Reciprocating control method of massage device and massage device

Abstract

The embodiment of the invention provides a reciprocating control method of a massage device, which is used for massaging at least one part of the body of a user through reciprocating motion, and comprises the following steps: acquiring a set stroke of the reciprocating motion of the massage device, retrieving a first change curve of a specified signal when the massage device moves within the set stroke; detecting a second change curve of a specified signal when the massage device moves in the current stroke; according to the difference between the second change curve and the first change curve, determining the next stroke of the massage device; and controlling the massage device to move according to the determined next stroke. The embodiment of the invention further provides a massage device.

Description

Technical Field

[0001] The present invention relates to the technical field of massage, and in particular to a reciprocating control method of a massage device and a massage device. Background Art

[0002] With the advancement of science and technology and the improvement of people's quality of life, massage devices have emerged. These devices use mechanical or intelligent technology to simulate manual massage techniques to perform precise and effective massages on the user's body parts. Compared with traditional manual massage, massage devices not only improve the efficiency and comfort of massage, but also make the massage process more standardized and controllable.

[0003] However, in actual application, a massage device that can reciprocate on the ground faces certain challenges. Specifically, during the reciprocating motion, the device is prone to deviation due to factors such as the user's body movement, uneven ground or the machine's own deviation. This deviation not only affects the accuracy and effect of the massage, but may also cause discomfort or safety hazards to the user. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a reciprocating control method of a massage device, which can accurately perform reciprocating motion to massage the user.

[0005] An embodiment of the present invention provides a reciprocating control method for a massage device, wherein the massage device massages at least one part of a user's body through reciprocating motion, comprising:

[0006] obtaining a set stroke for the reciprocating motion of the massage device,

[0007] detecting a first variation curve of a specified signal when the massage device moves within the set stroke;

[0008] detecting a second variation curve of a designated signal when the massage device moves within a current stroke;

[0009] determining the next movement stroke of the massage device according to the difference between the second change curve and the first change curve;

[0010] According to the determined next stroke, the massage device is controlled to move.

[0011] The embodiment of the present invention further provides a massage device, comprising:

[0012] processor;

[0013] When the processor calls the computer program or instruction in the memory, any of the above methods is executed.

[0014] The embodiment of the present invention further provides a massage device, a massage device that massages at least one part of a user's body through reciprocating motion, comprising:

[0015] A motion module, used to drive the massage device to perform reciprocating motion;

[0016] a massage module for massaging the user during the reciprocating motion of the massage device;

[0017] An acquisition module, used for acquiring a set stroke of the reciprocating motion of the massage device;

[0018] A first detection module, used for detecting a first change curve of a specified signal when the massage device moves within the set stroke;

[0019] A second detection module, used to detect a second change curve of a specified signal when the massage device moves within a current stroke;

[0020] a calculation module, used for determining the next movement stroke of the massage device according to the difference between the second change curve and the first change curve;

[0021] The control module is used to control the movement of the massage device to massage at least one part of the user's body according to the determined next stroke.

[0022] The control method and massage device of the massage device provided by the embodiment of the present invention can perform precise reciprocating motion to massage the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0024] Figure 1 is an operation schematic diagram of a massage device provided by an embodiment of the present invention;

[0025] Figure 2 is another operation schematic diagram of a massage device provided by an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a change curve of a specified signal of a massage device provided by an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of the difference between a specified signal and an actual signal of a massage device provided by an embodiment of the present invention;

[0028] Figure 5 is another schematic diagram of the difference between the designated signal and the actual signal of the massage device provided by the embodiment of the present invention;

[0029] Figure 6 is a flow chart of a control method of a massage device provided by an embodiment of the present invention;

[0030] Figure 7 is another flow chart of a control method of a massage device provided by an embodiment of the present invention;

[0031] Figure 8 is another flow chart of a control method of a massage device provided by an embodiment of the present invention;

[0032] Fig. 9 is another flow chart of a control method of a massage device provided by an embodiment of the present invention;

[0033] Fig.10 is another flow chart of a control method of a massage device provided by an embodiment of the present invention;

[0034] Fig.11 Schematic diagram of the framework of the massage device provided by the embodiment of the present invention. Specific embodiments

[0035] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0036] The terms "first", "second" and the like in the embodiments of the present invention are only used to distinguish relevant technical features and do not indicate the order of precedence.

