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the position distribution of the first massage head and the second massage head in the second direction.

[0014] Optionally, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the position distribution of the first massage head and the second massage head in the second direction, including: according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction.

[0015] Optionally, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: determining the pressure mean according to the pressure exerted on the first massage head and the second massage head; adjusting the working posture of the first massage head and the second massage head according to the pressure mean to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction.

[0016] Optionally, obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage part includes: obtaining the second pressure exerted on the first massage head and / or the second massage head during the movement of the first massage head and the second massage head along the second direction toward the second massage part; adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage parts in the second direction, including: adjusting the working posture of the first massage head and the second massage head according to the second pressure exerted on the first massage head and the second massage head to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage parts in the second direction.

[0017] Optionally, the second massage component includes a third massage head and a fourth massage head spaced apart along the first direction, and the third massage head and the fourth massage head are controlled to swing back and forth to perform kneading movements on the human body; the control method also includes: adjusting the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head according to the pressure applied to the first massage head and / or the second massage head to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction.

[0018] Optionally, the first massage head is connected to the third massage head, and the second massage head is connected to the fourth massage head; the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction, including: adjusting the working postures of the third massage head and the fourth massage head to drive the working postures of the first massage head and the second massage head to be adjusted synchronously to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction.

[0019] The present application provides a control device for a massage device, comprising one or more processors, for implementing the aforementioned control method for the massage device.

[0020] The present application provides a massage device, comprising: a first massage component, comprising a first massage head and a second massage head spaced apart along a first direction, wherein the first massage head and the second massage head are controlled to swing back and forth to perform kneading motions on a human body; a pressure sensing component, disposed on the first massage component, for detecting the pressure exerted on the first massage head and / or the second massage head when in contact with the human body; and a control device of the aforementioned massage device, electrically connected to the first massage component and the pressure sensing component.

[0021] Optionally, the first massage member is used to massage a first area of ​​the human body; the massage device also includes: a second massage member, used to massage a second area of ​​the human body, the first massage member and the second massage member are movably connected along a second direction, and the second massage member is electrically connected to the control device.

[0022] The control method, control device and massage device of the massage device provided by the present application reflect the degree of compression of the user during the massage process through the pressure on the first massage head and / or the second massage head, and adjust the working posture of the first massage head and the second massage head according to the pressure, change the position distribution of the first massage head and the second massage head, and adjust the degree of compression of the user during the operation of the first massage part. In this way, the subsequent massage process can be controlled according to the current operation status of the first massage part, which is conducive to improving the accuracy of massage control, thereby optimizing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the structure of a massage device provided in one embodiment of the present application;

[0024] Figure 2 for Figure 1 The structural schematic diagram of the massage component shown;

[0025] Figure 3 for Figure 1 A schematic diagram of the use of the massage device shown;

[0026] Figure 4 for Figure 1 A partial enlarged schematic diagram of the massage component shown;

[0027] Figure 5 for Figure 1 The massage device shown is a partially enlarged schematic diagram after the massage components are deleted;

[0028] Figure 6 This is a schematic structural diagram of a massage component shown in another embodiment of the present application;

[0029] Figure 7 for Figure 6 The massage component is shown as a half-section schematic diagram in the AA section direction;

[0030] Figure 8 for Figure 1 A schematic structural diagram of a driving mechanism of a massage device shown;

[0031] Fig. 9 for Figure 2 A schematic side view of the massage component shown;

[0032] Fig.10 is a schematic diagram of a control method for a massage device provided by an embodiment of the present application;

[0033] Fig.11 is a schematic diagram of a control method for a massage device provided by another embodiment of the present application;

[0034] Fig.12 is a schematic diagram of a control method for a massage device provided by another embodiment of the present application;

[0035] Fig.13 It is a schematic diagram of a control method for a massage device provided in another embodiment of the present application.

[0036] Reference numerals:

[0037] 10. Massage device; 100. Carrying assembly; 200. First drive assembly; 210. First motor; 21. Shoulder; 22. Neck; 211. First worm; 220. Second transmission assembly; 221. Transmission gear; 222. First turbine; 223. Gear set; 300. Massage component; 331. First massage part; 332. Second massage part; 3001. First massage head; 3002. Second massage head; 3003. Third massage head; 3004. Fourth massage head; 301. First closed curve; 302. Second closed curve; 303. Third closed curve; 310 , mounting assembly; 311, first mounting member; 312, second mounting member; 313, first screw; 3131, first threaded body; 3132, second threaded body; 320, first transmission assembly; 321, rotating shaft; 322, driving member; 3221, eccentric driving part; 3222, first connecting part; 323, connecting rod; 330, massage assembly; 3313, main body; 3314, guide body; 340, third driving assembly; 341, driving motor; 343, slider; 400, second driving assembly; 410, second motor; 411, second worm; 420, second turbine. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present disclosure. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0039] Combination Figures 1 to 9 As shown, an embodiment of the present application provides a massage device 10, including a first massage member 331, a first drive assembly 200, and a control device of the massage device 10 electrically connected to the first massage member 331 and the first drive assembly 200.

[0040] The first massage member 331 includes a first massage head 3001 and a second massage head 3002 spaced apart along a first direction. The first driving assembly 200 is used to drive the first massage member 331 to make the first massage head 3001 and the second massage head 3002 swing back and forth to perform kneading motion on the human body.

[0041] The pressure sensing component is disposed on the first massage member 331, and is used to detect the pressure exerted on the first massage head 3001 and / or the second massage head 3002 when they are in contact with the human body.

[0042] The control device of the massage device 10 includes one or more processors. The one or more processors are used to implement the control method of the massage device 20.

[0043] In some embodiments, the first massage element 331 is used to massage a first area of ​​a human body.

[0044] In some embodiments, the massage device 10 further includes a second massage member 332. The second massage member 332 is used to massage a second area of ​​the human body, the first massage member 331 is movably connected to the second massage member 332 along a second direction, and the first massage head 3001 and the second massage head 3002 are controlled to swing relative to the second massage member 332.

[0045] The first area and the second area here are different positions of the human body, that is, when the massage device 10 is used, the first massage piece 331 and the second massage piece 332 are used to massage different positions of the human body. For example, one of the first area and the second area is the shoulder, and the other is the neck. More specifically, the first area is the shoulder, the second area is the neck, the first massage piece 331 is a shoulder massage piece, and the second massage piece 332 is a neck massage piece. In some embodiments, one of the first area and the second area is the back, and the other is the waist; in some embodiments, one of the first area and the second area is the waist, and the other is the buttocks; in some embodiments, one of the first area and the second area is the upper thigh, and the other is the lower thigh.

[0046] Here, the structure of the massage device 10 is specifically described.

[0047] Combination Figure 1 As shown, the massage device 10 includes a bearing assembly 100 , a first driving assembly 200 and a massage component 300 .

[0048] Further combined with Figure 2 As shown, the massage component 300 includes a mounting assembly 310, a first transmission assembly 320 and a massage component 330. The mounting assembly 310 is fixedly connected to the bearing assembly 100 so that the massage component 300 is arranged on the bearing assembly 100. The first transmission assembly 320 includes a rotating shaft 321 rotatably arranged on the mounting assembly 310 and a driving member 322 transmission-connected to the rotating shaft 321. The driving member 322 can rotate with the rotating shaft 321, and the first angle between the driving member 322 and the rotating shaft 321 is an acute angle. The driving member 322 is provided with an eccentric driving part 3221 and a first connecting part 3222 spaced from the eccentric driving part 3221 along the direction of the driving member 322. The massage component 330 includes a first massage member 331 transmission-connected to the eccentric driving part 3221 and a second massage member 332 rotationally connected to the first connecting part 3222.

[0049] The first massage member 331 includes a first massage head 3001 and a second massage head 3002, which are spaced apart in the first direction. The first massage head 3001 is used as an example to explain the specific arrangement of the first massage head 3001 and the second massage head 3002. The first massage member 331 is movably connected to the second massage member 332, so that the eccentric drive unit 3221 can drive the first massage head 3001 to swing relative to the second massage member 332, and the first massage head 3001 can perform kneading motion under the drive of the drive member 322.

