Massage pressure determination method and variable amplitude impact massage device

Abstract

The invention relates to the technical field of massage devices, discloses a massage pressure determination method and a variable-amplitude impact massage device, and aims to solve the problems that a massage pressure determination scheme of an existing impact massage device depends on additional hardware and is poor in accuracy. The impact massage device at least comprises a controller and a motor, the controller controls the motor to operate through a PWM signal, the motor transmits a real-time rotating speed signal to the controller through an FG pulse signal, and the scheme mainly comprises the steps that massage pressure is jointly determined according to the PWM duty ratio and the rotating speed of the motor; and correcting the massage pressure according to the amplitude of the massage head. The impact massage device does not depend on external equipment, additional hardware does not need to be added, the production and assembly difficulty and cost are reduced, the service life of the impact massage device is prolonged, meanwhile, the massage pressure is corrected through the amplitude, accurate determination of the massage pressure is achieved, and the impact massage device is suitable for the variable-amplitude fascia gun.

Description

Technical Field

[0001] The present application relates to the technical field of massage devices, and in particular to a method for determining massage pressure and an impact massage device with variable amplitude. Background Art

[0002] Impact massage devices generally use a motor-driven transmission mechanism to drive the massage head to extend and retract to achieve a massage effect. For example, a fascia gun uses an eccentric wheel to drive the massage head to perform high-frequency reciprocating motion, achieving a massage effect of hitting the human body back and forth.

[0003] At present, some impact massage devices have the function of displaying massage pressure. By displaying the massage pressure of the impact massage device, users can understand the intensity of the massage and adjust the intensity of the massage according to their needs, ensuring that the massage can effectively relieve muscle tension and pain without causing excessive pressure on the skin, thereby avoiding skin damage or discomfort. And through real-time monitoring and display of massage pressure, improper pressure can be discovered and adjusted in time to ensure the safe use of the impact massage device.

[0004] The existing solution for determining the massage pressure of the impact massage device is usually to integrate a pressure sensor on the massage head and use the pressure sensor to detect the massage pressure in real time. This method requires improving the structure of the impact massage device and setting the sensor on the massage head, so that additional wiring is required between the body of the impact massage device and the massage head. This not only makes production and assembly difficult, but also increases hardware costs and affects the service life of the impact massage device.

[0005] Application publication number CN111759711A discloses a massager pressure feedback, adjustment method, device and equipment, the main disclosed scheme of which is to obtain the first speed of the motor when the massage head is not in contact with the human body; detect the second speed of the motor when the massage head is in contact with the human body; and determine the real-time pressure on the human body according to the change of the second speed relative to the first speed. For the purpose of energy saving, the impact massage device currently generally uses PWM (pulse width modulation) signal to control the motor. After the massage pressure changes, the controller will first adjust the PWM duty cycle to keep the motor at the rated speed, that is, increase the PWM duty cycle when the massage pressure increases, and reduce the PWM duty cycle when the massage pressure decreases. Within the adjustable range of the PWM duty cycle, the motor speed can be maintained stable. Therefore, this scheme of determining the massage pressure only based on the speed difference of the motor is no longer applicable, and the massage pressure cannot be accurately determined.

[0006] In addition, for impact massage devices with variable amplitude, when adjusting the amplitude of the massage head, it is usually achieved by adjusting the eccentricity. When the amplitude is different, the eccentricity is also different. Different eccentricity will cause the torque applied to the motor to be different, which will in turn have different degrees of impact on the massage pressure. Summary of the invention

[0007] The present application aims to propose a massage pressure determination method and a variable amplitude impact massage device, so as to accurately determine the massage pressure of the variable amplitude impact massage device without adding additional hardware, and avoid the influence of amplitude changes on the massage pressure determination.

[0008] The technical solution adopted by this application to solve the above technical problems is:

[0009] In a first aspect, the present application provides a massage pressure determination method, which is applied to a variable amplitude impact massage device, wherein the impact massage device comprises at least a controller and a motor, wherein the controller controls the motor to run through a PWM signal, and the motor transmits a real-time speed signal to the controller through an FG pulse signal, and the method comprises:

[0010] The massage pressure is determined based on the PWM duty cycle and speed of the motor;

[0011] The massage pressure is corrected according to the amplitude of the massage head.

[0012] It can be understood that the present application is applicable to an impact massage device that uses a PWM signal to control the operation of a motor, that is, the controller will adopt a strategy of adjusting the PWM duty cycle to increase the voltage supplied to the motor, thereby ensuring that the motor can maintain the rated speed corresponding to the gear position; at the same time, the motor also transmits the real-time speed signal to the controller through the FG pulse signal; and the amplitude of the massage head of the impact massage device is adjustable. Specifically, when the massage pressure of the impact massage device is in a small range, if the massage pressure increases, the motor speed is maintained by increasing the PWM duty cycle; if the massage pressure decreases, the motor speed is maintained by reducing the PWM duty cycle. When the massage pressure of the impact massage device is large and the PWM duty cycle is increased to the maximum value, if the massage pressure continues to increase, the motor speed can no longer be kept constant by increasing the PWM duty cycle, and the motor speed will inevitably decrease gradually with the increase of the massage pressure. In addition, when the amplitude of the impact massage device is different, the torque applied to the motor is also different, so different amplitudes will also have different degrees of influence on the massage pressure.