[0037] In order to illustrate the technical solution described in the embodiment of the present invention, Figure 1-11 As shown, the invention is described below through specific embodiments.

[0038] Example 1

[0039] The massage device in this embodiment is designed to massage specific parts of the user's body through reciprocating motion.

[0040] In an exemplary embodiment, the massage device includes a motion module and a massage module. The motion module is responsible for driving the massage device to perform reciprocating motion, so that the massage device can massage along the user's body parts. Figure 1As shown, the massage device uses two driving wheels to achieve this function. During use, the user lies on the massage device. Although the driving wheels are not clearly marked in the figure, they are the main power source for driving the massage device to move along the user's body.

[0041] The massage module is a component that massages at least one part of the user's body during the movement of the massage device. The massage module may include a variety of massage elements, such as rollers, etc. These elements can be selected and combined according to different massage needs to achieve different massage effects.

[0042] In an exemplary embodiment, the control method of the massage device includes:

[0043] S110 obtains the set stroke of the reciprocating motion of the massage device.

[0044] In an exemplary embodiment, the user or the system can set a reciprocating stroke for the massage device, which is usually a fixed distance, which determines the range of movement of the massage device on the user's body. Such a design allows the user to freely choose a suitable massage stroke according to their needs and comfort.

[0045] In order to facilitate the user to set, this embodiment provides multiple setting methods. One method is that the user directly operates on the massage device and inputs the required travel distance through the control panel or buttons on the massage device. Another method is to set through an external terminal, such as Figure 1 As shown, users can easily input and save their desired massage itineraries through external terminals such as smartphones and tablets using a dedicated application or web interface.

[0046] S120 detects a first variation curve of a designated signal when the massage device moves within the set stroke.

[0047] The massage device provided by the embodiment of the present invention can also detect and record the changes of signals (such as changes of current signals or pressure signals) during the massage process in real time.

[0048] In order to achieve this function, the massage device in this embodiment is built with one or more sensors for detecting various signal parameters of the device during operation. These sensors can sense the contact between the massage device and the user's body parts in real time, as well as the operating status of the massage device at different parts.

[0049] When the user places different parts of the body (such as legs, waist, etc.) on the massage device, the signals detected by the massage device will also be different due to the different structures and textures of the various parts of the body. For example, the massage device generates different signals when massaging the legs and waist. Therefore, the massage device can detect different signal changes according to different parts of the body.

[0050] When the massage device in this embodiment moves within a set stroke, it will detect and record the first change curve of the signal in real time or at set intervals. This change curve reflects the change of the signal when the massage device contacts the user's body part within the set stroke.

[0051] S130 detects a second variation curve of the designated signal when the massage device moves within the current stroke.

[0052] After the massage stroke is set, the massage device will reciprocate according to the preset path and speed. The massage device in this embodiment will detect and record the second change curve of the specified signal in real time during the movement of the current stroke.

[0053] The specific detection method is the same as that of the first change curve, and will not be repeated here.

[0054] S140 determines the next movement stroke of the massage device according to the difference between the second change curve and the first change curve.

[0055] In the actual massage process, due to various factors such as different parts of the user's body, the movement characteristics of the massage device, and interference from the external environment, there are often certain differences between the second change curve (i.e., the signal change curve within the current stroke) and the first change curve (i.e., the signal change curve within the set stroke). These differences may be manifested in the shape, amplitude, phase, etc. of the curve, which depends on the design of the massage device, the characteristics of the user's body parts, and the actual situation during the massage process.

[0056] like Figure 3-Figure 5 As shown, in the actual massage process, the second variation curve may have a larger or smaller portion on the right or left side than the first variation curve. This difference reflects that the massage device has traveled a certain distance more or less in a certain direction within the current stroke, that is, there is an offset.

[0057] The second change curve is compared and analyzed with the preset first change curve to find the difference between the two. According to the result of the comparison and analysis, the distance that the massage device travels more or less in a certain direction within the current stroke, that is, the offset, is determined. The next stroke is intelligently adjusted by combining the set stroke distance (such as t0) and the determined offset (such as t1). If the offset is positive (i.e., a certain distance is traveled more), the next stroke should be reduced accordingly; if the offset is negative (i.e., a certain distance is traveled less), the next stroke should be increased accordingly. Therefore, the next stroke can be expressed as t0+t1 (when the offset is positive) or t0-t1 (when the offset is negative).