[0050] The second massage member 332 includes a third massage head 3003 and a fourth massage head 3004. The third massage head 3003 and the fourth massage head 3004 are arranged at intervals along the first direction and are controlled to swing back and forth. Accordingly, the first drive assembly 200 is also used to drive the second massage member 332 to make the third massage head 3003 and the fourth massage head 3004 swing back and forth to perform kneading motion on the human neck. The third massage head 3003 and the fourth massage head 3004 are movably connected to the mounting assembly 310. The first drive assembly 200 is arranged on the bearing assembly 100 and is used to drive the rotating shaft 321 to rotate.

[0051] Combination Figures 1 to 3 The massage device 10 is described in more detail, wherein: Figure 3 Take the embodiment of the massage device applied to the shoulders and neck as an example. Figures 1 to 3 As shown, the massage component 300 is connected to the first massage component 331 through the eccentric driving part 3221, and the first massage component 331 is installed on the driving part 322. Then, the massage component 300 is connected to the second massage component 332 through the first connecting part 3222, and the second massage component 332 is also installed on the driving part 322, so that the driving part 322 can drive the first massage component 331 and the second massage component 332 to rotate synchronously. When the massage device 10 is used, the third massage head 3003 is against the human neck 22, and the first massage head 3001 is against the human shoulder 21. The first driving assembly 200 can drive the rotating shaft 321 to rotate, and the driving part 322 connected to the rotating shaft 321 drives the first massage component 331 and the second massage component 332 to move synchronously, so that the third massage head 3003 is used to massage the human neck 22, and the first massage head 3001 is used to massage the human shoulder 21. While the first massage head 3001 is massaging the human shoulder 21, the driving member 322 drives the eccentric driving part 3221 to rotate, so that the first massage head 3001 also performs eccentric motion during the swinging motion along with the third massage head 3003. Therefore, the first massage head 3001 can simulate the trajectory of kneading the shoulder 21 by human hands, thereby achieving kneading massage of the human shoulder 21 and improving the massage effect of the shoulder 21.

[0052] like Figure 3 as well as Figure 4 As shown, in some embodiments, the first massage member 331 can rotate with the driving member 322, and the eccentric driving part 3221 drives the first massage member 331 to swing relative to the second massage member 332, so that the first massage head 3001 and the second massage head 3002 reciprocate along the first closed curve 301, so as to knead the human shoulder 21. In this way, during the reciprocating movement of the first massage head 3001 and the second massage head 3002 along the first closed curve 301, the first massage head 3001 can gradually increase the massage force from the back to the neck 22, and then gradually reduce the massage force from the neck 22 to the back, so as to achieve kneading massage of the human shoulder 21 and improve the massage effect of the shoulder 21. It should be noted that the design of the first closed curve 301 can be flexibly designed according to the characteristics of the shoulder 21 curve.

[0053] like Figure 3 As shown, the axial direction of the rotating shaft 321 is arranged in the same direction as the width direction of the neck 22, and the radial direction of the rotating shaft 321 is arranged in the same direction as the length direction of the neck 22. When the user wears the shoulder 21 massage device, the third massage head 3003 and the fourth massage head 3004 usually squeeze and knead the human neck 22 from the side, while the first massage head 3001 and the second massage head 3002 knead the human shoulder 21 from the front.

[0054] In some embodiments, the third massage head 3003 and the fourth massage head 3004 can knead the human neck 22 under the drive of the driving member 322. In this way, when the second massage member 332 swings with the driving member 322, the third massage head 3003 and the fourth massage head 3004 can simulate the trajectory of kneading the neck 22 by human hands, thereby kneading and massaging the human neck 22 and improving the massage effect of the shoulders 21.

[0055] like Figure 1 As shown, in some embodiments, the second massage member 332 is movably connected to the mounting assembly 310, so that the second massage member 332 can rotate with the driving member 322, and drive the third massage head 3003 and the fourth massage head 3004 to reciprocate along the second closed curve 302 and the third closed curve 303. In this way, the neck 22 (that is, the part close to the human head) can be kneaded and massaged by the reciprocating motion process.

[0056] See you later Figure 1 , and combined with Figure 5As shown, in some embodiments, the first drive assembly 200 includes a first motor 210 disposed on the bearing assembly 100 and a second transmission assembly 220 that is in transmission cooperation with the rotating shaft 321, and the first motor 210 drives the rotating shaft 321 to rotate through the second transmission assembly 220. In this way, the rotation of the rotating shaft 321 is achieved through the cooperation between the first motor 210 and the second transmission assembly 220, so that the position between the first motor 210 and the rotating shaft 321 can be flexibly set, reducing the design difficulty of the massage device 10. The process in which the load sensor monitors the load of the first drive assembly 200 specifically monitors the load of the first motor 210.

[0057] For example, the second transmission assembly 220 includes a belt transmission assembly, a chain transmission assembly, a gear transmission assembly, and the like.

[0058] like Figure 1 as well as Figure 5 As shown, in some embodiments, the massage components 300 include two groups, and are symmetrically spaced on the bearing assembly 100 along the axis direction of the rotating shaft 321. The first motor 210 drives the two rotating shafts 321 to rotate synchronously through the second transmission assembly 220. In this way, the two groups of massage components 300 can be used to massage the muscles on both sides of the cervical spine and the muscles of the two shoulders 21, thereby improving the massage area of ​​the massage device 10. In addition, by realizing the synchronous rotation of the rotating shafts 321 of the two massage components 300 through the first motor 210 and the second transmission assembly 220, the power source can be reduced, and the manufacturing cost of the massage device 10 can be reduced.

[0059] Alternatively, if Figure 1 as well as Figure 5 As shown, in some embodiments, the second transmission assembly 220 includes a transmission gear 221 rotatably disposed on the bearing assembly 100, a first turbine 222 coaxially connected to the transmission gear 221, and two gear sets 223 meshing with the transmission gear 221, the motor includes a first worm 211 that is transmission-matched with the first turbine 222, and the two gear sets 223 correspond to the two groups of massage components 300 one by one, respectively, so as to drive the two rotating shafts 321 to rotate synchronously. In this way, when the massage device 10 is used, the first motor 210 outputs power, and drives the first turbine 222 to rotate through the first worm 211, and then can drive the two groups of gear sets 223 to rotate through the transmission gear 221, and drive the two rotating shafts 321 to rotate synchronously, and then drive the two massage assemblies 330 to rotate synchronously to achieve muscle massage on both sides of the cervical vertebrae and the massage of the muscles of the two shoulders 21. Optionally, the gear set 223 is rotatably disposed on the mounting assembly 310.

[0060] In some embodiments, the first angle between the driving member 322 and the rotating shaft 321 is adjustable. Thus, by adjusting the first angle, the massage range of the third massage head 3003 and the fourth massage head 3004 and the massage intensity on the neck 22 can be adjusted. At the same time, the massage range and massage intensity of the first massage head 3001 and the second massage head 3002 can also be adjusted.

[0061] like Figure 2 , Figures 5 to 7 As shown, in some embodiments, the first transmission assembly 320 further includes a connecting rod 323, one end of the connecting rod 323 is rotatably connected to the second mounting member 312, and the other end of the connecting rod 323 is transmission-connected to one end of the driving member 322. In this way, the driving member 322 and the second mounting member 312 are connected together through the connecting rod 323, so that the force on the driving member 322 is more stable and less likely to be damaged, thereby improving the reliability of the massage device.