[0013] Based on this, relying solely on any one parameter of PWM duty cycle or speed, or without considering the change in amplitude, cannot accurately reflect the change in massage pressure. The present application utilizes the two parameters of the motor's PWM duty cycle and speed, and jointly determines the massage pressure through a specific algorithm, and uses the amplitude to correct the massage pressure. In this solution, the acquisition of PWM duty cycle and speed does not rely on external equipment, and there is no need to add additional hardware. Compared with the prior art, it not only reduces the difficulty and cost of production and assembly, and increases the service life of the impact massage device, but also realizes the accurate determination of massage pressure. In addition, the present application uses amplitude to correct the massage pressure, which avoids the influence of amplitude changes on the determination of massage pressure, and further improves the accuracy of massage pressure determination.

[0014] Further, the massage pressure is corrected according to the amplitude of the impact massage device, specifically including:

[0015] Get the maximum amplitude, minimum amplitude and current amplitude of the massage head;

[0016] A correction coefficient is calculated according to the maximum amplitude, the minimum amplitude and the current amplitude, and the massage pressure is corrected according to the correction coefficient to obtain a corrected massage pressure.

[0017] It can be understood that the larger the amplitude of the impact massage device, the larger the torque applied to the motor, and the influence of the amplitude on the massage pressure will also increase. At this time, a larger correction coefficient is used to correct the massage pressure. The smaller the amplitude of the impact massage device, the smaller the torque applied to the motor, and the influence of the amplitude on the massage pressure will also become smaller. At this time, a smaller correction coefficient is used to correct the massage pressure. Based on this, the present application uses the maximum amplitude, the minimum amplitude and the current amplitude to realize the accurate calculation of the correction coefficient, thereby realizing the accurate correction of the massage pressure and further improving the accuracy of the massage pressure.

[0018] Furthermore, the calculation formula of the correction coefficient is as follows:

[0019]

[0020] The calculation formula for the modified massage pressure is as follows:

[0021] P=P 0 *α;

[0022] Among them, α represents the correction coefficient, D max Indicates the maximum amplitude, D min Indicates the minimum amplitude, D cur Indicates the current amplitude; P indicates the corrected massage pressure, P 0 Indicates massage pressure.

[0023] Through the above formula, the correction coefficient can be accurately calculated, and the correction coefficient can be used to accurately calculate the corrected massage pressure, thereby further improving the accuracy of massage pressure determination.

[0024] Furthermore, the massage pressure is determined based on the PWM duty cycle and the speed of the motor, specifically including:

[0025] Obtain the current PWM duty cycle and current speed of the motor, and call the initial PWM duty cycle corresponding to the current gear and the initial speed corresponding to the current gear;

[0026] Calculating massage pressure according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed;

[0027] The initial PWM duty cycle and initial rotation speed are pre-stored in the impact massage device.

[0028] It can be understood that the initial PWM duty cycle corresponding to the current gear refers to the PWM duty cycle of the motor in the current gear when the massage head is not in contact with the human body, and the initial speed refers to the speed of the motor in the current gear when the massage head is not in contact with the human body. The controller of the impact massage device adjusts the speed of the motor through the PWM signal, and the speed data of the motor is fed back to the controller in real time through the FG pulse signal. Therefore, the controller can record the PWM duty cycle and motor speed data in real time, and save the PWM duty cycle and initial speed corresponding to each gear in the impact massage device in advance, so that the massage pressure calculation can be realized without adding additional hardware. The present application calculates the massage pressure by the change in the current PWM duty cycle relative to the initial PWM duty cycle corresponding to the current gear and the change in the current speed relative to the initial speed corresponding to the current gear, thereby realizing the accurate calculation of the massage pressure.

[0029] Furthermore, the massage pressure is determined based on the PWM duty cycle and the speed of the motor, specifically including:

[0030] Obtain the current PWM duty cycle of the motor and call the initial PWM duty cycle corresponding to the current gear;

[0031] Determine whether the current PWM duty cycle reaches the maximum value, if so, obtain the current speed of the motor and call the initial speed corresponding to the current gear, and calculate the massage pressure according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed, if not, calculate the massage pressure according to the current PWM duty cycle and the initial PWM duty cycle;

[0032] The initial PWM duty cycle and initial rotation speed are pre-stored in the impact massage device.

[0033] It can be understood that when the massage pressure is small and the current PWM duty cycle has not reached the maximum value, the motor speed will not change under the compensation of the PWM duty cycle. Based on this, when the current PWM duty cycle has not reached the maximum value, the present application can accurately calculate the massage pressure only based on the current PWM duty cycle and the initial PWM duty cycle corresponding to the current gear. At this time, there is no need to obtain the current speed and initial speed of the motor, which improves the calculation efficiency of the massage pressure. After the current PWM duty cycle reaches the maximum value, the massage pressure is comprehensively calculated based on the change in the current PWM duty cycle relative to the initial PWM duty cycle corresponding to the current gear and the change in the current speed relative to the initial speed corresponding to the current gear.

[0034] Furthermore, the massage pressure is calculated according to the current PWM duty cycle and the initial PWM duty cycle, and the calculation formula is as follows:

[0035]

[0036] Among them, P 0 represents massage pressure, D represents the current PWM duty cycle, D1 represents the initial PWM duty cycle corresponding to the current gear, and K1 represents the coefficient.