[0058] S150 controls the massage device to move according to the determined next stroke.

[0059] According to the calculated next travel distance, the control system will send a control instruction to the driving module of the massage device to control it to move accurately. During this process, the massage device will adjust its movement distance according to the control instruction to ensure the accuracy and continuity of the massage.

[0060] Through this method, the massage device provided by the embodiment of the present invention realizes the intelligence and precision of the massage process.

[0061] Example 2

[0062] In an exemplary embodiment, obtaining the set stroke of the reciprocating motion of the massage device includes:

[0063] S210 obtains a motion setting instruction for the massage device.

[0064] The user can input motion setting instructions through an external terminal (such as a smartphone, tablet computer, etc.) or directly on the control panel of the massage device. These instructions may include parameters such as the starting position, end position, motion speed, massage mode, etc. of the massage.

[0065] S220 controls the massage device to move a set distance according to the movement setting instruction, and determines the set distance as a set stroke for the reciprocating motion of the massage device.

[0066] The control system inside the massage device receives and interprets the motion setting instructions entered by the user. The system checks the integrity and validity of the instructions to ensure that all necessary parameters have been entered correctly.

[0067] According to the analyzed motion setting instructions, the control system will calculate and control the distance that the massage device needs to move during the reciprocating motion. This distance is determined based on the user's instructions and the motion characteristics of the massage device.

[0068] After the massage device has completed the set movement distance, the control system will determine this distance as the set stroke for the massage device to perform reciprocating motion. This set stroke will be used as a reference in the subsequent massage process to ensure the accuracy and continuity of the massage.

[0069] The rest of the contents in this embodiment refer to Embodiment 1 and will not be described again here.

[0070] Example 3

[0071] like Figure 1-Figure 2 As shown, in Example 2, controlling the massage device to move a set distance according to the movement setting instruction, and determining the set distance as a set stroke for the massage device to perform reciprocating motion includes:

[0072] S310 controls the massage device to move a first set distance in a first direction and a second set distance in a second direction according to the movement setting instruction.

[0073] The user can input movement setting instructions through an external terminal (such as a smart phone, tablet computer, etc.) or directly on the control panel of the massage device. These instructions contain information about the distance that the massage device needs to move in two opposite directions (a first direction and a second direction), namely, a first set distance and a second set distance.

[0074] According to the analyzed motion setting instruction, with the initial position of the massage device as a reference, the control system will control the massage device to move a first set distance in a first direction relative to the initial position, and a second set distance in a second direction relative to the initial position. These two motion processes are independent of each other, but are both part of the reciprocating motion of the massage device.

[0075] S320: The sum of the first set distance and the second set distance is determined as the set stroke for the reciprocating motion of the massage device.

[0076] After the massage device completes the movement in two directions, the control system calculates the sum of the first set distance and the second set distance, and determines this sum as the set stroke for the massage device to perform reciprocating motion. This set stroke will be used as a reference in the subsequent massage process to ensure the accuracy and continuity of the massage.

[0077] The rest of the contents in this embodiment refer to the above embodiment and will not be described again here.

[0078] Example 4

[0079] In a specific implementation scheme, when the massage device is in motion, it will reciprocate according to a preset stroke and speed. In order to accurately detect the specified signal during the massage process, the system will set a detection interval. This detection interval can be when the massage device moves to a specific position, or when the motor of the massage device rotates at a set interval angle.

[0080] Within a set detection interval, the system detects the signal value of a specified signal during the massage device massaging at least one part of the user's body. The specified signal can be a physical quantity such as pressure when the massage device contacts the user's body, or an electrical parameter such as current and voltage inside the massage device.

[0081] The system records all detected signal values ​​and uses mathematical methods (such as interpolation, least squares method, etc.) to fit these signal values ​​into a smooth curve, which is the first change curve of the designated signal. This curve reflects the change of the designated signal during the massage process within the set detection interval of the massage device.

[0082] The first variation curve obtained by fitting will serve as the basis for subsequent comparative analysis. In the subsequent stroke of the massage device, the system will detect the signal value of the specified signal again and fit it into the second variation curve. By comparing and analyzing the difference between the first variation curve and the second variation curve, the movement of the massage device in the current stroke can be determined, such as whether it deviates from the preset trajectory or whether the expected massage effect is achieved.