[0062] like Figure 2 , Figures 5 to 7 As shown, in some embodiments, one end of the connecting rod 323 is rotatably connected to the second mounting member 312, and the other end of the connecting rod 323 is rotatably connected to one end of the driving member 322. The other end of the driving member 322 is rotatably connected to the rotating shaft 321, and the first rotating shaft 321 line of the driving member 322 rotating relative to the rotating shaft 321 is not coaxial with the second rotating shaft 321 line of the rotating shaft 321. At least one of the first mounting member 311 and the second mounting member 312 is slidably connected to the bearing assembly 100, so that the distance between the first mounting member 311 and the second mounting member 312 is adjustable. In this way, by adjusting the distance between the first mounting member 311 and the second mounting member 312, the connecting rod 323 and the driving member 322 are driven to rotate, so that the size of the first angle between the driving member 322 and the rotating shaft 321 can be adjusted, so as to adjust the massage range of the third massage head 3003 and the fourth massage head 3004 and the massage strength of the neck 22. At the same time, the massage range and massage intensity of the first massage head 3001 and the second massage head 3002 can also be adjusted.

[0063] like Figures 6 to 8 As shown, in some embodiments, the massage device 10 further includes a second drive assembly 400, which is disposed on the bearing assembly 100 and is used to drive the slidable first mounting member 311 and / or the slidable second mounting member 312 to move so that the distance between the first mounting member 311 and the second mounting member 312 can be adjusted. In this way, the second drive assembly 400 is used to facilitate adjustment of the distance between the first mounting member 311 and the second mounting member 312, so that the size of the first angle between the driving member 322 and the rotating shaft 321 can be adjusted.

[0064] It should be noted that there are many specific implementation methods for the second drive component 400, including but not limited to power equipment such as pneumatic rods, hydraulic rods, linear motors, etc. that directly drive the movement of the first mounting member 311 and / or the second mounting member 312, and also including telescopic mechanisms that indirectly realize the telescopic movement of the first mounting member 311 and / or the second mounting member 312 using gear rack mechanisms, screw nut mechanisms, etc.

[0065] like Figures 6 to 8 As shown, in some embodiments, the mounting assembly 310 further includes a first screw 313 rotatably disposed on the bearing assembly 100, and at least one of the first mounting member 311 and the second mounting member 312 is slidably connected to the bearing assembly 100 and is threadedly connected to the first screw 313. In this way, when the first mounting member 311 is slidably connected to the bearing assembly 100 and is threadedly connected to the first screw 313, the first mounting member 311 can be moved by manually or electrically rotating the first screw 313 to adjust the distance between the first mounting member 311 and the second mounting member 312. Moreover, the movement of the first mounting member 311 is achieved by a threaded transmission method, and it is easy to utilize the self-locking characteristics of the thread to achieve the instant rotation and stop of the first mounting member 311.

[0066] And / or, when the second mounting member 312 is slidably connected to the bearing assembly 100 and is threadedly connected to the first screw rod 313, the second mounting member 312 can be moved by manually or electrically rotating the first screw rod 313 to adjust the spacing between the second mounting members 312. Moreover, the movement of the second mounting member 312 is achieved by thread transmission, and it is easy to utilize the self-locking characteristics of the thread to achieve the instant stop of the second mounting member 312.

[0067] In combination with the above-mentioned embodiment of the second driving assembly 400, the second driving assembly 400 is disposed on the bearing assembly 100, and is used to drive the first screw rod 313 to rotate. In this way, the first screw rod 313 can be driven to rotate by electric means to achieve automatic adjustment of the first angle.

[0068] like Figure 8 As shown, in some embodiments, the second drive assembly 400 includes a second motor 410 and a second turbine 420 rotatably disposed on the bearing assembly 100, the second motor 410 is provided with a second worm 411 that is transmission-coordinated with the second turbine 420, and the second turbine 420 is coaxially rotatably connected with the first screw 313. In this way, when the size of the first angle needs to be adjusted, the second motor 410 outputs power, and drives the second turbine 420 to rotate through the second worm 411, thereby driving the first screw 313 to rotate coaxially and synchronously, realizing the adjustment of the spacing between the first mounting member 311 and the second mounting member 312, so as to complete the automatic adjustment of the first angle.

[0069] Alternatively, if Figure 7As shown, in some embodiments, the first mounting member 311 and the second mounting member 312 are respectively slidably connected to the bearing assembly 100, and the first screw rod 313 includes a first threaded body 3131 threadedly connected to the first mounting member 311 and a second threaded body 3132 threadedly connected to the second mounting member 312, and the first threaded body 3131 and the second threaded body 3132 have opposite threaded directions. In this way, when the first screw rod 313 rotates, it can synchronously drive the first mounting member 311 and the second mounting member 312 to move toward or away from each other, thereby adjusting the distance between the two, and the distance adjustment speed is fast.

[0070] In some embodiments, the massage component 300 further includes a third drive assembly 340 for adjusting the spacing in the second direction between the first massage head 3001 and the second massage head 3002 and the second massage member 332. Specifically, the third drive assembly 340 is used to drive the guide body 3314 to reciprocate relative to the body 3313. In this way, the position between the guide body 3314 and the body 3313 can be electrically controlled by the third drive assembly 340 to achieve adjustable extension lengths of the first massage head 3001 and the second massage head 3002.

[0071] There are many ways to implement the third drive assembly 340, including but not limited to power equipment such as pneumatic rods, hydraulic rods, linear motors, etc. that directly drive the guide body 3314, and also including telescopic mechanisms that indirectly realize the telescopic movement of the guide body 3314 using gear rack mechanisms, screw nut mechanisms, etc.

[0072] like Fig. 9 As shown, in some embodiments, the third driving assembly 340 includes a driving motor 341 disposed on the body 3313, a screw rotatably disposed on the body 3313, and a slider 343 fixedly connected to the guide body 3314. The slider 343 is threadedly connected to the screw. The driving motor 341 can drive the screw to rotate, thereby driving the slider 343 to move along the axis direction of the screw, thereby driving the guide body 3314 to move relative to the body 3313, thereby adjusting the extension length of the shoulder massage head 3311. This embodiment is easy to implement and has a compact structure.

[0073] In some embodiments, the massage device 10 further includes an operation button electrically connected to the processor of the control device. The operation button is used to receive an operation instruction from the user and send the operation instruction to the processor. At this time, the processor is also used to adjust the working posture of the first massage head 3001 and the second massage head 3002 according to the operation instruction to change at least one of the distance between the two most adjacent track points in the swing track of the first massage head 3001 and the second massage head 3002 in the first direction, the track point closest to the second massage part 332, and the distance between the second massage part 332 in the second direction.

[0074] Next, a method for controlling the massage device 10 will be described.

[0075] Combination Fig.10 As shown, an embodiment of the present application provides a control method for a massage device, which can be applied to a processor in a control device of the aforementioned massage device. The control method for the massage device includes steps S11 to S12.

[0076] Step S11, obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component.

[0077] The pressure exerted on the first massage head and / or the second massage head during the operation of the first massage member is obtained through the aforementioned pressure sensing assembly.

[0078] Step S12, adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head, so as to change the position distribution of the first massage head and the second massage head in the first direction.

[0079] According to the control method of the massage device provided in the embodiment of the present application, during the operation of the first massage part, the working posture of the first massage head and the second massage head of the first massage part are adjusted according to the pressure on at least one of the first massage head and the second massage head of the first massage part, thereby changing the position distribution of the first massage head and the second massage head in the first direction. The pressure on the first massage head and / or the second massage head reflects the degree of compression of the user during the massage process, and the working posture of the first massage head and the second massage head are adjusted according to the pressure, and the position distribution of the first massage head and the second massage head is changed to adjust the degree of compression of the user during the operation of the first massage part. In this way, the subsequent massage process can be controlled according to the current operation of the first massage part, which is conducive to improving the accuracy of massage control, thereby optimizing the user experience.

[0080] Combination Fig.11 As shown, the embodiment of the present application provides another control method for a massage device, including step S11 and step S121.

[0081] Step S11, obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component.

[0082] Step S121, adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head, so as to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction.

[0083] By adopting the control method of the massage device provided in the embodiment of the present application, after the pressure on the first massage head and / or the second massage head is used to more accurately reflect the degree of compression on the user during the massage process, the distance between the two most adjacent track points in the first direction in the swing track of the first massage head and the second massage head can be adjusted to adjust the degree of compression on the user during the subsequent operation of the first massage part. In this way, the subsequent massage process can be controlled according to the current operation of the first massage part, which is conducive to improving the accuracy of massage control and thus optimizing the user experience.

