Massaging machine core operation system and operation method thereof

Abstract

The invention discloses a massage machine core operation system and an operation method thereof, and relates to the field of massage machine core control. In order to overcome the defects that an existing massage machine core cannot fit the skeleton contour of the back of a human body and does not support customization and individuation, the method comprises the steps that firstly, position information of the massage machine core in an initial state is obtained, and the contour and initial deformation of the back of the human body during first-time operation are obtained; the back contour of the human body is partitioned, and point location is determined for each region; a dependent variable is preset for each point location according to the initial deformation; the forward inclination amount of the forward inclination assembly is controlled according to the preset dependent variable, the numerical value of the position sensor is recorded, and a two-dimensional array is formed; according to the current position of the massage machine core, numerical values of a plurality of position sensors adjacent to the running direction are obtained, and the forward leaning amount of the massage machine core is calculated; the forward-leaning motor is controlled according to the forward-leaning amount of the massage machine core, and therefore the massage machine core is controlled to be attached to the back contour of the human body for massage. The device is mainly used for massaging by fitting with the skeleton contour of the back of the human body.

Description

Technical Field

[0001] The invention relates to the field of massage movement control, and in particular to a massage movement operation system and an operation method thereof. Background Art

[0002] With the advancement of science and technology, the technical level of massage movement is also constantly improving, but there are still some technical bottlenecks. For example, the existing massage movement still has certain limitations in perceiving the contours and curves of the human body, and cannot obtain the shape and position information of various parts of the human body in real time and accurately. In addition, the movement trajectory and force control of the massage movement also need to be further optimized and improved.

[0003] Different people have different needs and preferences for massage. Some people like gentle massage, while others like strong massage. However, existing massage movements can only provide limited massage modes and strength options, which makes it difficult to fully meet everyone's personalized needs. This also makes it difficult for the massage movement to fully fit the human body contour curve during operation, thereby achieving the best massage effect.

[0004] The design of existing massage movements is mainly based on mechanical motion laws and algorithms, and simulates the massage movements of human hands through preset programs. However, the contour curves of the human body are complex and changeable, and each person's body shape and curves are different, which makes it difficult for the massage movement to completely fit everyone's body curves.

[0005] Therefore, there is a need for a massage movement operating system and an operating method thereof that can fit the bone contour of the human back and support customization and personalization. Summary of the invention

[0006] In order to solve the defects of the existing massage movement that cannot fit the bone contour of the human back and does not support customization and personalization, the present invention provides a massage movement operation system and an operation method thereof that can fit the bone contour of the human back and support customization and personalization.

[0007] A massage movement operation system described in the present invention includes a massage mechanism assembly, a strain detection assembly, a forward tilt assembly and a central processing unit, wherein the massage mechanism assembly is connected to the forward tilt assembly via the strain detection assembly, the output ends of the strain detection assembly and the massage mechanism assembly are connected to the input end of the central processing unit, the output end of the central processing unit is connected to the input end of the forward tilt assembly, the strain detection assembly is used to monitor in real time the pressure applied by the massage mechanism assembly to the human body, the forward tilt assembly is used to control the forward tilt amount of the massage mechanism assembly, and the massage mechanism assembly is used to massage the human body.

[0008] Further: the strain detection assembly includes a strain gauge sensor, a strain detection connecting shaft, a sensor fixing component and a sensor connecting piece, the strain detection connecting shaft is rotationally connected to the massage mechanism assembly, the sensor connecting piece is rotationally connected to the forward tilting assembly, the sensor connecting piece is connected to the strain detection connecting shaft through the sensor fixing component, and the strain gauge sensor is arranged between the strain detection connecting shaft and the sensor connecting piece, and is used to detect the pressure applied by the massage mechanism assembly to the human body.

[0009] Furthermore: the massage mechanism assembly includes a massage movement and a position sensor, the massage movement is arranged on a side of the massage mechanism assembly close to the forward tilting assembly, and the position sensor is used to detect the current position of the massage movement and its change amount.

[0010] Furthermore: the tilt assembly includes a tilt rack and a tilt motor, and the tilt motor is used to control the tilt amount of the tilt rack.

[0011] The operating method of the massage movement operating system of the present invention adopts the massage movement operating system to control the operating trajectory of the massage movement, and specifically comprises the following steps:

[0012] S1. Obtaining the position information of the massage movement in the initial state, and obtaining the back contour and initial deformation of the human body during the first operation;

[0013] S2, dividing the human back contour into different areas, and determining the position of each area;

[0014] S3, presetting the strain amount for each point according to the initial deformation;

[0015] S4, controlling the forward tilt amount of the forward tilt assembly according to the preset strain amount, and recording the value of the position sensor to form a two-dimensional array;

[0016] S5, according to the current position of the massage movement, obtaining the values ​​of several position sensors adjacent to the running direction, and calculating the forward tilt of the massage movement;

[0017] S6. Controlling the forward tilt motor according to the forward tilt amount of the massage movement, thereby controlling the massage movement to fit the contour of the back of the human body for massage.