[0083] The rest of the contents in this embodiment refer to the above embodiment and will not be described again here.

[0084] Example 5

[0085] In a specific implementation scheme, during the movement of the massage device, the system will detect in real time the signal value of the designated signal during the massage device massaging at least one part of the user's body, and fit these signal values ​​into a change curve. Specifically, each time the massage device moves to a set interval (such as when the motor rotates a set interval angle), the system will record the signal value of the designated signal, and use mathematical methods to fit these signal values ​​into a first change curve and a second change curve. The first change curve reflects the change of the designated signal of the massage device in the initial stroke, while the second change curve reflects the change of the designated signal of the massage device in the current stroke.

[0086] In order to determine whether the movement of the massage device deviates from the preset trajectory, the system will compare and analyze the first change curve and the second change curve. Specifically, the system will divide the two curves into several unit intervals, and each unit interval is mapped with a corresponding unit distance. Then, the system will compare the difference between the two curves in each unit interval and calculate the number of unit intervals covered by the difference. This number reflects the degree of deviation of the massage device in the current stroke relative to the initial stroke.

[0087] According to the number of unit intervals covered by the difference part and the unit distance mapped to each unit interval, the system can determine the offset distance of the massage device in the current stroke. This offset distance is an important basis for the massage device to adjust the next stroke.

[0088] Finally, the system will determine the next stroke of the massage device based on the set stroke and the calculated offset distance. Specifically, the system will add or subtract the offset distance from the set stroke to obtain the starting position and end position of the next stroke. In this way, the massage device can intelligently adjust its movement trajectory according to the real-time detected signal changes during the subsequent massage process to ensure the accuracy and continuity of the massage.

[0089] Example 6

[0090] An embodiment of the present invention provides a massage device, which integrates processor and memory technology and can execute the control method of the massage device described in the above embodiment.

[0091] Processor: As the brain of the massage device, the processor is responsible for processing various data and instructions and controlling the overall operation of the massage device. It has powerful computing power and efficient instruction processing capabilities, and can quickly respond to various massage needs.

[0092] Memory: The memory is used to store computer programs or instructions required by the massage device. These programs or instructions are the basis for the massage device to realize various functions, including switching of massage modes, adjustment of massage intensity, planning of massage trajectory, etc. The memory has sufficient storage space and fast read and write speed to ensure the stable operation of the massage device.

[0093] The massage device provided in the embodiment of the present invention can be used to execute any of the above-mentioned control methods for massage devices.

[0094] Example 7

[0095] An embodiment of the present invention provides a massage device, which massages at least one part of a user's body by reciprocating motion.

[0096] The massage device comprises:

[0097] The motion module is responsible for driving the massage device to perform reciprocating motion. Through precise motor control, the motion module can ensure that the massage device moves according to the preset trajectory and speed, thereby achieving precise massage of the user's body.

[0098] The massage module can massage the user while the motion module drives the massage device to perform reciprocating motion. The massage module can set different massage modes and strengths according to the needs and preferences of the user to provide a personalized massage experience.

[0099] The acquisition module is used to acquire the set stroke of the reciprocating motion of the massage device. The set stroke is the motion trajectory and distance preset by the massage device before starting the massage, which can be adjusted according to the specific needs and physical condition of the user. The acquisition module passes the set stroke to other modules by reading the preset parameters for subsequent massage operations.

[0100] The first detection module is used to detect the first change curve of the specified signal when the massage device moves within the set stroke. The specified signal can be a physical quantity such as pressure, temperature, vibration when the massage device contacts the user's body, or an electrical parameter such as current and voltage inside the massage device. The first detection module records these signal values ​​in real time and generates a first change curve to reflect the movement of the massage device within the set stroke.

[0101] The second detection module is used to detect the second change curve of the specified signal when the massage device moves within the current stroke. Similar to the first detection module, the second detection module also records the signal value of the specified signal in real time and generates a second change curve. By comparing the difference between the first change curve and the second change curve, it can be determined whether the movement of the massage device in the current stroke deviates from the preset trajectory.

[0102] The calculation module is responsible for determining the next stroke of the massage device based on the difference between the second change curve and the first change curve. It analyzes the difference between the two curves, calculates the offset distance and direction, and then adjusts the starting and ending positions of the next stroke based on this information. In this way, the massage device can intelligently adjust its movement trajectory based on the real-time detected signal changes.