[0084] In some embodiments, according to the pressure on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head, including: adjusting the swing angle of the first massage head and the second massage head according to the pressure on the first massage head and / or the second massage head to change the distance between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head; and / or, according to the pressure on the first massage head and / or the second massage head, adjusting the position of the first massage head and the second massage head in the first direction to change the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. By adjusting the swing angle of the first massage head and the second massage head, the swing range control can be achieved, thereby changing the distance adjustment between the two most adjacent track points in the swing trajectory in the first direction. For example, when the swing angle of the first massage head and the second massage head is increased, the swing range of the first massage head and the second massage head is increased, resulting in a decrease in the distance between the two most adjacent track points in the swing trajectory in the first direction. The squeeze on the user is increased. If the swing angles of the first massage head and the second massage head are reduced, the opposite is true.

[0085] The spacing control can also be achieved by directly adjusting the positions of the first massage head and the second massage head. That is, although the swing angle and the swing range of the first massage head and the second massage head have not changed, the swing range is translated, so that the spacing between the two most adjacent track points in the swing trajectory in the first direction changes. For example, when the first massage head and the second massage head are translated in the direction close to each other, the distance between the two most adjacent track points in the swing trajectory is reduced, and the pressure on the user is increased. When the first massage head and the second massage head are translated in the direction away from each other, the opposite is true. Considering that the massage on both sides of the massage area is mostly a symmetrical process, the first massage head and the second massage head are simultaneously close to or away from each other, which can be considered as a more common translation method in the spacing adjustment process. In other embodiments, considering different needs, it may also happen that the first massage head and the second massage head are translated in the same direction, and the spacing adjustment is achieved by setting the translation distance. In this way, the spacing control of the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction is specifically achieved by angle adjustment or translation. During implementation, one of them can be executed, or both can be adjusted together to achieve spacing control.

[0086] Specifically, it can be understood that adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head can be divided into three implementation situations: adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the first massage head, adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the second massage head, and adjusting the working posture of the first massage head and the second massage head according to the pressure exerted on the first massage head and the second massage head.

[0087] In some embodiments, according to the pressure on the first massage head, the working postures of the first massage head and the second massage head are adjusted to change the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, including: when the pressure on the first massage head is greater than the first upper threshold, the working postures of the first massage head and the second massage head are adjusted to increase the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. When the pressure on the first massage head is less than the first lower threshold, the working postures of the first massage head and the second massage head are adjusted to reduce the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. The first upper threshold is greater than the first lower threshold.

[0088] In some embodiments, according to the pressure on the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction, including: when the pressure on the second massage head is greater than the second upper limit threshold, the working postures of the first massage head and the second massage head are adjusted to increase the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. When the pressure on the second massage head is less than the second lower limit threshold, the working postures of the first massage head and the second massage head are adjusted to reduce the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. The second upper limit threshold is greater than the second lower limit threshold.

[0089] In some embodiments, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction, including: determining the pressure mean according to the pressure exerted on the first massage head and the second massage head; adjusting the working posture of the first massage head and the second massage head according to the pressure mean to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

[0090] Further, the working postures of the first massage head and the second massage head are adjusted according to the pressure average value to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction, including: when the pressure average value is greater than the third upper limit threshold, the working postures of the first massage head and the second massage head are adjusted to increase the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction. When the pressure average value is less than the third lower limit threshold, the working postures of the first massage head and the second massage head are adjusted to reduce the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction. The third upper limit threshold is greater than the third lower limit threshold.

[0091] In this way, the distance between the two most adjacent track points in the first direction in the swing track of the first massage head and the second massage head is realized according to the pressure applied by the first massage part to the user's shoulder. Excessive pressure means that the user is squeezed too much, which may cause discomfort to the user. Increasing the distance is conducive to reducing the squeeze on the user, thereby alleviating the user's discomfort. Excessive pressure means that the user is squeezed too little, and the massage effect is poor. At this time, reducing the distance is conducive to appropriately increasing the squeeze, thereby improving the massage effect. The aforementioned thresholds can be stored in advance and can be directly called during the implementation process.

[0092] Considering that there are displacements in different directions during the operation of the first massage head and the second massage head, corresponding to different control requirements. To further improve the accuracy of the spacing adjustment, in some embodiments, obtaining the pressure on the first massage head and / or the second massage head during the operation of the first massage member includes: obtaining the first pressure on the first massage head and / or the second massage head during the movement of the first massage head and the second massage head towards each other. According to the pressure on the first massage head and / or the second massage head, adjusting the working posture of the first massage head and the second massage head to change the spacing in the first direction between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head, including: according to the first pressure on the first massage head and / or the second massage head, adjusting the swing angle of the first massage head and the second massage head to change the spacing in the first direction between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head; and / or, according to the first pressure on the first massage head and / or the second massage head, adjusting the position of the first massage head and the second massage head in the first direction to change the spacing in the first direction between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head.

[0093] In this way, by monitoring the first pressure exerted on the first massage head and / or the second massage head during the process of the first massage head and the second massage head approaching each other, it is possible to accurately reflect the squeezing effect on the user caused by the first massage head and the second massage head approaching each other. Compared with controlling the first massage head and the second massage head throughout the entire process, this is conducive to improving the control accuracy of the first massage head and the second massage head, thereby helping to optimize the user's massage experience.

[0094] In some embodiments, the massage device includes a second drive assembly for adjusting the swing angle of the first massage head and the second massage head and / or the position of the first massage head and the second massage head in the first direction. According to the pressure on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head, including: according to the pressure on the first massage head and / or the second massage head, the second drive assembly is controlled to change the distance between the two most adjacent track points in the first direction in the swing trajectory of the first massage head and the second massage head.

[0095] The second driving assembly includes a second motor. That is, in the implementation process, the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction is controlled by controlling the second driving assembly.

[0096] The spacing adjustment process is described in more detail here.

[0097] In some embodiments, according to the first pressure applied to the first massage head, the swing angles of the first massage head and the second massage head are adjusted to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head, including: when the first pressure applied to the first massage head is greater than a fourth upper limit threshold, the swing angles of the first massage head and the second massage head are reduced to increase the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head; when the first pressure applied to the first massage head is less than a fourth lower limit threshold, the swing angles of the first massage head and the second massage head are increased to reduce the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head.

[0098] The first pressure on the first massage head is greater than the fourth upper limit threshold, indicating that the first massage head and the second massage head squeeze the user too much when they are close to each other, which may easily cause discomfort to the user. At this time, reducing the swing angle of the first massage head and the second massage head can increase the distance between the two most adjacent track points in the swing trajectory of the two, reduce the squeeze on the user, and help alleviate user discomfort. The first pressure on the first massage head is less than the fourth lower limit threshold, indicating that the first massage head and the second massage head squeeze the user too little when they are close to each other, and the massage effect is poor or even no massage effect. At this time, reducing the swing angle of the first massage head and the second massage head can reduce the distance between the two most adjacent track points in the swing trajectory of the two, which is conducive to appropriately increasing the squeeze and improving the massage effect.

[0099] Further, in some embodiments, the adjustment value of the swing angle is positively correlated with the difference between the first pressure on the first massage head and the fourth upper threshold, or the difference between the first pressure on the first massage head and the fourth lower threshold. That is, on the basis that the first pressure on the first massage head is greater than the fourth upper threshold, the difference between the first pressure on the first massage head and the fourth upper threshold is calculated. The greater the first pressure on the first massage head, the greater the difference, the greater the adjustment value of the swing angle, and the greater the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. On the basis that the first pressure on the first massage head is less than the fourth lower threshold, the difference between the first pressure on the first massage head and the fourth lower threshold is calculated. The smaller the first pressure on the first massage head, the greater the difference, the greater the adjustment value of the swing angle, and the smaller the distance between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head in the first direction. In this way, the swing angle adjustment process can be further refined and controlled, the accuracy of the control of the first massage head and the second massage head is improved, and the massage experience of the user is optimized. The maximum swing angle and the minimum swing angle can also be limited, and the swing angle can be adjusted within the limited range.