[0018] Further: in S1, the human back contour is divided into cervical vertebrae, thoracic vertebrae, lumbar vertebrae, sacral vertebrae and coccygeal vertebrae according to the bone curve.

[0019] Further: in S3, the preset strain amount needs to be subtracted from the initial deformation.

[0020] Further: in S3, the forward tilt amount is calculated by calculating the root mean square of the current position sensor and several adjacent position sensors as the forward tilt amount of the next position.

[0021] Further: in S5, the running direction includes running from top to bottom and running from bottom to top.

[0022] The beneficial effects of the present invention are:

[0023] The massage movement operation system and operation method described in the present invention make the operation of the massage machine closer to the back contour of the human body, and the user comfort is higher. It can also detect different human body contour curves according to different users, and can realize customized and personalized massage according to the human body contour curves of different users. The use of this detection and algorithm can make the massage machine start and run in advance according to the data detected by the human body in the process of up and down operation, so that the massage machine is closer to the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of the massage movement operation system;

[0025] Figure 2 is a schematic diagram of the installation position of the strain detection assembly;

[0026] Figure 3 It is an exploded diagram of the strain detection assembly;

[0027] Figure 4 is a cross-sectional view of the strain detection assembly;

[0028] Figure 5 It is a bone curve diagram;

[0029] Figure 6 This is a flow chart of the movement operation method

[0030] In the figure, 1. massage mechanism assembly; 11. massage movement; 12. position sensor; 2. strain detection assembly; 21. strain gauge sensor; 22. strain detection connecting shaft; 23. sensor fixing component; 24. sensor connecting part; 3. tilt assembly; 31. tilt rack; 32. tilt motor. DETAILED DESCRIPTION

[0031] The following are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a technician familiar with the technical field within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The embodiments described below are only used to explain the present invention and cannot be interpreted as limitations on the present invention. The protection scope of the present invention should be based on the protection scope of the claims. The embodiments of the present invention are described in detail below. In order to facilitate the description of the present invention and simplify the description, the technical terms used in the specification of the present invention should be interpreted in a broad sense, including but not limited to conventional replacement schemes not mentioned in this application, and also including direct implementation methods and indirect implementation methods.

[0032] Example 1

[0033] Combination Figure 1-Figure 6 The present embodiment is described. The present embodiment discloses a massage movement operation system, comprising a massage mechanism assembly 1, a strain detection assembly 2, a forward tilt assembly 3 and a central processing unit. The massage mechanism assembly 1 is connected to the forward tilt assembly 3 via the strain detection assembly 2. The output ends of the strain detection assembly 2 and the massage mechanism assembly 1 are connected to the input end of the central processing unit. The output end of the central processing unit is connected to the input end of the forward tilt assembly 3. Figure 2 As shown, the strain detection assembly 2 is used to monitor in real time the pressure applied by the massage mechanism assembly 1 to the human body, the forward tilt assembly 3 is used to control the forward tilt amount of the massage mechanism assembly 1, and the massage mechanism assembly 1 is used to massage the human body.

[0034] like Figure 3 and Figure 4As shown, the strain detection assembly 2 includes a strain gauge sensor 21, a strain detection connecting shaft 22, a sensor fixing component 23 and a sensor connecting piece 24. The strain detection connecting shaft 22 is rotationally connected to the massage mechanism assembly 1, and the sensor connecting piece 24 is rotationally connected to the forward tilting assembly 3. The sensor connecting piece 24 is connected to the strain detection connecting shaft 22 through the sensor fixing component 23. The strain gauge sensor 21 is arranged between the strain detection connecting shaft 22 and the sensor connecting piece 24, and is used to detect the pressure applied to the human body by the massage mechanism assembly 1. The massage machine is equipped with a strain gauge sensor 21, which can detect the pressure applied to the massage machine by different parts of the human body in real time, and convert the pressure information into an analog electrical signal through the deformation of the strain gauge sensor 21. The central processing unit detects the analog electrical signal in real time, and controls the operation of the massage machine in real time after algorithm operation. The output ends of the strain gauge sensor 21 and the position sensor 12 are connected to the input end of the central processing unit, and the output end of the central processing unit is connected to the input end of the forward tilt motor 32. The strain gauge sensor 21 is used to detect the pressure applied by the massage movement 11 to the human body in real time, the forward tilt motor 32 is used to control the forward tilt amount of the massage movement 11, and the position sensor 12 is used to detect the displacement change of the current massage movement 11.