[0103] The control module is the command center of the massage device. It controls the massage device to move according to the next stroke determined by the calculation module. The control module sends instructions to the motion module to adjust the motion parameters of the massage device (such as speed, strength, direction, etc.) to ensure that the massage device can move according to the preset trajectory and speed, thereby achieving precise massage of the user's body.

[0104] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0105] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A reciprocating control method for a massage device, wherein the massage device massages at least one part of a user's body through reciprocating motion, characterized in that: include: Obtaining a set stroke for the reciprocating motion of the massage device; detecting a first variation curve of a specified signal when the massage device moves within the set stroke; detecting a second variation curve of a designated signal when the massage device moves within a current stroke; determining the next movement stroke of the massage device according to the difference between the second change curve and the first change curve; According to the determined next stroke, the massage device is controlled to move.

2. The reciprocating control method of a massage device according to claim 1, characterized in that: The step of obtaining a set stroke for the reciprocating motion of the massage device comprises: Obtaining a motion setting instruction for the massage device; According to the movement setting instruction, the massage device is controlled to move a set distance, and the set distance is determined as a set stroke for the reciprocating motion of the massage device.

3. The reciprocating control method of a massage device according to claim 2, characterized in that: The step of controlling the massage device to move a set distance according to the movement setting instruction and determining the set distance as a set stroke for the massage device to perform reciprocating motion includes: According to the movement setting instruction, the massage device is controlled to move a first set distance in a first direction and a second set distance in a second direction; The sum of the first set distance and the second set distance is determined as the set stroke for the reciprocating motion of the massage device.

4. The reciprocating control method of any massage device as claimed in any one of claims 1 to 4, characterized in that: The designated signal is a pressure signal or a current signal when the massage device is massaging at least one part of the user's body.

5. The reciprocating control method of a massage device as claimed in claim 4, characterized in that: The second variation curve of the designated signal when detecting the movement of the massage device within the current stroke is specifically: When the massage device moves at a set interval, the signal value of the designated signal in the process of the massage device massaging at least one part of the user's body is detected, and all the detected signal values ​​are fitted into a second variation curve of the designated signal.

6. The reciprocating control method of a massage device as claimed in claim 5, characterized in that: When the massage device moves at a set interval, the signal value of the specified signal in the process of the massage device massaging at least one part of the user's body is detected, and all the detected signal values ​​are fitted into a first variation curve of the specified signal, specifically: When the motor of the massage device rotates at a set interval angle, the signal value of the designated signal during the massage device massaging at least one part of the user's body is detected, and all the detected signal values ​​are fitted into a first variation curve of the designated signal.

7. The reciprocating control method of a massage device according to claim 1, characterized in that: The next movement stroke of the massage device is determined according to the difference between the second change curve and the first change curve: comparing a difference between the first variation curve and the second variation curve, and determining an offset distance based on the difference; The next stroke of the massage device is determined according to the set stroke and the offset distance.

8. The reciprocating control method of a massage device as claimed in claim 1, characterized in that: The comparing the difference between the first change curve and the second change curve and determining the offset distance based on the difference comprises: Dividing the first change curve and the second change curve into a plurality of unit intervals, wherein each unit interval is mapped to a corresponding unit distance; Comparing the number of unit intervals covered by the difference portion between the first change curve and the second change curve; The offset distance is determined according to the corresponding unit distance mapped to each unit interval and the number of unit intervals covered by the difference portion.

9. A massage device, characterized in that: include: processor; When the processor calls the computer program or instruction in the memory, the method according to any one of claims 1 to 8 is executed.

10. A massage device, which massages at least one part of a user's body by reciprocating motion, characterized in that: include: A motion module, used to drive the massage device to perform reciprocating motion; a massage module for massaging the user during the reciprocating motion of the massage device; An acquisition module, used for acquiring a set stroke of the reciprocating motion of the massage device; A first detection module, used for detecting a first change curve of a specified signal when the massage device moves within the set stroke; A second detection module, used to detect a second change curve of a specified signal when the massage device moves within a current stroke; a calculation module, used for determining the next movement stroke of the massage device according to the difference between the second change curve and the first change curve; The control module is used to control the movement of the massage device to massage at least one part of the user's body according to the determined next stroke.

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