[0100] In other embodiments, the swing angles of the first massage head and the second massage head are adjusted according to the first pressure applied to the second massage head, or according to the first pressure applied to the first massage head and the second massage head to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head. The specific control process is similar to the control logic and will not be elaborated here.

[0101] In some embodiments, according to the first pressure applied to the first massage head, the positions of the first massage head and the second massage head in the first direction are adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction, including: when the first pressure applied to the first massage head is greater than a fourth upper limit threshold, the first massage head and the second massage head are controlled to translate away from each other in the first direction to increase the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction; when the first pressure applied to the first massage head is less than a fourth lower limit threshold, the first massage head and the second massage head are controlled to translate towards each other in the first direction to reduce the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

[0102] Similar to the above analysis, when the first pressure on the first massage head is greater than the fourth upper threshold, and the first massage head and the second massage head are close to each other and squeeze the user too much, the first massage head and the second massage head can be controlled to translate to increase the distance between the two most adjacent track points in the swing trajectory by moving away from each other, thereby reducing the squeeze on the user. When the first pressure on the first massage head is less than the fourth lower threshold, and the first massage head and the second massage head are close to each other and squeeze the user too little, the first massage head and the second massage head can be controlled to translate to reduce the distance between the two most adjacent track points in the swing trajectory by moving closer to each other, thereby increasing the squeeze on the user. In this way, the degree of squeeze on the user can be kept within a certain range, and the user can avoid discomfort while achieving massage.

[0103] Further, in some embodiments, the translation distance value is positively correlated with the difference between the first pressure on the first massage head and the fourth upper threshold, or the difference between the first pressure on the first massage head and the fourth lower threshold. That is, on the basis that the first pressure on the first massage head is greater than the fourth upper threshold, the greater the first pressure on the first massage head, the greater the translation distance value, and the greater the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction. On the basis that the first pressure on the first massage head is less than the fourth lower threshold, the smaller the first pressure on the first massage head, the greater the difference between the first pressure on the first massage head and the fourth lower threshold, the greater the translation distance value, and the smaller the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction. In this way, the adjustment process of the translation distance value can be further refined and controlled, the accuracy of the control of the first massage head and the second massage head can be improved, and the massage experience of the user can be optimized. The position range of the first massage head and the second massage head can also be limited, and the position of the first massage head and the second massage head can be adjusted within the limited range.

[0104] In other embodiments, the positions of the first massage head and the second massage head in the first direction are adjusted according to the first pressure applied to the second massage head, or according to the first pressure applied to the first massage head and the second massage head, so as to change the distance between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head. The specific control process is similar to the control logic and will not be elaborated here.

[0105] It should be noted that in other embodiments using the first pressure on the second massage head, or the first pressure on the first massage head and the second massage head as the basis for judgment, the threshold used for judgment may be adaptively changed. In addition, in the embodiment of collecting the first pressure on the first massage head and the second massage head, the average of the first pressure on the first massage head and the second massage head may be used as the basis for judgment.

[0106] Combination Fig.12 As shown, the embodiment of the present application provides another control method for a massage device, including step S111 and step S122.

[0107] Step S111, obtaining the pressure exerted on the first massage head and the second massage head during the operation of the first massage component.

[0108] Step S122, according to the pressure on the first massage head and the second massage head, adjust the working posture of the first massage head and the second massage head so that the first massage head and the second massage head can be synchronously translated in a first direction, and the direction of translation is the direction from the one of the first massage head and the second massage head with less force to the one with greater force.

[0109] During the use of the massage device, if the pressure on the first massage head and the second massage head in the first massage component is uneven, it means that the setting positions of the first massage head and the second massage head may be slightly offset relative to the area to be massaged. For example, assuming that the first massage component is used to massage the neck area, the placement positions of the first massage head and the second massage head are completely symmetrical relative to the neck area. When the first massage head and the second massage head are controlled to operate, the pressure applied by the first massage head and the second massage head to the user is balanced, and the pressures received should also be the same. If it is actually monitored that the pressure on the first massage head is greater than the pressure on the second massage head, it means that the current squeezing degree of the neck area by the first massage head is greater than the squeezing degree of the neck area by the second massage head. Compared with the second massage head, the first massage head is closer to the neck area of ​​the user, and the actual setting position of the first massage head and the second massage head as a whole is offset to the side of the second massage head. At this time, the working postures of the first massage head and the second massage head are adjusted so that the first massage head and the second massage head are synchronously translated to the side where the one with greater force, that is, the first massage head, is located, so as to correct the offset of the setting position of the first massage component. It can be understood that the neck area is only taken as an example here, and the control method provided in this embodiment is not limited to be applicable only to the neck area.

[0110] By adopting the control method of the massage device provided in the embodiment of the present application, the working posture of the first massage head and the second massage head is controlled according to the pressure on the first massage head and / or the second massage head during the operation of the first massage part, so that the first massage head and the second massage head are translated in the first direction, along the direction of the first massage head and the second massage head with less force to the direction of the first massage head and the second massage head with greater force. Such a setting is conducive to balancing the balanced degree of pressure applied by the first massage part to both sides of the massage area, thereby balancing the force on the massage area, avoiding excessive or insufficient force on one side causing discomfort to the user, and is conducive to improving the accuracy of the control of the first massage part, optimizing the massage effect, and thus improving the user experience. Specifically, in some embodiments, according to the pressure on the first massage head and the second massage head, the working posture of the first massage head and the second massage head is adjusted so that the first massage head and the second massage head are synchronously translated in the first direction and / or the second direction, and the direction of translation is the direction in which the one of the first massage head and the second massage head with less force points to the direction in which the one of the first massage head and the second massage head with greater force is pointed, including: calculating the pressure difference between the pressure on the first massage head and the pressure on the second massage head; when the pressure difference is greater than the pressure threshold, adjusting the working posture of the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction in which the one of the first massage head and the second massage head with less force points to the direction in which the one of the first massage head and the second massage head with greater force is pointed. The pressure difference between the pressure on the first massage head and the pressure on the second massage head calculated here is the absolute value of the pressure difference to reflect the difference between the two. The calculation of the pressure difference can reflect the uneven degree of pressure applied to the user by the first massage head and the second massage head. When the pressure difference is greater than the pressure threshold, that is, when the uneven degree of pressure applied to the user is strong, the first massage head and the second massage head are adjusted. This is conducive to avoiding the adjustment process of the first massage head and the second massage head being triggered by a slight uneven force on the massage area during a normal massage, resulting in too frequent adjustments and causing discomfort to the user.

[0111] It can also be understood that, when the pressure difference is greater than the pressure threshold, the first massage head and the second massage head are preferentially translated in the first direction to adjust the position of the area between the first massage head and the second massage head; when the pressure difference is less than the pressure threshold, the working postures of the first massage head and the second massage head are preferentially adjusted according to the pressure on the first massage head and the second massage head, so as to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction, that is, to adjust the range of the area between the first massage head and the second massage head. In this way, the control logic of the first massage head and the second massage head is further refined, and the priority between the adjustment requirements is determined by the pressure difference between the pressure on the first massage head and the pressure on the second massage head, so that the adjustment process is more in line with the current actual needs, further optimizes the accuracy of the control of the massage equipment, optimizes the massage effect, and enhances the user experience.

[0112] In some embodiments, the translation amount of the first massage head and the second massage head in the first direction is positively correlated with the pressure difference between the pressure on the first massage head and the pressure on the second massage head. That is, the greater the pressure difference between the pressure on the first massage head and the pressure on the second massage head, the greater the translation amount of the first massage head and the second massage head in the first direction. In this way, it is possible to achieve detailed control of the process of translating the first massage head and the second massage head in the first direction and approaching the side with less force, which is conducive to improving the accuracy of controlling the first massage head and the second massage head and optimizing the user's massage experience. During the implementation process, the optional range of the translation amount can also be limited, and the translation control of the first massage head and the second massage head in the first direction is performed within the limited range to ensure the normal operation of the massage device.