[0037] It can be understood that the present application abstracts the massage pressure as 0%-100%. When the massage head is not in contact with the human body, the massage pressure is 0%. When the maximum pressing force is reached or exceeded, the massage pressure is 100%. The maximum pressing force refers to the pressing force when the motor speed just drops to 0. The coefficient K1 is the coefficient of the massage pressure corresponding to the change in the PWM duty cycle, which is used to indicate the proportion of the massage pressure determined by the PWM duty cycle relative to the maximum pressing force. The coefficient K1 can be obtained through experiments. The size of the coefficient K1 determines the pressure sensitivity at the initial stage of pressing. The initial stage of pressing refers to the massage time period when the PWM duty cycle has not reached the maximum value. Through the above formula, the massage pressure at the initial stage of pressing can be accurately calculated.

[0038] Furthermore, the massage pressure is calculated according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed, and the calculation formula is as follows:

[0039]

[0040] Among them, P 0 represents massage pressure, D represents the current PWM duty cycle, D1 represents the initial PWM duty cycle corresponding to the current gear, S represents the current speed, S1 represents the initial speed corresponding to the current gear, K1 and K2 represent coefficients, K1+K2=1.

[0041] It can be understood that the coefficient K2 is the coefficient of the massage pressure corresponding to the speed change, which is used to indicate the proportion of the massage pressure determined by the speed relative to the maximum pressing force. The coefficient K2 can be obtained through experiments. The size of the coefficient K2 determines the pressure sensitivity in the late pressing period. The late pressing period refers to the massage time period when the PWM duty cycle reaches the maximum value and the motor speed decreases. The above formula can accurately calculate the massage pressure in the late pressing period.

[0042] Furthermore, the method further comprises:

[0043] Determine the power-on time of the motor, and when the power-on time is less than or equal to the preset power-on time, set the coefficients K1 and K2 to the first set of preset values; when the power-on time is greater than the preset power-on time, set the coefficients K1 and K2 to the second set of preset values; the second set of preset values ​​is not equal to the first set of preset values; or

[0044] The power-on time of the motor is determined, and the massage pressure of the impact massage device is determined only when the power-on time is greater than a preset power-on time; the preset power-on time is 10-30 seconds.

[0045] It can be understood that in order to reduce noise, the matching clearance between the sleeve and the piston rod of the impact massage device is designed to be smaller. Due to the difference in material expansion coefficient, the size of the gap between the sleeve and the piston rod is different in the cold and hot states, which makes the friction between the piston rod and the sleeve different in the cold and hot states, and then makes the PWM duty cycle and speed collected in the cold and hot states different, affecting the accuracy of massage pressure calculation. In order to avoid the above problems, the present application determines the cold state and the hot state by the running time of the motor and the size of the preset start-up time, and sets the corresponding coefficients respectively, so as to avoid the influence of the change of the gap size between the sleeve and the piston rod on the massage pressure calculation, and further improves the accuracy of massage pressure calculation. The present application can also judge the cold and hot state by the start-up time, and only calculate the massage pressure in the hot state, so as to avoid the influence of the cold state on the accuracy of massage pressure calculation, and further improve the accuracy of massage pressure calculation.

[0046] Furthermore, the method further comprises:

[0047] When the power-on time is less than or equal to the preset power-on time, a preheating indication is given; when the power-on time is greater than the preset power-on time, a pressure indication is given according to the corrected massage pressure.

[0048] It can be understood that the preheating indication in the cold state indicates that the impact massage device is preheating. At this time, no pressure indication is performed, which can avoid misleading the user by the massage pressure deviation in the cold state. In the hot state, by performing pressure indication on the corrected massage pressure obtained by calculation, the user can accurately understand the intensity of the massage according to the indicated massage pressure and adjust the massage intensity according to their needs, ensuring that the massage can effectively relieve muscle tension and pain without causing excessive pressure on the skin, thereby avoiding skin damage or discomfort. And through real-time monitoring and display of massage pressure, improper pressure can be discovered and adjusted in time to ensure the safe use of the impact massage device.

[0049] In a second aspect, the present application provides a variable amplitude impact massage device, comprising: an impact massage device body and a controller disposed in the impact massage device body, wherein the controller determines massage pressure using the massage pressure determination method described in the first aspect.

[0050] It can be understood that the variable amplitude impact massage device provided by the present application at least includes a controller and a motor, wherein the controller controls the operation of the motor through a PWM signal, and the motor transmits a real-time speed signal to the controller through an FG pulse signal. The impact massage device utilizes the two parameters of the motor's PWM duty cycle and speed, and jointly determines the massage pressure through a specific algorithm processing, and uses the amplitude to correct the massage pressure. In this solution, the acquisition of the PWM duty cycle and the speed does not rely on external equipment, and there is no need to add additional hardware. Compared with the prior art, it not only reduces the difficulty and cost of production and assembly, and increases the service life of the impact massage device, but also realizes the accurate determination of the massage pressure. In addition, the present application avoids the influence of amplitude changes on the determination of massage pressure, and further improves the accuracy of the determination of massage pressure.