[0035] like Figure 5 As shown, the human back contour is divided into cervical vertebrae, thoracic vertebrae, lumbar vertebrae, sacral vertebrae and coccygeal vertebrae according to the bone curve, including C1~C8, T1~T12, L1~L5, S1~S5, Co4, a total of 5 sections and 31 points, with a total of 30 small areas in the middle, and 4 points are selected from each area, recorded as C1-1~C1-4...S5-1~S5-4, that is, each area is divided into 5 sub-areas, so that the human back contour from the cervical vertebrae to the coccygeal vertebrae from top to bottom is divided into 150 sub-areas, a total of 151 points.

[0036] like Figure 1 As shown, the massage mechanism assembly 1 includes a massage movement 11 and a position sensor 12. The massage movement 11 is arranged on a side of the massage mechanism assembly 1 close to the forward tilting assembly 3. The position sensor 12 is used to detect the current position and change amount of the massage movement 11. The forward tilting assembly 3 includes a forward tilting rack 31 and a forward tilting motor 32. The forward tilting motor 32 is used to control the forward tilting amount of the forward tilting rack 31.

[0037] Example 2

[0038] Combination Figure 6The present embodiment is described together with Example 1. The present embodiment discloses a method for operating a massage movement. First, the position information of the massage movement 11 in the initial state is obtained through the position sensor 12, and the human back contour and the initial deformation of the strain gauge sensor 21 during the first operation are obtained; then the human back contour is divided into zones, and points are determined for each zone; a strain amount is preset for each point according to the initial deformation of the strain gauge sensor 21; the forward tilt amount of the forward tilt assembly 3 is controlled according to the preset strain amount, and all values ​​of the position sensor 12 are recorded in sequence to form a two-dimensional array; according to the current position of the massage movement 11, the values ​​of several position sensors 12 adjacent to the running direction are obtained, including the value of the position sensor 12 corresponding to the current position, and the forward tilt amount that the massage movement 11 should tilt forward to fit the human back bones is calculated; the forward tilt motor 32 is controlled according to the forward tilt amount of the massage movement 11, so as to control the massage movement 11 to fit the human back contour for massage.

[0039] Within 1 second after the massage machine is powered on, the central processing unit and the strain gauge sensor 21 detect that the massage machine is subjected to an initial deformation YaLiBase (f0) in the initial state.

[0040] Once the back of the human body is pressed against the massage machine, the pressure received by the massage machine will become greater than the initial pressure.

[0041] When the massage machine is operated from the top to the bottom of the human neck for the first time, according to the 151 points divided by the contour of the human back, the strain amount f1~f151 of the strain gauge sensor 21 is preset at each point (the initial deformation YaLiBase needs to be subtracted).

[0042]

[0043]

[0044]

[0045]

[0046] When the massage machine reaches the set strain at each point, it stops tilting forward and records and saves the value of the position sensor 12 of the massage machine's tilt motor 32 at this time, which is recorded in the two-dimensional array location

[32] [5]. The first byte location[1][0]~location

[31] [0] in the array records the values ​​of the position sensor 12 of 31 points C1~C7, T1~T12, L1~L5 and Co4. Location[1][1], location[1][2], location[1][3], location[1][4] record the values ​​of the four points C1-1 / C1-2 / C1-3 / C1-4 in the range from C1 to C2. Location[2][1], location[2][2], location[2][3], location[2][4] record the values ​​of the four points C2-1 / C2-2 / C2-3 / C2-4 in the range from C2 to C3, and so on. There are 4 points in each interval, 30 intervals, a total of 120 points, plus the 31 points C1~C7, T1~T12, L1~L5, Co4, a total of 151 values.

[0047] Thus, location[1][0], location[1][1], location[1][2], location[1][3], and location[1][4] record the values ​​of the position sensor 12 of the massage machine's forward tilt motor 32 at the 4 points below C1 (including C1); location[2][0], location[2][1], location[2][2], location[2][3], and location[2][4] record the values ​​of the 4 points below C2 (including C2), and so on; finally, location

[31] [0] records the value of the position sensor 12 of the coccyx Co4.

[0048] The values ​​f1 to f151 of the strain gauge sensor 21 preset at each point are obtained by statistical algorithms. People of different genders, heights, and weights are selected in advance, and the points divided by the human cervical spine, thoracic spine, lumbar spine, sacral spine, and coccygeal spine are subjected to different forces, and dozens of valid data are obtained and averaged.

[0049] During normal operation of the massage machine, the forward tilt motor 32 operates according to the values ​​of the position sensor 12 recorded at these 151 points.