[0113] In some embodiments, obtaining the pressure on the first massage head and / or the second massage head during the operation of the first massage member includes: obtaining the first pressure on the first massage head and / or the second massage head during the movement of the first massage head and the second massage head towards each other. According to the pressure on the first massage head and the second massage head, adjusting the working posture of the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from which the first massage head and the second massage head are subjected to less force to which the first massage head and the second massage head are subjected to greater force, including: according to the first pressure on the first massage head and the second massage head, adjusting the working posture of the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from which the first massage head and the second massage head are subjected to less force to which the first massage head and the second massage head are subjected to greater force. That is, if the first pressure on the first massage head is greater than the first pressure on the second massage head, the first massage head and the second massage head are controlled to be synchronously translated in the first direction along the direction from the second massage head to the first massage head. If the first pressure on the first massage head is less than the first pressure on the second massage head, the first massage head and the second massage head are controlled to translate synchronously in the first direction along the direction from the first massage head to the second massage head. In this way, when the first massage head and the second massage head approach each other in the first direction, the overall position of the squeezed area can be adjusted, which is conducive to avoiding the situation where the force on one side is too large or too small, improving the uniformity of the force on the area to be massaged, and optimizing the massage effect on the area to be massaged, thereby optimizing the user experience. In this way, the first pressure on the first massage head and / or the second massage head during the movement of the first massage head and the second massage head approaching each other is monitored, which can accurately reflect the squeezing effect on the user caused by the first massage head and the second massage head approaching each other. Compared with the full control of the first massage head and the second massage head, it is conducive to improving the control accuracy of the first massage head and the second massage head, thereby optimizing the user's massage experience.

[0114] In the case where the massage device includes a second massage element, Fig.13 As shown, the embodiment of the present application provides another control method for massage equipment, including steps S11 to S13.

[0115] Step S11, obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component.

[0116] Step S12, adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head, so as to change the position distribution of the first massage head and the second massage head in the first direction.

[0117] Step S13, adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head and / or the second massage head, so as to change the position distribution of the first massage head and the second massage head in the second direction.

[0118] By adopting the control method of the massage device provided in the embodiment of the present application, during the operation of the first massage part, the working posture of the first massage head and the second massage head in the first massage part is adjusted according to the pressure on at least one of the first massage head and the second massage head of the first massage part, thereby changing the position distribution of the first massage head and the second massage head in the second direction. The pressure on the user's shoulder when the first massage part massages the user can accurately reflect the pressure applied to the user's shoulder during the massage process. Accordingly, the working posture of the first massage head and the second massage head is adjusted to change the position distribution of the first massage head and the second massage head in the second direction, and the massage force of the first massage part can be adjusted in real time according to the current pressure on the user's shoulder, which is conducive to improving the control accuracy of the massage device, thereby optimizing the shoulder massage effect.

[0119] Specifically, in some embodiments, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the position distribution of the first massage head and the second massage head in the second direction, including: according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction.

[0120] After the postures of the first massage head and the second massage head are adjusted, the overall massage trajectory of the first massage head and the second massage head changes. To facilitate the description of the relative position change of the two trajectories, the description is made by the change in the distance between the two most adjacent trajectory points in the swing trajectory, or the distance between the trajectory point most adjacent to the second massage part in the swing trajectory and the second massage part. In addition, considering that in the actual operation of the massage part, the first massage head and the second massage head operate synchronously, and the third massage head and the fourth massage head operate synchronously, the distance between the trajectory point closest to the second massage part in the massage trajectory of the first massage head and the second massage part in the second direction, and the distance between the trajectory point closest to the second massage part in the massage trajectory of the second massage head and the second massage part in the second direction are the same length. Therefore, the description is made here directly in terms of the distance between the trajectory point closest to the second massage part and the second massage part in the swing trajectory of the first massage head and the second massage head.

[0121] In this way, after the pressure on the first massage head and / or the second massage head more accurately reflects the degree of compression of the user during the massage process, adjusting the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction can achieve the adjustment of the degree of compression of the user during the subsequent operation of the first massage part. In this way, the subsequent massage process can be controlled according to the current operation of the first massage part, which is conducive to improving the accuracy of massage control and thus optimizing the user experience.

[0122] It can be understood that, similar to the aforementioned process of adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head so as to change the spacing between the two most adjacent trajectory points in the first direction in the swing trajectory of the first massage head and the second massage head, here, in the process of adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head so as to change the spacing between the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head in the second direction, the working postures of the first massage head and the second massage head are adjusted according to the pressure exerted on the first massage head and / or the second massage head, which can also be divided into three implementation situations: adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head, adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the second massage head, and adjusting the working postures of the first massage head and the second massage head according to the pressure exerted on the first massage head and the second massage head.

[0123] In some embodiments, according to the pressure on the first massage head, the working postures of the first massage head and the second massage head are adjusted to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: when the pressure on the first massage head is greater than the first upper limit threshold, the working postures of the first massage head and the second massage head are adjusted to increase the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction. When the pressure on the first massage head is less than the first lower limit threshold, the working postures of the first massage head and the second massage head are adjusted to reduce the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction. The first upper limit threshold is greater than the first lower limit threshold.

[0124] In some embodiments, according to the pressure on the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: when the pressure on the second massage head is greater than the second upper limit threshold, the working postures of the first massage head and the second massage head are adjusted to increase the distance between the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction. When the pressure on the second massage head is less than the second lower limit threshold, the working postures of the first massage head and the second massage head are adjusted to reduce the distance between the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction. The second upper limit threshold is greater than the second lower limit threshold.

[0125] In some embodiments, according to the pressure exerted on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: determining the pressure mean according to the pressure exerted on the first massage head and the second massage head; adjusting the working posture of the first massage head and the second massage head according to the pressure mean to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction.

[0126] Further, the working posture of the first massage head and the second massage head is adjusted according to the pressure mean value to change the track point closest to the second massage part and the distance between the second massage part in the second direction in the swing trajectory of the first massage head and the second massage head, including: when the pressure mean value is greater than the third upper limit threshold, the working posture of the first massage head and the second massage head is adjusted to increase the track point closest to the second massage part and the distance between the second massage part in the second direction in the swing trajectory of the first massage head and the second massage head. When the pressure mean value is less than the third lower limit threshold, the working posture of the first massage head and the second massage head is adjusted to reduce the track point closest to the second massage part and the distance between the second massage part in the second direction in the swing trajectory of the first massage head and the second massage head. The third upper limit threshold is greater than the third lower limit threshold.

[0127] In this way, the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the spacing between the second massage parts in the second direction are adjusted according to the pressure applied by the first massage part to the user's shoulder. Excessive pressure means that the user is squeezed too much, which may cause discomfort to the user. Increasing the spacing is conducive to reducing the squeezing of the user, thereby alleviating the user's discomfort. Excessive pressure means that the squeezing of the user is too small, and the massage effect is poor. At this time, reducing the spacing is conducive to appropriately increasing the squeezing, thereby improving the massage effect. The aforementioned thresholds can be stored in advance and can be directly called during the implementation process.

[0128] In some embodiments, obtaining the pressure on the first massage head and / or the second massage head during the operation of the first massage part includes: obtaining the second pressure on the first massage head and / or the second massage head during the movement of the first massage head and the second massage head toward the second massage part in the second direction. According to the pressure on the first massage head and / or the second massage head, adjusting the working posture of the first massage head and the second massage head to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction includes: according to the second pressure on the first massage head and / or the second massage head, adjusting the working posture of the first massage head and the second massage head to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction.

[0129] In this way, by monitoring the pressure on the first massage head and / or the second massage head during the movement of the first massage head and the second massage head in the second direction close to the second massage member, it is possible to accurately reflect the squeezing effect on the user caused by the extension and contraction of the first massage head and the second massage head in the second direction. Compared with controlling the spacing according to the entire movement of the first massage head and the second massage head, it is beneficial to improve the control accuracy of the first massage head and the second massage head, thereby facilitating the optimization of the user's massage experience.