[0051] The beneficial effects of the present application are as follows: the present application does not require the addition of additional hardware, does not require any changes to the structural design of the original impact massage device, and does not require the addition of a connection line between the body of the impact massage device and the massage head, thereby reducing the difficulty and cost of production and assembly and increasing the service life of the impact massage device. The present application utilizes the two parameters of the motor's PWM duty cycle and speed to jointly determine the massage pressure, and utilizes the amplitude to correct the massage pressure, thereby increasing the accuracy of the massage pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic structural diagram of a variable amplitude impact massage device provided in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of a curve of PWM duty cycle and speed changing with massage pressure provided in an embodiment of the present application;

[0054] Figure 3 A schematic diagram of a curve showing a change in torque applied to a motor with respect to amplitude provided in an embodiment of the present application;

[0055] Figure 4 A schematic flow chart of a first method for determining massage pressure provided in an embodiment of the present application;

[0056] Figure 5 A schematic flow chart of a second method for determining massage pressure provided in an embodiment of the present application;

[0057] Figure 6 A schematic flow chart of a third method for determining massage pressure provided in an embodiment of the present application;

[0058] Figure 7 A flowchart of the fourth method for determining massage pressure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0060] In some of the processes described in the specification of this application and the above-mentioned figures, multiple operations appearing in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or may be executed in parallel. The sequence numbers of the operations are only used to distinguish different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel.

[0061] The technical solution of the embodiment of the present application is applicable to a controller that uses a PWM signal to control a motor, and the motor transmits a real-time speed signal to the controller through an FG pulse signal, and an impact massage device with variable amplitude, for example, a variable amplitude fascia gun.

[0062] At present, there are usually two solutions for determining the massage pressure of impact massage devices. The first is to integrate a pressure sensor in the massage head. The second is to use the change in motor speed to determine the massage pressure. The inventor found through research that the first solution not only increases the cost and assembly difficulty, but also reduces the service life of the massage device. The second solution is not suitable for impact massage devices that use PWM signals to control the motor. In addition, the existing solutions do not realize that for variable amplitude impact massage devices, the change in amplitude will have different degrees of influence on the massage pressure.

[0063] In order to accurately determine the massage pressure of the impact massage device that uses a PWM signal to control the motor without adding additional hardware, and to avoid the influence of the amplitude on the determination of the massage pressure, the embodiment of the present application uses the two parameters of the PWM duty cycle and the speed of the motor to jointly determine the massage pressure, and corrects the massage pressure according to the amplitude of the massage head. The acquisition of the PWM duty cycle and the speed does not rely on external equipment, and there is no need to add additional hardware, which reduces the difficulty and cost of production and assembly, increases the service life of the impact massage device, and realizes the accurate determination of the massage pressure. It also avoids the influence of the amplitude on the determination of the massage pressure, further improving the accuracy of the determination of the massage pressure.

[0064] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0065] Figure 1 A schematic diagram of a variable amplitude impact massage device is shown. Figure 1 The variable amplitude impact massage device includes an impact massage device body, a controller disposed in the impact massage device body, a motor electrically connected to the controller, and an amplitude adjustment mechanism and a transmission mechanism connected to the motor output shaft in sequence, wherein the transmission mechanism is provided with a sliding shaft passing through the impact massage device body and connected to the massage head. The motor of the impact massage device rotates through the transmission mechanism to drive the massage head to reciprocate, thereby achieving a massage effect of hitting back and forth on the human body. The impact massage device may be a fascia gun or an impact massage device having the above structure.

[0066] The impact massage device applicable to the embodiment of the present application controls the operation of the motor through a PWM signal, and the motor transmits the real-time speed signal to the controller through an FG pulse signal, and the massage head amplitude of the impact massage device is adjustable. Specifically, when the massage head hits the human body, the pressing force received will be transmitted to the motor, causing the motor speed to decrease accordingly. To cope with this situation, the controller will adopt a strategy of adjusting the PWM duty cycle to increase the voltage supplied to the motor, thereby ensuring that the motor can maintain the rated speed corresponding to the gear position. In actual applications, the motor transmits the real-time speed signal to the controller through an FG pulse signal. The controller adjusts the PWM duty cycle through PID according to the difference between the current motor speed and the preset speed, thereby adjusting the motor speed. The basic principle of adjusting the amplitude of the massage head is to adjust the distance between the motor output shaft and the eccentric wheel output shaft, that is, the eccentricity, so as to adjust the vibration amplitude of the massage head.

[0067] When the massage pressure of the impact massage device is relatively low, if the massage pressure increases, the PWM duty cycle of the motor increases, and if the massage pressure decreases, the PWM duty cycle of the motor decreases, thereby maintaining the rated speed corresponding to the current gear of the motor. When the PWM duty cycle of the motor increases to the maximum value, that is, reaches 100%, it means that the full voltage of the battery has been applied to the motor. If the massage pressure continues to increase at this time, the controller will not be able to maintain the stability of the speed by further increasing the PWM duty cycle. In this case, the speed of the motor will inevitably decrease gradually with the increase of massage pressure.