[0050] When the massage machine is running from top to bottom, for example, starting from C1 and running downward, the massage machine forward tilt motor 32 first reaches the value location[1][0] of the position sensor 12 recorded at the C1 point in the two-dimensional array, and then selects the values ​​of the position sensors 12 at the three adjacent points for RMS calculation to obtain the value:

[0051]

[0052] When the massage machine moves downward, in the process from C1 to C1-1, the forward tilting motor 32 of the massage machine will move toward the Location value calculated above; in the process from C1-1 to C1-2, similarly, the forward tilting motor 32 of the massage machine will move toward the location, and so on.

[0053]

[0054] Similarly, when the massage machine is running from bottom to top, for example, starting from Co4 and running upward, the massage machine's forward tilt motor 32 will first reach the value of location

[31] [0], and when moving to the S5-4 point, the massage machine's forward tilt motor 32 will run according to the value.

[0055]

[0056] In this way, when the massage machine moves up and down, the forward tilt motor 32 will start running ahead of time according to the detected human back contour curve, so that the massage machine can be closer to the curves of different human bodies when running from top to bottom and from bottom to top, making the massage more comfortable.

Claims

1. A massage movement operation system, characterized in that: The massage mechanism assembly (1) comprises a massage mechanism assembly (1), a strain detection assembly (2), a forward tilt assembly (3) and a central processing unit. The massage mechanism assembly (1) is connected to the forward tilt assembly (3) via the strain detection assembly (2). The output ends of the strain detection assembly (2) and the massage mechanism assembly (1) are connected to the input end of the central processing unit. The output end of the central processing unit is connected to the input end of the forward tilt assembly (3). The strain detection assembly (2) is used to monitor in real time the pressure applied by the massage mechanism assembly (1) to the human body. The forward tilt assembly (3) is used to control the forward tilt amount of the massage mechanism assembly (1). The massage mechanism assembly (1) is used to massage the human body.

2. A massage movement operation system according to claim 1, characterized in that: The strain detection assembly (2) comprises a strain gauge sensor (21), a strain detection connecting shaft (22), a sensor fixing assembly (23) and a sensor connecting piece (24); the strain detection connecting shaft (22) is rotationally connected to the massage mechanism assembly (1); the sensor connecting piece (24) is rotationally connected to the forward tilting assembly (3); the sensor connecting piece (24) is connected to the strain detection connecting shaft (22) via the sensor fixing assembly (23); the strain gauge sensor (21) is arranged between the strain detection connecting shaft (22) and the sensor connecting piece (24) and is used to detect the pressure applied by the massage mechanism assembly (1) to the human body.

3. A massage movement operation system according to claim 1, characterized in that: The massage mechanism assembly (1) comprises a massage movement (11) and a position sensor (12); the massage movement (11) is arranged on a side of the massage mechanism assembly (1) close to the forward tilting assembly (3); and the position sensor (12) is used to detect the current position of the massage movement (11) and the amount of change thereof.

4. A massage movement operation system according to claim 3, characterized in that: The forward tilt assembly (3) comprises a forward tilt rack (31) and a forward tilt motor (32), wherein the forward tilt motor (32) is used to control the forward tilt amount of the forward tilt rack (31).

5. A method for operating a massage movement operating system, characterized in that: The massage movement operation system as claimed in claim 4 is used to control the operation trajectory of the massage movement (11), which specifically comprises the following steps: S1, obtaining the position information of the massage movement (11) in the initial state, and obtaining the back contour and initial deformation of the human body during the first operation; S2, dividing the human back contour into different areas, and determining the position of each area; S3, presetting the strain amount for each point according to the initial deformation; S4, controlling the forward tilt amount of the forward tilt assembly (3) according to the preset strain amount, and recording the value of the position sensor (12) to form a two-dimensional array; S5, according to the current position of the massage movement (11), obtaining the values ​​of a plurality of position sensors (12) adjacent to the running direction, and calculating the forward tilt of the massage movement (11); S6. Controlling the forward tilting motor (32) according to the forward tilting amount of the massage movement (11), thereby controlling the massage movement (11) to fit the contour of the back of the human body for massage.

6. The operating method of the massage movement operating system according to claim 5, characterized in that: In S1, the human back contour is divided into cervical vertebrae, thoracic vertebrae, lumbar vertebrae, sacral vertebrae and coccygeal vertebrae according to the bone curve.

7. The operating method of the massage movement operating system according to claim 5, characterized in that: In S3, the preset strain amount needs to be subtracted from the initial deformation.

8. The operating method of the massage movement operating system according to claim 5, characterized in that: In S3, the forward tilt amount is calculated by calculating the root mean square of the current position sensor (12) and several adjacent position sensors (12) as the forward tilt amount of the next position.

9. The operating method of the massage movement operating system according to claim 8, characterized in that: In S5, the running direction includes running from top to bottom and running from bottom to top.

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