[0130] Specifically, in some embodiments, the massage device includes a third drive component, and the third drive component is used to adjust the spacing between the first massage head and the second massage head and the second massage part in the second direction, and according to the second pressure on the first massage head and / or the second massage head, adjust the working posture of the first massage head and the second massage head to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage part in the second direction, including: according to the second pressure on the first massage head and / or the second massage head, control the third drive component to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage part in the second direction. The third drive component includes a drive motor, which is used to realize the telescopic control of the first massage head and the second massage head, so as to change the track point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage part in the second direction. By controlling the third drive component, the degree of squeezing of the user can be adjusted in the process of the first massage head and the second massage head moving close to the second massage part along the second direction.

[0131] In some embodiments, according to the second pressure on the first massage head, the working posture of the first massage head and the second massage head is adjusted to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: when the second pressure on the first massage head is greater than the fifth upper limit threshold, the distance between the first massage head and the second massage head and the second massage part in the second direction is increased; when the second pressure on the first massage head is less than the fifth lower limit threshold, the distance between the first massage head and the second massage head and the second massage part in the second direction is reduced. If the second pressure on the first massage head is greater than the fifth upper limit threshold, it means that the process of the first massage head and the second massage head approaching the second massage part in the second direction squeezes the user too much. At this time, increasing the distance between the first massage head and the second massage head and the second massage part in the second direction can reduce the squeezing and avoid user discomfort. If the second pressure on the first massage head is less than the fifth lower limit threshold, it means that the process of the first massage head and the second massage head approaching the second massage part in the second direction squeezes the user too little, so that it cannot achieve an ideal massage effect. At this time, reducing the distance between the first massage head and the second massage head and the second massage part in the second direction can increase the squeezing and optimize the massage effect. In this way, the degree of squeezing of the user by the first massage head and the second massage head in the process of approaching the second massage part along the second direction can be controlled within a certain range, thereby ensuring the massage effect while avoiding user discomfort.

[0132] Further, in some embodiments, the adjustment value of the distance between the first massage head, the second massage head and the second massage part in the second direction is positively correlated with the difference between the second pressure on the first massage head and the second upper threshold, or the difference between the second pressure on the first massage head and the second lower threshold. That is, on the basis that the second pressure on the first massage head is greater than the fifth upper threshold, the difference between the second pressure on the first massage head and the fifth upper threshold is calculated. The larger the difference, that is, the larger the second pressure on the first massage head, the larger the adjustment value of the distance, and the larger the distance between the first massage head and the second massage part in the second direction. On the basis that the second pressure on the first massage head is less than the fifth lower threshold, the difference between the second pressure on the first massage head and the fifth lower threshold is calculated. The larger the difference, that is, the smaller the second pressure on the first massage head, the larger the adjustment value of the distance, and the smaller the distance between the first massage head and the second massage head and the second massage part in the second direction. In this way, it is beneficial to improve the accuracy of the control process of the first massage head and the second massage head, and to improve the accuracy of the operation process of the massage device, and to optimize the user experience. The spacing range between the first massage head, the second massage head and the second massage element in the second direction can be limited, and the spacing can be adjusted within the range.

[0133] In other embodiments, according to the second pressure applied to the second massage head, or according to the second pressure applied to the first massage head and the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the distance between the second massage part in the second direction. The specific control process is similar to the control logic and will not be elaborated here.

[0134] It should be noted that in other embodiments using the second pressure on the second massage head, or the second pressure on the first massage head and the second massage head as the basis for judgment, the threshold used for judgment may be adaptively changed. In addition, in the embodiment of collecting the second pressure on the first massage head and the second massage head, the average of the first pressure on the first massage head and the second massage head may be used as the basis for judgment.

[0135] In some embodiments, the first massage member includes multiple working modes, and in each working mode, the distances between the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head are different. In this case, the working posture of the first massage head and the second massage head can be controlled by switching the working mode of the first massage member. That is: according to the pressure on the first massage head and / or the second massage head, the working posture of the first massage head and the second massage head is adjusted to change the distance between the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head, including: according to the pressure on the first massage head and / or the second massage head, the working mode of the first massage member is switched to change the distance between the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head. Another control method of the spacing control process is provided here. That is, the first massage member is pre-set with multiple working modes, and different working modes correspond to different distances between the two most adjacent track points in the first direction in the swinging track of the first massage head and the second massage head. In this way, during the implementation process, according to the load of the first drive component, switching between various working modes can achieve the control of the distance between the two adjacent trajectory points in the swing trajectory of the first massage head and the second massage head, which is beneficial to simplify the control process while ensuring control accuracy.

[0136] Similarly, in some embodiments, the first massage member includes multiple working modes, and in each working mode, the track point closest to the second massage member in the swing track of the first massage head and the second massage head and the spacing between the second massage member in the second direction are different. The track point closest to the second massage member in the swing track of the first massage head and the second massage head and the spacing between the second massage member in the second direction are adjusted by adjusting the working mode.

[0137] In some embodiments, the second massage component includes a third massage head and a fourth massage head spaced apart along the first direction, and the third massage head and the fourth massage head are controlled to swing back and forth to perform kneading movements on the human neck. The control method of the massage device also includes: adjusting the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head according to the pressure applied to the first massage head and / or the second massage head to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction.

[0138] In this way, according to the pressure on the first massage head and / or the second massage head during the operation of the massage device, the degree of pressure applied by the first massage head and the second massage head to the user during the operation can be accurately reflected. Adjusting the distance between the first massage head and the second massage head and the position distribution of the third massage head and the fourth massage head accordingly can achieve real-time adjustment of the operation process of the massage device, which is conducive to improving the accuracy of the operation of the massage device and optimizing the massage experience of the user. Further, in some embodiments, when the first massage head is connected to the third massage head and the second massage head is connected to the fourth massage head, the aforementioned adjustment of the working posture of the first massage head, the second massage head, the third massage head and the fourth massage head to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction includes: adjusting the working posture of the third massage head and the fourth massage head to drive the working posture of the first massage head and the second massage head to be adjusted synchronously to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction. That is, when the first massage head is connected to the third massage head, and the second massage head is connected to the fourth massage head, the two massage heads connected to each other drive each other and are adjusted synchronously without the need for separate control.

[0139] Here, the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction, in addition to the aforementioned position distribution of the first massage head and the second massage head, also includes the distance between the third massage head and the fourth massage head in the first direction.

[0140] That is, according to the pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction, including: according to the pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction, as well as the distance between the two most adjacent trajectory points in the swing trajectory of the third massage head and the fourth massage head in the first direction.

[0141] Specifically, in some embodiments, according to the pressure on the first massage head and / or the second massage head, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to change the spacing in the first direction between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head, and the spacing in the first direction between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head, including: when the pressure on the first massage head and / or the second massage head is greater than the sixth upper limit threshold, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to increase the spacing in the first direction between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head, and the spacing in the first direction between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head. When the pressure on the first massage head and / or the second massage head is less than the sixth lower limit threshold, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to reduce the spacing in the first direction between the two most adjacent track points in the swing trajectory of the first massage head and the second massage head, and the spacing in the first direction between the two most adjacent track points in the swing trajectory of the third massage head and the fourth massage head. The sixth upper threshold is greater than the sixth lower threshold.

[0142] In this way, when the pressure on the first massage head and / or the second massage head is greater than the sixth upper threshold, that is, when the pressure applied to the user is too large and the user is squeezed too severely, the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction, and the distance between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are increased to reduce the squeezing of the user and avoid user discomfort. When the pressure on the first massage head and / or the second massage head is less than the sixth lower threshold, that is, when the pressure applied to the user is too small and the squeezing degree of the user is too small, and then the massage effect is poor, the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction, and the distance between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are reduced to enhance the squeezing of the user and optimize the massage effect of the first massage part and the second massage part. In this way, the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction, and the distance between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are maintained within a certain range, while ensuring the massage effect, avoiding causing user discomfort.