[0068] See also Figure 2 , as the massage pressure continues to increase, the PWM duty cycle first shows an upward trend until it reaches its maximum value of 100% and remains constant. During this period, the motor speed can remain stable in the stage where the PWM duty cycle increases. However, when the PWM duty cycle reaches the saturation point of 100%, if the massage pressure continues to increase, the motor speed will show a downward trend. In the process of gradual increase in massage pressure, there is a stage where the PWM duty cycle remains relatively stable, at which time the PWM duty cycle does not change with the massage pressure; there is also a stage where the speed remains relatively stable, at which time the speed does not change with the massage pressure.

[0069] When adjusting the amplitude of the massage head of a variable amplitude impact massage device, it is usually achieved by adjusting the eccentricity. When the amplitude is different, the eccentricity is also different. Different eccentricity will cause different torques applied to the motor, which will in turn have different degrees of influence on the massage pressure. Figure 3 ,As the amplitude continues to increase, the torque applied to the motor increases linearly, and the degree of influence on the massage pressure is also greater.

[0070] Based on this, relying solely on any one parameter of PWM duty cycle or speed, or without considering the change in amplitude, cannot accurately reflect the change in massage pressure. In order to improve the accuracy of massage pressure determination, the embodiment of the present application uses the two parameters of the motor's PWM duty cycle and speed to jointly determine the massage pressure through a specific algorithm, and then corrects the massage pressure according to the amplitude of the massage head.

[0071] Figure 4 A method for determining massage pressure is shown, which is applied to the above-mentioned variable amplitude impact massage device, see Figure 4 , the method comprises the following steps:

[0072] S100, determining massage pressure according to the PWM duty cycle and rotation speed of the motor.

[0073] The embodiment of the present application uses the two parameters of the PWM duty cycle and the speed of the motor to jointly determine the massage pressure. Since the controller of the impact massage device uses the FG pulse signal of the motor to obtain the current speed of the motor in real time and adjusts the PWM duty cycle according to the current speed of the motor, the controller of the existing impact massage device already stores the real-time PWM duty cycle and speed of the motor, so it does not rely on external devices to obtain the PWM duty cycle and speed, and does not need to add additional hardware, which reduces the difficulty and cost of production and assembly, increases the service life of the impact massage device, and realizes accurate determination of massage pressure.

[0074] See also Figure 4 In one embodiment of the present application, the method for determining massage pressure specifically includes the following steps:

[0075] S101, obtaining the current PWM duty cycle and the current speed of the motor, and calling the initial PWM duty cycle corresponding to the current gear and the initial speed corresponding to the current gear.

[0076] Among them, the initial PWM duty cycle refers to the PWM duty cycle corresponding to the current gear of the motor when the massage head is not in contact with the human body, and the initial speed refers to the speed corresponding to the current gear of the motor when the massage head is not in contact with the human body. The initial PWM duty cycle and the initial speed are pre-stored in the impact massage device. The initial PWM duty cycle and the initial speed are affected by many factors, such as voltage, motor, and transmission mechanism. The impact massage device generally has 2-6 batteries, and the voltage ranges from 6V to 20V. For the same motor, the higher the supply voltage, the lower the initial PWM duty cycle required to maintain the same speed. In addition, the impact massage device has different sizes, and some motors are small and some are large. For different motors, different PWM duty cycles are required to maintain the same speed. The larger the motor rotor, the heavier it is, and a larger PWM duty cycle is required to maintain the same speed. In addition, the friction coefficient of the transmission mechanism will also affect the initial PWM duty cycle and the initial speed.

[0077] When the impact massage device is just started, the massage head is not in contact with the human body. If the PWM duty cycle and speed collected at this time are used as the initial PWM duty cycle corresponding to the current gear and the initial speed corresponding to the current gear, the initial PWM duty cycle and initial speed will be inaccurate because the impact massage device is in a cold state. In addition, the user may change the gear at any time when using the impact massage device, especially during continuous pressing, which will make it difficult to accurately collect the initial PWM duty cycle and initial speed.

[0078] In order to avoid massage pressure calculation deviation caused by failure to collect or erroneous collection of the initial PWM duty cycle and the initial speed, and to improve the accuracy of the initial PWM duty cycle and the initial speed, in the embodiment of the present application, the method for determining the initial PWM duty cycle and the initial speed includes:

[0079] A correspondence between the gear position of the motor and the initial PWM duty cycle and the initial speed is established, and the correspondence is pre-saved in the impact massage device; according to the current gear position of the motor and based on the correspondence, the initial PWM duty cycle corresponding to the current gear and the initial speed corresponding to the current gear are determined.

[0080] In practical applications, after the impact massage device is designed, the initial PWM duty cycle and initial speed corresponding to different gears can be measured under no-load conditions, and then saved to the controller of the impact massage device for use. Table 1 shows a table of correspondence between the gears of a fascia gun and the initial PWM duty cycle and initial speed.

[0081] Table 1 Correspondence between the gear position of a fascia gun, the initial PWM duty cycle and the initial speed

[0082]

[0083]

[0084] The embodiment of the present application obtains the initial PWM duty cycle and initial speed corresponding to different gears in advance, and then obtains the corresponding initial PWM duty cycle and initial speed according to the gear when the impact massage device is working, thereby improving the accuracy of the initial PWM duty cycle and initial speed, thereby further improving the accuracy of massage pressure calculation.