[0143] Further, in some embodiments, the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction, and the adjustment value of the distance between the two most adjacent track points in the swing track of the third massage head and the fourth massage head in the first direction are positively correlated with the difference between the pressure on the first massage head and / or the second massage head and the sixth upper threshold or the sixth lower threshold. In the case where the pressure on the first massage head and / or the second massage head is greater than the sixth upper threshold, the adjustment value of the aforementioned distance is positively correlated with the difference between the pressure on the first massage head and / or the second massage head and the sixth upper threshold. On the basis of being greater than the third upper threshold, the greater the pressure on the first massage head and / or the second massage head, the greater the difference between the pressure on the first massage head and / or the second massage head and the sixth upper threshold, the greater the adjustment value of the distance, and the greater the distance. In the case where the pressure on the first massage head and / or the second massage head is less than the sixth lower threshold, the adjustment value of the aforementioned distance is positively correlated with the difference between the pressure on the first massage head and / or the second massage head and the sixth lower threshold. On the basis of being less than the sixth lower threshold, the smaller the pressure on the first massage head and / or the second massage head, the greater the difference between the pressure and the sixth lower threshold, the greater the adjustment value of the spacing, and the smaller the spacing. In this way, the accuracy of controlling the first massage head, the second massage head, the third massage head, and the fourth massage head can be improved, which is conducive to improving the accuracy of the operation process of the massage device and optimizing the user experience.

[0144] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A control method for a massage device, characterized in that: The massage device comprises: The first massage member comprises a first massage head and a second massage head spaced apart in a first direction, wherein the first massage head and the second massage head are controlled to reciprocate and swing to perform kneading motion on the human body; The control method comprises: Obtaining the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component; According to the pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the position distribution of the first massage head and the second massage head in the first direction.

2. The control method according to claim 1, characterized in that: The method of adjusting the working postures of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the position distribution of the first massage head and the second massage head in the first direction includes: According to the pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

3. The control method according to claim 2, characterized in that: The method of adjusting the working postures of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction comprises: determining a pressure average value according to the pressures applied to the first massage head and the second massage head; The working postures of the first massage head and the second massage head are adjusted according to the pressure average value to change the distance between two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction.

4. The control method according to claim 2, characterized in that: The method of adjusting the working postures of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction comprises: According to the pressure exerted on the first massage head and / or the second massage head, the swing angles of the first massage head and the second massage head are adjusted to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction; and / or According to the pressure applied to the first massage head and / or the second massage head, the positions of the first massage head and the second massage head in the first direction are adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

5. The control method according to claim 4, characterized in that: The obtaining of the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component includes: obtaining a first pressure exerted on the first massage head and / or the second massage head during the process in which the first massage head and the second massage head move toward each other; The method of adjusting the working postures of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction comprises: According to the first pressure applied to the first massage head and / or the second massage head, adjusting the swing angles of the first massage head and the second massage head to change the distance between the two most adjacent track points in the swing track of the first massage head and the second massage head in the first direction; and / or According to the first pressure applied to the first massage head and / or the second massage head, the positions of the first massage head and the second massage head in the first direction are adjusted to change the distance between the two most adjacent trajectory points in the swing trajectory of the first massage head and the second massage head in the first direction.

6. The control method according to claim 1, characterized in that: The method of adjusting the working postures of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the position distribution of the first massage head and the second massage head in the first direction includes: According to the pressure exerted on the first massage head and the second massage head, the working postures of the first massage head and the second massage head are adjusted so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from the one of the first massage head and the second massage head subjected to less force to the one subjected to greater force.

7. The control method according to claim 6, characterized in that: The method of adjusting the working postures of the first massage head and the second massage head according to the pressures exerted on the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in the first direction, and the translation direction is the direction from the first massage head and the second massage head exerting less force to the direction from the first massage head and the second massage head exerting greater force, includes: calculating a pressure difference between the pressure applied to the first massage head and the pressure applied to the second massage head; When the pressure difference is greater than the pressure threshold, the working postures of the first massage head and the second massage head are adjusted so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from the one of the first massage head and the second massage head subjected to less force to the one subjected to greater force.

8. The control method according to claim 6, characterized in that: The obtaining of the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component includes: obtaining a first pressure exerted on the first massage head and / or the second massage head during the process in which the first massage head and the second massage head move toward each other; The method of adjusting the working postures of the first massage head and the second massage head according to the pressures exerted on the first massage head and the second massage head so that the first massage head and the second massage head are synchronously translated in the first direction, and the translation direction is the direction from the first massage head and the second massage head exerting less force to the direction from the first massage head and the second massage head exerting greater force, includes: According to the first pressure exerted on the first massage head and the second massage head, the working postures of the first massage head and the second massage head are adjusted so that the first massage head and the second massage head are synchronously translated in the first direction, and the direction of translation is the direction from the one of the first massage head and the second massage head subjected to less force to the one subjected to greater force.

9. The control method according to claim 1, characterized in that: The first massage element is used to massage a first area of ​​a human body; The massage device further comprises a second massage member for massaging a second area of ​​a human body, wherein the first massage member is movably connected to the second massage member along a second direction; The control method further comprises: According to the pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the position distribution of the first massage head and the second massage head in the second direction.

10. The control method according to claim 9, characterized in that: The step of adjusting the working postures of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the position distribution of the first massage head and the second massage head in the second direction comprises: According to the pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage part in the second direction.

11. The control method according to claim 10, characterized in that: The method of adjusting the working postures of the first massage head and the second massage head according to the pressure applied to the first massage head and / or the second massage head to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction includes: determining a pressure average value according to the pressures applied to the first massage head and the second massage head; The working postures of the first massage head and the second massage head are adjusted according to the pressure average value to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction.

12. The control method according to claim 10, characterized in that: The obtaining of the pressure exerted on the first massage head and / or the second massage head during the operation of the first massage component includes: obtaining a second pressure exerted on the first massage head and / or the second massage head during the process in which the first massage head and the second massage head move along a second direction toward the second massage member; According to the pressure exerted on the first massage head and / or the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the track point closest to the second massage part in the swing track of the first massage head and the second massage head and the distance between the second massage part in the second direction, including: According to the second pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head and the second massage head are adjusted to change the trajectory point closest to the second massage part in the swing trajectory of the first massage head and the second massage head and the spacing between the second massage parts in the second direction.

13. The control method according to claim 9, characterized in that: The second massage member comprises a third massage head and a fourth massage head arranged at intervals along the first direction, and the third massage head and the fourth massage head are controlled to swing back and forth to perform kneading motion on the human body; The control method further comprises: According to the pressure applied to the first massage head and / or the second massage head, the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head are adjusted to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction.

14. The control method according to claim 13, characterized in that: The first massage head is connected to the third massage head, and the second massage head is connected to the fourth massage head; The adjusting the working postures of the first massage head, the second massage head, the third massage head and the fourth massage head to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction includes: Adjusting the working postures of the third massage head and the fourth massage head drives the working postures of the first massage head and the second massage head to be adjusted synchronously, so as to change the position distribution of the first massage head, the second massage head, the third massage head and the fourth massage head in the first direction and / or the second direction.

15. A control device for a massage device, characterized in that: include: One or more processors, used to implement the control method of the massage device as described in any one of claims 1-14.

16. A massage device, characterized in that: include: The first massage member comprises a first massage head and a second massage head spaced apart in a first direction, wherein the first massage head and the second massage head are controlled to reciprocate and swing to perform kneading motion on the human body; A pressure sensing component, disposed on the first massage member, for detecting the pressure exerted by the first massage head and / or the second massage head when in contact with the human body; and The control device of the massage device as described in claim 15 is electrically connected to the first massage element and the pressure sensing component.

17. The massage device according to claim 16, characterized in that The first massage element is used to massage a first area of ​​a human body; The massage device also includes: The second massage member is used for massaging a second area of ​​the human body. The first massage member and the second massage member are movably connected along a second direction, and the second massage member is electrically connected to the control device.

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