[0085] Since the controller of the impact massage device uses the FG pulse signal of the motor to obtain the current speed of the motor in real time, and adjusts the current PWM duty cycle according to the difference between the current speed and the initial speed corresponding to the gear position, the controller of the existing impact massage device already saves the current PWM duty cycle and current speed of the motor.

[0086] S102, calculating massage pressure according to the current PWM duty cycle, the initial PWM duty cycle, the current rotation speed and the initial rotation speed.

[0087] In order to be compatible with impact massage devices of different sizes and make the solution universal, the embodiment of the present application abstracts the massage pressure as 0%-100%. When the massage head is not in contact with the human body, the massage pressure is 0%. When the maximum pressure is reached or exceeded, the massage pressure is 100%. The maximum pressure refers to the pressure when the motor speed just drops to 0.

[0088] The massage pressure calculation of the embodiment of the present application is divided into two stages, including the massage pressure P1 corresponding to the change of PWM duty cycle and the massage pressure P2 corresponding to the change of speed. 0There may be only P1, or it may be P1+P2. If the coefficient is not added, the value calculated by P1 may reach 100%, so P2 cannot be added. Therefore, P1 and P2 need to be multiplied by a coefficient respectively, and then summed to make the total massage pressure P 0 Can be within the range of 0-100%.

[0089] In the embodiment of the present application, the coefficient of massage pressure corresponding to the change of PWM duty cycle is set to K1, and the coefficient of massage pressure corresponding to the change of speed is set to K2, K1+K2=1. Coefficient K1 is used to represent the proportion of massage pressure determined by PWM duty cycle relative to the maximum pressure intensity, and coefficient K2 is used to represent the proportion of massage pressure determined by speed relative to the maximum pressure intensity. Coefficients K1 and K2 can be obtained through experiments.

[0090] The size of coefficient K1 determines the pressure sensitivity in the initial stage of pressing, which refers to the massage time period when the PWM duty cycle has not reached its maximum value. For example, at the same amplitude, if K1 is set larger, K2 is smaller, and the weight of the massage pressure calculated by the PWM duty cycle is large. Since the massage pressure calculated by the PWM duty cycle is in the initial stage of pressing, only a relatively small pressure is required to trigger the massage pressure change, and the user will feel that the massage pressure feedback is sensitive. The size of coefficient K2 determines the pressure sensitivity in the later stage of pressing, which refers to the massage time period when the PWM duty cycle reaches its maximum value and the motor speed decreases. For example, at the same amplitude, if K1 is set smaller, K2 is larger, and the weight of the massage pressure calculated by the speed decrease is large. Since the massage pressure calculated by the speed decrease is in the later stage of pressing, a larger pressing force is required to trigger the massage pressure change.

[0091] Based on this, in the embodiment of the present application, the massage pressure is calculated according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed, and the calculation formula is as follows:

[0092]

[0093] Among them, P 0 represents massage pressure, D represents the current PWM duty cycle, D1 represents the initial PWM duty cycle corresponding to the current gear, S represents the current speed, S1 represents the initial speed corresponding to the current gear, and K1 and K2 represent coefficients.

[0094] See also Figure 6 In another embodiment of the present application, the method for determining massage pressure specifically includes the following steps:

[0095] S111, obtaining the current PWM duty cycle of the motor, and calling the initial PWM duty cycle corresponding to the current gear.

[0096] S112, determine whether the current PWM duty cycle reaches the maximum value, if so, obtain the current speed of the motor and call the initial speed corresponding to the current gear, and calculate the massage pressure according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed, if not, calculate the massage pressure according to the current PWM duty cycle and the initial PWM duty cycle.

[0097] See also Figure 7 In practical applications, you can first obtain the current PWM duty cycle of the motor, call the initial PWM duty cycle corresponding to the current gear, and then determine whether the current PWM duty cycle has reached the maximum value, that is, whether it has reached 100%. If the current PWM duty cycle has not reached the maximum value, the massage pressure is calculated only based on the current PWM duty cycle and the initial PWM duty cycle, that is, only P1 is calculated to achieve accurate calculation of the massage pressure. At this time, there is no need to obtain the current speed and the initial speed, thereby improving the calculation efficiency of the massage pressure. The massage pressure is calculated according to the current PWM duty cycle and the initial PWM duty cycle, and the calculation formula is as follows:

[0098]

[0099] If the current PWM duty cycle reaches the maximum value, the current speed of the motor is obtained, and the initial speed corresponding to the current gear is called. Then, the massage pressure is calculated based on the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed. The calculation method is the same as before and will not be repeated here.

[0100] S200: Correcting the massage pressure according to the amplitude of the massage head.

[0101] After the massage pressure is calculated, the embodiment of the present application uses the amplitude of the massage head to correct the massage pressure, thereby avoiding the influence of the amplitude change on the massage pressure determination and further improving the accuracy of the massage pressure determination.

[0102] In the embodiment of the present application, the massage pressure is corrected according to the amplitude of the impact massage device, specifically including:

[0103] The maximum amplitude, the minimum amplitude and the current amplitude of the massage head are obtained; a correction coefficient is calculated according to the maximum amplitude, the minimum amplitude and the current amplitude, and the massage pressure is corrected according to the correction coefficient to obtain a corrected massage pressure.

[0104] Since the larger the amplitude of the impact massage device, the larger the torque applied to the motor, the greater the impact on the massage pressure. At this time, a smaller correction coefficient is used to correct the massage pressure. The smaller the amplitude of the impact massage device, the smaller the torque applied to the motor, the smaller the impact on the massage pressure. At this time, a smaller correction coefficient is used to correct the massage pressure. Based on this, the embodiment of the present application uses the maximum amplitude, the minimum amplitude and the current amplitude to accurately calculate the correction coefficient, thereby realizing accurate correction of the massage pressure and further improving the accuracy of the massage pressure determination.

[0105] The calculation formula of the correction coefficient is as follows:

[0106]

[0107] The calculation formula for the modified massage pressure is as follows:

[0108] P=P 0 *α;

[0109] Among them, α represents the correction coefficient, D max Indicates the maximum amplitude, D min Indicates the minimum amplitude, D cur Indicates the current amplitude; P indicates the corrected massage pressure, P 0 Indicates massage pressure.

[0110] The following are several examples to illustrate the specific calculation process of the above formula.

[0111] 1. Assume that a small fascia gun is running in gear 1, the corresponding initial speed is 1800 rpm, and the initial duty cycle is 50%. Coefficient K1 = 0.4, K2 = 0.6. The massage pressure is small, so the duty cycle increases to 100%, and the speed does not drop. Assume that the amplitude adjustment range of this fascia gun is 2-8mm, and the current amplitude is 4mm. The process of calculating the corrected massage pressure using the above formula is as follows.

[0112] Calculate total massage pressure:

[0113]

[0114] Calculate the correction factor:

[0115]

[0116] Calculate the corrected massage pressure:

[0117] P=P 0 *α=40%*0.33=13.2%.

[0118] 2. Assume that a small fascia gun is running in gear 1, the corresponding initial speed is 1800 rpm, and the initial duty cycle is 50%. Coefficient K1 = 0.4, K2 = 0.6. The massage pressure is large, which increases the duty cycle to 100% and also causes the speed to drop to 500 rpm. Assume that the amplitude adjustment range of this fascia gun is 2-8mm, and the current amplitude is 4mm. The process of calculating the corrected massage pressure using the above formula is as follows.

[0119] Calculate total massage pressure:

[0120]

[0121] Calculate the correction factor:

[0122]

[0123] Calculate corrected massage pressure:

[0124] P=P 0 *α=83%*0.33=27.4%.

[0125] 3. Assume that a fascia gun is running in gear 5, the corresponding initial speed is 3000 rpm, and the initial duty cycle is 70%. Coefficient K1 = 0.4, K2 = 0.6. The massage pressure is large, which increases the duty cycle to 100% and also causes the speed to drop to 1500 rpm. Assume that the amplitude adjustment range of this fascia gun is 2-8mm, and the current amplitude is 4mm. The process of calculating the corrected massage pressure using the above formula is as follows.

[0126] Calculate total massage pressure:

[0127]

[0128] Calculate the correction factor:

[0129]

[0130] Calculate corrected massage pressure:

[0131] P=P 0 *α=70%*0.33=23.1%.

[0132] In order to reduce noise, the fitting clearance between the sleeve and the piston rod of the impact massage device is designed to be smaller. Due to the difference in material expansion coefficients, the size of the clearance between the sleeve and the piston rod is different in the cold and hot states, resulting in a large difference in the friction between the piston rod and the sleeve in the cold and hot states, which in turn makes the PWM duty cycle and speed collected in the cold and hot states different, affecting the accuracy of the massage pressure calculation.

[0133] In order to avoid the above-mentioned problem, in one embodiment of the present application, the method further includes: determining the power-on time of the motor, and determining the massage pressure of the impact massage device only when the power-on time is greater than a preset power-on time.

[0134] Specifically, when the power-on time is less than or equal to the preset power-on time, the impact massage device is determined to be in a cold state, and when the power-on time is greater than the preset power-on time, the impact massage device is determined to be in a hot state. The embodiment of the present application calculates the massage pressure only in the hot state, thereby avoiding the influence of the cold state on the massage pressure calculation, and further improving the accuracy of the massage pressure calculation.

[0135] In order to avoid the above problems, in another embodiment of the present application, the method also includes: determining the power-on time of the motor, when the power-on time is less than or equal to the preset power-on time, setting the coefficients K1 and K2 to the first group of preset values, when the power-on time is greater than the preset power-on time, setting the coefficients K1 and K2 to the second group of preset values; the second group of preset values ​​is not equal to the first group of preset values.

[0136] The embodiment of the present application sets corresponding coefficients for the cold state and the hot state, respectively, to avoid the massage pressure calculation deviation caused by the cold state and the hot state, thereby avoiding the influence of the change of the gap size between the sleeve and the piston rod on the massage pressure calculation, and further improving the accuracy of the massage pressure calculation. The first set of preset values ​​and the second set of preset values ​​of the coefficients can be obtained by testing the impact massage device in the cold state and the hot state, respectively, and the embodiment of the present application will not be repeated.

[0137] Among them, the preset power-on time is 10-30 seconds, which can be set according to actual conditions. The embodiment of the present application does not limit this, for example, 20 seconds.

[0138] In order to enable the user to intuitively understand the massage pressure, the method also includes: when the power-on time is less than or equal to the preset power-on time, giving a preheating indication; when the power-on time is greater than the preset power-on time, giving a pressure indication according to the corrected massage pressure.

[0139] The embodiment of the present application provides a preheating indication in the cold state, that is, it indicates that the impact massage device is preheating. At this time, no pressure indication is performed, which can avoid misleading the user by the massage pressure deviation in the cold state. In the hot state, the pressure indication is performed by using the calculated corrected massage pressure, which can be specifically performed by different colors or different numbers of lights. For example, a green light is on when the corrected massage pressure is greater than 30%, a yellow light is on when the corrected massage pressure is greater than 60%, and a red light is on when the corrected massage pressure is greater than 90%; for another example, light strips of different lengths are displayed according to the size of the corrected massage pressure; for another example, the digital percentage of the corrected massage pressure of 0-100% is directly displayed.

[0140] By indicating the calculated corrected massage pressure, users can understand the intensity of the massage according to the indicated massage pressure and adjust the intensity of the massage according to their needs, ensuring that the massage can effectively relieve muscle tension and pain without causing excessive pressure on the skin, thereby avoiding skin damage or discomfort. In addition, through real-time monitoring and display of massage pressure, improper pressure can be discovered and adjusted in a timely manner to ensure the safe use of the impact massage device.

Claims

1. A method for determining massage pressure, applied to a variable amplitude impact massage device, the impact massage device at least comprising a controller, a motor and a massage head, the controller controlling the motor to run via a PWM signal, the motor transmitting a real-time speed signal to the controller via an FG pulse signal, characterized in that: The method comprises: The massage pressure is determined based on the PWM duty cycle and speed of the motor; The massage pressure is corrected according to the amplitude of the massage head.

2. The method for determining massage pressure according to claim 1, characterized in that: The massage pressure is modified according to the amplitude of the impact massage device, specifically including: Get the maximum amplitude, minimum amplitude and current amplitude of the massage head; A correction coefficient is calculated according to the maximum amplitude, the minimum amplitude and the current amplitude, and the massage pressure is corrected according to the correction coefficient to obtain a corrected massage pressure.

3. The method for determining massage pressure according to claim 2, characterized in that: The calculation formula of the correction coefficient is as follows: The calculation formula for the modified massage pressure is as follows: P = P0*α; Among them, α represents the correction coefficient, D max Indicates the maximum amplitude, D min Indicates the minimum amplitude, D cur Indicates the current amplitude; P indicates the corrected massage pressure, and P0 indicates the massage pressure.

4. The method for determining massage pressure according to claim 2, characterized in that: The massage pressure is determined based on the PWM duty cycle and speed of the motor, including: Obtain the current PWM duty cycle and current speed of the motor, and call the initial PWM duty cycle corresponding to the current gear and the initial speed corresponding to the current gear; Calculating massage pressure according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed; The initial PWM duty cycle and initial rotation speed are pre-stored in the impact massage device.

5. The method for determining massage pressure according to claim 2, characterized in that: The massage pressure is determined based on the PWM duty cycle and speed of the motor, including: Obtain the current PWM duty cycle of the motor and call the initial PWM duty cycle corresponding to the current gear; Determine whether the current PWM duty cycle reaches the maximum value, if so, obtain the current speed of the motor and call the initial speed corresponding to the current gear, and calculate the massage pressure according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed, if not, calculate the massage pressure according to the current PWM duty cycle and the initial PWM duty cycle; The initial PWM duty cycle and initial rotation speed are pre-stored in the impact massage device.

6. The method for determining massage pressure according to claim 5, characterized in that: The massage pressure is calculated according to the current PWM duty cycle and the initial PWM duty cycle, and the calculation formula is as follows: Among them, P0 represents massage pressure, D represents the current PWM duty cycle, D1 represents the initial PWM duty cycle corresponding to the current gear, and K1 represents the coefficient.

7. The method for determining massage pressure according to claim 5 or 6, characterized in that: The massage pressure is calculated according to the current PWM duty cycle, the initial PWM duty cycle, the current speed and the initial speed, and the calculation formula is as follows: Among them, P0 represents massage pressure, D represents the current PWM duty cycle, D1 represents the initial PWM duty cycle corresponding to the current gear, S represents the current speed, S1 represents the initial speed corresponding to the current gear, K1 and K2 represent coefficients, K1+K2=1.

8. The method for determining massage pressure according to claim 7, characterized in that: The method further comprises: Determine the power-on time of the motor, and when the power-on time is less than or equal to the preset power-on time, set the coefficients K1 and K2 to the first set of preset values; when the power-on time is greater than the preset power-on time, set the coefficients K1 and K2 to the second set of preset values; the second set of preset values ​​is not equal to the first set of preset values; or The power-on time of the motor is determined, and the massage pressure of the impact massage device is determined only when the power-on time is greater than a preset power-on time; the preset power-on time is 10-30 seconds.

9. The method for determining massage pressure according to claim 8, characterized in that: The method further comprises: When the power-on time is less than or equal to the preset power-on time, a preheating indication is given; when the power-on time is greater than the preset power-on time, a pressure indication is given according to the corrected massage pressure.

10. A variable amplitude impact massage device comprising: The body of the impact massage device and the controller arranged in the body of the impact massage device are characterized in that the controller determines the massage pressure using the massage pressure determination method according to any one of claims 1-9.

Images